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WIP: Mode Sequence and Tables #211

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muellerr wants to merge 9 commits from mode-tables-sequence-tables into main
pull from: mode-tables-sequence-tables
merge into: rust:main
Conversation 0 Commits 9 Files Changed 9 +407 -196
1 changed files with 407 additions and 196 deletions
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603
satrs/tests/mode_tree.rs
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@ -1,6 +1,4 @@
use core::cell::Cell;
use std::{println, sync::mpsc};
use satrs::mode::{
Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestSender,
@ -17,10 +15,22 @@ use satrs::{
request::GenericMessage,
ComponentId,
};
use std::cell::RefCell;
use std::collections::VecDeque;
use std::convert::Infallible;
use std::string::{String, ToString};
use std::{println, sync::mpsc};
const INVALID_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff, 0);
const UNKNOWN_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff - 1, 0);
pub const OFF_MODE: ModeAndSubmode = ModeAndSubmode::new(0, 0);
#[derive(Debug)]
pub enum AcsMode {
OFF = 0,
SAFE = 1,
IDLE = 2
}
pub enum TestComponentId {
MagnetometerDevice = 1,
@ -37,6 +47,88 @@ pub enum TestComponentId {
pub type RequestSenderType = mpsc::SyncSender<GenericMessage<ModeRequest>>;
pub type ReplySenderType = mpsc::SyncSender<GenericMessage<ModeReply>>;
#[derive(Default, Debug)]
pub struct ModeRequestHandlerMock {
get_mode_calls: RefCell<u32>,
start_transition_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
announce_mode_calls: RefCell<VecDeque<AnnounceModeInfo>>,
handle_mode_info_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
handle_mode_reached_calls: RefCell<VecDeque<Option<MessageMetadata>>>,
send_mode_reply_calls: RefCell<VecDeque<(MessageMetadata, ModeReply)>>,
}
impl ModeRequestHandlerMock {
pub fn clear(&mut self) {
self.get_mode_calls.replace(0);
self.start_transition_calls.clear();
self.announce_mode_calls.borrow_mut().clear();
self.handle_mode_reached_calls.borrow_mut().clear();
self.handle_mode_info_calls.clear();
self.send_mode_reply_calls.borrow_mut().clear();
}
}
impl ModeProvider for ModeRequestHandlerMock {
fn mode_and_submode(&self) -> ModeAndSubmode {
*self.get_mode_calls.borrow_mut() += 1;
INVALID_MODE
}
}
impl ModeRequestHandler for ModeRequestHandlerMock {
type Error = Infallible;
fn start_transition(
&mut self,
requestor: MessageMetadata,
mode_and_submode: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.start_transition_calls
.push_back((requestor, mode_and_submode));
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
self.announce_mode_calls
.borrow_mut()
.push_back(AnnounceModeInfo {
requestor: requestor_info,
recursive,
});
}
fn handle_mode_reached(
&mut self,
requestor_info: Option<MessageMetadata>,
) -> Result<(), Self::Error> {
self.handle_mode_reached_calls
.borrow_mut()
.push_back(requestor_info);
Ok(())
}
fn handle_mode_info(
&mut self,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.handle_mode_info_calls
.push_back((requestor_info, info));
todo!()
}
fn send_mode_reply(
&self,
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.send_mode_reply_calls
.borrow_mut()
.push_back((requestor_info, reply));
Ok(())
}
}
/// Trait which denotes that an object is a parent in a mode tree.
///
/// A mode parent is capable of sending mode requests to child objects and has a unique component
@ -69,9 +161,9 @@ pub trait ModeChild {
/// * `child` - The child object which implements [ModeChild].
/// * `reply_sender` - Sender object to send mode replies to the parent.
pub fn connect_mode_nodes<ReqSender, ReplySender>(
parent: &mut impl ModeParent<Sender=ReqSender>,
parent: &mut impl ModeParent<Sender = ReqSender>,
request_sender: ReqSender,
child: &mut impl ModeChild<Sender=ReplySender>,
child: &mut impl ModeChild<Sender = ReplySender>,
reply_sender: ReplySender,
) {
parent.add_mode_child(child.id(), request_sender);
@ -84,7 +176,7 @@ struct PusModeService {
}
impl PusModeService {
pub fn send_announce_mode_cmd_to_subsystem(&self) {
pub fn announce_modes_recursively(&self) {
self.mode_node
.send_mode_request(
self.request_id_counter.get(),
@ -104,7 +196,7 @@ impl ModeParent for PusModeService {
TestComponentId::PusModeService as ComponentId
}
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
self.mode_node.add_message_target(id, request_sender);
}
}
@ -117,9 +209,20 @@ struct AcsSubsystem {
pub children_mode_store: ModeStoreVec,
pub target_tables: TargetModeTables,
pub sequence_tables: SequenceModeTables,
pub mode_req_handler_mock: ModeRequestHandlerMock,
}
impl AcsSubsystem {
pub fn run(&mut self) {
if let Some(request) = self.mode_node.try_recv_mode_request().unwrap() {
self.handle_mode_request(request)
.expect("mode messaging error");
}
}
fn id(&self) -> ComponentId {
TestComponentId::AcsSubsystem as ComponentId
}
pub fn add_target_and_sequence_table(
&mut self,
mode: Mode,
@ -135,7 +238,7 @@ impl ModeParent for AcsSubsystem {
type Sender = RequestSenderType;
fn id(&self) -> ComponentId {
TestComponentId::PusModeService as ComponentId
self.id()
}
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
@ -148,8 +251,9 @@ impl ModeChild for AcsSubsystem {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
TestComponentId::PusModeService as ComponentId
self.id()
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
self.mode_node.add_reply_target(id, reply_sender);
}
@ -171,6 +275,9 @@ impl ModeRequestHandler for AcsSubsystem {
) -> Result<(), Self::Error> {
self.mode_requestor_info = Some(requestor);
self.target_mode_and_submode = Some(mode_and_submode);
self.mode_req_handler_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
// Execute mode map by executing the transition table(s).
