satrs/src/mode_tree.rs

@@ -180,10 +180,30 @@ impl SequenceTableEntry {
     }
 }
 
+#[derive(Debug, thiserror::Error)]
+#[error("target {0} not in mode store")]
+pub struct TargetNotInModeStoreError(pub ComponentId);
+
 pub trait ModeStoreProvider {
     fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode);
+
+    fn has_component(&self, target_id: ComponentId) -> bool;
+
     fn get_mode(&self, target_id: ComponentId) -> Option<ModeAndSubmode>;
-    fn set_mode(&mut self, target_id: ComponentId, mode: ModeAndSubmode);
+
+    fn set_mode_for_contained_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode);
+
+    fn set_mode(
+        &mut self,
+        target_id: ComponentId,
+        mode: ModeAndSubmode,
+    ) -> Result<(), TargetNotInModeStoreError> {
+        if !self.has_component(target_id) {
+            return Err(TargetNotInModeStoreError(target_id));
+        }
+        self.set_mode_for_contained_component(target_id, mode);
+        Ok(())
+    }
 }
 
 #[cfg(feature = "alloc")]
@@ -268,6 +288,10 @@ pub mod alloc_mod {
             self.0.push((target_id, mode));
         }
 
+        fn has_component(&self, target_id: ComponentId) -> bool {
+            self.0.iter().any(|(id, _)| *id == target_id)
+        }
+
         fn get_mode(&self, target_id: ComponentId) -> Option<ModeAndSubmode> {
             self.0.iter().find_map(|(id, mode)| {
                 if *id == target_id {
@@ -277,7 +301,11 @@ pub mod alloc_mod {
             })
         }
 
-        fn set_mode(&mut self, target_id: ComponentId, mode_to_set: ModeAndSubmode) {
+        fn set_mode_for_contained_component(
+            &mut self,
+            target_id: ComponentId,
+            mode_to_set: ModeAndSubmode,
+        ) {
             self.0.iter_mut().for_each(|(id, mode)| {
                 if *id == target_id {
                     *mode = mode_to_set;
@@ -290,10 +318,19 @@ pub mod alloc_mod {
         fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
             self.0.insert(target_id, mode);
         }
+
+        fn has_component(&self, target_id: ComponentId) -> bool {
+            self.0.contains_key(&target_id)
+        }
+
         fn get_mode(&self, target_id: ComponentId) -> Option<ModeAndSubmode> {
             self.0.get(&target_id).copied()
         }
-        fn set_mode(&mut self, target_id: ComponentId, mode_to_set: ModeAndSubmode) {
+        fn set_mode_for_contained_component(
+            &mut self,
+            target_id: ComponentId,
+            mode_to_set: ModeAndSubmode,
+        ) {
             self.0.insert(target_id, mode_to_set);
         }
     }

satrs/src/subsystem.rs

@@ -6,31 +6,13 @@ use crate::{
     ComponentId,
 };
 
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub enum SequenceExecutionHelperStates {
     Idle,
     AwaitingCheckSuccess,
     Done,
 }
 
-#[derive(Debug)]
-pub struct SequenceExecutionHelper {
-    target_mode: Mode,
-    state: SequenceExecutionHelperStates,
-    request_id: RequestId,
-    current_sequence_index: Option<usize>,
-}
-
-impl Default for SequenceExecutionHelper {
-    fn default() -> Self {
-        Self {
-            target_mode: 0,
-            state: SequenceExecutionHelperStates::Idle,
-            request_id: 0,
-            current_sequence_index: todo!(),
-        }
-    }
-}
 pub trait CheckSuccessProvider {
     fn mode_request_requires_success_check(
         &mut self,
@@ -46,15 +28,38 @@ pub enum SequenceHandlerResult {
     AwaitingSuccessCheck,
 }
 
+#[derive(Debug, thiserror::Error)]
+#[error("Mode {0} does not exist")]
+pub struct ModeDoesNotExistError(Mode);
+
+#[derive(Debug)]
+pub struct SequenceExecutionHelper {
+    target_mode: Mode,
+    state: SequenceExecutionHelperStates,
+    request_id: RequestId,
+    current_sequence_index: Option<usize>,
+}
+
+impl Default for SequenceExecutionHelper {
+    fn default() -> Self {
+        Self {
+            target_mode: 0,
+            state: SequenceExecutionHelperStates::Idle,
+            request_id: 0,
+            current_sequence_index: None,
+        }
+    }
+}
+
 impl SequenceExecutionHelper {
     pub fn load(
         &mut self,
         mode: Mode,
         request_id: RequestId,
         sequence_tables: &SequenceModeTables,
-    ) -> Result<(), ()> {
+    ) -> Result<(), ModeDoesNotExistError> {
         if !sequence_tables.0.contains_key(&mode) {
-            return Err(());
+            return Err(ModeDoesNotExistError(mode));
         }
         self.target_mode = mode;
         self.request_id = request_id;
@@ -68,6 +73,21 @@ impl SequenceExecutionHelper {
         }
     }
 
+    pub fn state(&self) -> SequenceExecutionHelperStates {
+        self.state
+    }
+
+    pub fn awaiting_check_success(&self) -> bool {
+        matches!(
+            self.state,
+            SequenceExecutionHelperStates::AwaitingCheckSuccess
+        )
+    }
+
+    pub fn current_sequence_index(&self) -> Option<usize> {
+        self.current_sequence_index
+    }
+
     pub fn run(
         &mut self,
         table: &SequenceModeTables,

satrs/tests/mode_tree.rs

@@ -1,19 +1,19 @@
 use core::cell::Cell;
 use satrs::mode::{
     Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
-    ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
-    ModeRequestorOneChildBoundedMpsc,
+    ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestSender,
+    ModeRequestorAndHandlerMpscBounded, ModeRequestorOneChildBoundedMpsc,
 };
 use satrs::mode_tree::{
     connect_mode_nodes, ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableEntry,
-    SequenceTableMapTable, TargetTableEntry,
+    SequenceTableMapTable, TargetNotInModeStoreError, TargetTableEntry,
 };
 use satrs::mode_tree::{
     ModeStoreVec, SequenceModeTables, SequenceTablesMapValue, TargetModeTables,
     TargetTablesMapValue,
 };
 use satrs::request::MessageMetadata;
-use satrs::subsystem::SequenceExecutionHelper;
+use satrs::subsystem::{SequenceExecutionHelper, SequenceHandlerResult};
 use satrs::{
     mode::{ModeAndSubmode, ModeReply, ModeRequest},
     queue::GenericTargetedMessagingError,
@@ -58,6 +58,10 @@ pub enum TestComponentId {
 pub type RequestSenderType = mpsc::SyncSender<GenericMessage<ModeRequest>>;
 pub type ReplySenderType = mpsc::SyncSender<GenericMessage<ModeReply>>;
 
+// TODO:
+//
+// 1. Fallback mode?
+// 2. State to determine whether we are in sequence execution mode or in target keeping mode.
 #[derive(Default)]
 pub struct SubsystemHelper {
     pub children_mode_store: ModeStoreVec,
@@ -70,7 +74,7 @@ impl SubsystemHelper {
         children_mode_store: ModeStoreVec,
         target_tables: TargetModeTables,
         sequence_tables: SequenceModeTables,
-    ) -> Self{
+    ) -> Self {
         Self {
             children_mode_store,
             target_tables,
@@ -88,6 +92,39 @@ impl SubsystemHelper {
         self.target_tables.0.insert(mode, target_table_val);
         self.sequence_tables.0.insert(mode, sequence_table_val);
     }
+
+    pub fn update_child_mode(
+        &mut self,
+        child: ComponentId,
+        mode: ModeAndSubmode,
+    ) -> Result<(), TargetNotInModeStoreError> {
+        self.children_mode_store.set_mode(child, mode)
+    }
+
+    pub fn insert_mode_reply(&mut self, reply: &ModeReply) {
+        // 1. Update child mode store (also, do we really need one?)
+        // 2. If a sequence is active, check whether this completes the sequence. How do we best
+        //    do this? We would have to remember which IDs need a mode confirmation. We could
+        //    extend the mode store for this.
+        // 3. If no sequence is active and we are in target mode, we need to check whether the
+        //    target mode table is violated. If it is, we need to command the fallback mode.
+    }
+
+    pub fn run(
+        &mut self,
+        req_sender: &impl ModeRequestSender,
+    ) -> Result<SequenceHandlerResult, GenericTargetedMessagingError> {
+        //if self.helper.awaiting_check_success() {
+        //self.check_current_sequence_against_mode_store();
+        //}
+        self.helper.run(&self.sequence_tables, req_sender)
+    }
+
+    //pub fn check_current_sequence_against_mode_store(&self) {
+    // TODO: Check whether current sequence requires success checks and if some are required,
+    // check mode store content against the sequence target mode.
+
+    //}
 }
 
 #[derive(Default, Debug)]