Ok(())
}
@ -197,6 +304,8 @@ impl ModeRequestHandler for AcsSubsystem {
))
.expect("sending mode request failed");
});
self.mode_req_handler_mock
.announce_mode(requestor_info, recursive);
}
fn handle_mode_reached(
@ -206,6 +315,9 @@ impl ModeRequestHandler for AcsSubsystem {
if let Some(requestor) = requestor_info {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
self.mode_req_handler_mock
.handle_mode_reached(requestor_info)
.unwrap();
Ok(())
}
@ -214,6 +326,9 @@ impl ModeRequestHandler for AcsSubsystem {
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.mode_req_handler_mock
.handle_mode_info(requestor_info, info)
.unwrap();
// TODO: Need to check whether mode table execution is finished.
// This works by checking the children modes received through replies against the
// mode table after all transition tables were executed.
@ -225,6 +340,9 @@ impl ModeRequestHandler for AcsSubsystem {
requestor_info: MessageMetadata,
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_req_handler_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
self.mode_node.send_mode_reply(requestor_info, reply)?;
Ok(())
}
@ -235,6 +353,7 @@ struct MgmAssembly {
pub mode_requestor_info: Option<MessageMetadata>,
pub mode_and_submode: ModeAndSubmode,
pub target_mode_and_submode: Option<ModeAndSubmode>,
pub mode_req_mock: ModeRequestHandlerMock,
}
impl MgmAssembly {
@ -242,29 +361,13 @@ impl MgmAssembly {
self.check_mode_requests().expect("mode messaging error");
self.check_mode_replies().expect("mode messaging error");
}
fn id(&self) -> ComponentId {
TestComponentId::MagnetometerAssembly as u64
}
pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
if let Some(request) = self.mode_node.try_recv_mode_request()? {
match request.message {
ModeRequest::SetMode(mode_and_submode) => {
self.start_transition(request.requestor_info, mode_and_submode)
.unwrap();
}
ModeRequest::ReadMode => self
.mode_node
.send_mode_reply(
request.requestor_info,
ModeReply::ModeReply(self.mode_and_submode),
)
.unwrap(),
ModeRequest::AnnounceMode => {
self.announce_mode(Some(request.requestor_info), false)
}
ModeRequest::AnnounceModeRecursive => {
self.announce_mode(Some(request.requestor_info), true)
}
ModeRequest::ModeInfo(_) => todo!(),
}
self.handle_mode_request(request).unwrap();
}
Ok(())
}
@ -298,7 +401,7 @@ impl ModeParent for MgmAssembly {
type Sender = RequestSenderType;
fn id(&self) -> ComponentId {
TestComponentId::AcsSubsystem as ComponentId
self.id()
}
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
@ -310,7 +413,7 @@ impl ModeChild for MgmAssembly {
type Sender = ReplySenderType;
fn id(&self) -> ComponentId {
TestComponentId::PusModeService as ComponentId
self.id()
}
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
@ -333,6 +436,9 @@ impl ModeRequestHandler for MgmAssembly {
) -> Result<(), Self::Error> {
self.mode_requestor_info = Some(requestor);
self.target_mode_and_submode = Some(mode_and_submode);
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
Ok(())
}
@ -341,7 +447,6 @@ impl ModeRequestHandler for MgmAssembly {
"TestAssembly: Announcing mode (recursively: {}): {:?}",
recursive, self.mode_and_submode
);
// self.mode_requestor_info = Some((request_id, sender_id));
let mut mode_request = ModeRequest::AnnounceMode;
if recursive {
mode_request = ModeRequest::AnnounceModeRecursive;
@ -359,6 +464,7 @@ impl ModeRequestHandler for MgmAssembly {
))
.expect("sending mode request failed");
});
self.mode_req_mock.announce_mode(requestor_info, recursive);
}
fn handle_mode_reached(
@ -368,6 +474,9 @@ impl ModeRequestHandler for MgmAssembly {
if let Some(requestor) = mode_requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
self.mode_req_mock
.handle_mode_reached(mode_requestor)
.unwrap();
Ok(())
}
@ -377,14 +486,20 @@ impl ModeRequestHandler for MgmAssembly {
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_node.send_mode_reply(requestor, reply)?;
self.mode_req_mock
.send_mode_reply(requestor, reply)
.unwrap();
Ok(())
}
fn handle_mode_info(
&mut self,
_requestor_info: MessageMetadata,
_info: ModeAndSubmode,
requestor_info: MessageMetadata,
info: ModeAndSubmode,
) -> Result<(), Self::Error> {
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
// TODO: A proper assembly must reach to mode changes of its children..
Ok(())
}
@ -395,6 +510,7 @@ struct CommonDevice {
pub id: ComponentId,
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
pub mode_req_mock: ModeRequestHandlerMock,
}
impl CommonDevice {
@ -404,6 +520,7 @@ impl CommonDevice {
id,
mode_node,
mode_and_submode: ModeAndSubmode::new(0, 0),
mode_req_mock: Default::default(),
}
}
@ -447,20 +564,25 @@ impl ModeRequestHandler for CommonDevice {
) -> Result<(), ModeError> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
Ok(())
}
fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
"{}: announcing mode: {:?}",
self.name, self.mode_and_submode
);
self.mode_req_mock.announce_mode(requestor_info, recursive);
}
fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
if let Some(requestor) = requestor {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
self.mode_req_mock.handle_mode_reached(requestor).unwrap();
Ok(())
}
fn send_mode_reply(
@ -469,6 +591,9 @@ impl ModeRequestHandler for CommonDevice {
reply: ModeReply,
) -> Result<(), ModeError> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
self.mode_req_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
Ok(())
}
@ -484,13 +609,24 @@ impl ModeRequestHandler for CommonDevice {
requestor_info.sender_id(),
info
);
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
Ok(())
}
}
#[derive(Debug, Default)]
pub struct AnnounceModeInfo {
pub requestor: Option<MessageMetadata>,
pub recursive: bool,
}
pub struct AcsController {
pub mode_node: ModeRequestHandlerMpscBounded,
pub mode_and_submode: ModeAndSubmode,
pub announce_mode_queue: RefCell<VecDeque<AnnounceModeInfo>>,
pub mode_req_mock: ModeRequestHandlerMock,
}
impl AcsController {
@ -534,14 +670,20 @@ impl ModeRequestHandler for AcsController {
) -> Result<(), Self::Error> {
self.mode_and_submode = mode_and_submode;
self.handle_mode_reached(Some(requestor))?;
self.mode_req_mock
.start_transition(requestor, mode_and_submode)
.unwrap();
Ok(())
}
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
println!(
"ACS Controllerj: announcing mode: {:?}",
self.mode_and_submode
);
self.announce_mode_queue
.borrow_mut()
.push_back(AnnounceModeInfo {
requestor: requestor_info,
recursive,
});
self.mode_req_mock.announce_mode(requestor_info, recursive);
}
fn handle_mode_reached(
@ -551,6 +693,9 @@ impl ModeRequestHandler for AcsController {
if let Some(requestor) = requestor_info {
self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
}
self.mode_req_mock
.handle_mode_reached(requestor_info)
.unwrap();
Ok(())
}
@ -565,6 +710,9 @@ impl ModeRequestHandler for AcsController {
requestor_info.sender_id(),
info
);
self.mode_req_mock
.handle_mode_info(requestor_info, info)
.unwrap();
Ok(())
}
@ -574,166 +722,229 @@ impl ModeRequestHandler for AcsController {
reply: ModeReply,
) -> Result<(), Self::Error> {
self.mode_node.send_mode_reply(requestor_info, reply)?;
self.mode_req_mock
.send_mode_reply(requestor_info, reply)
.unwrap();
Ok(())
}
}
#[test]
fn main() {
// All request channel handles.
let (request_sender_to_mgm_dev, request_receiver_mgm_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgt_dev, request_receiver_mgt_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgm_assy, request_receiver_mgm_assy) = mpsc::sync_channel(10);
let (request_sender_to_acs_subsystem, request_receiver_acs_subsystem) = mpsc::sync_channel(10);
let (request_sender_to_acs_ctrl, request_receiver_acs_ctrl) = mpsc::sync_channel(10);
// All reply channel handles.
let (reply_sender_to_mgm_assy, reply_receiver_mgm_assy) = mpsc::sync_channel(10);
let (reply_sender_to_acs_subsystem, reply_receiver_acs_subsystem) = mpsc::sync_channel(10);
let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
// Mode requestors and handlers.
let mut mgm_assy_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::MagnetometerAssembly as ComponentId,
request_receiver_mgm_assy,
reply_receiver_mgm_assy,
);
let mut acs_subsystem_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::AcsSubsystem as ComponentId,
request_receiver_acs_subsystem,
reply_receiver_acs_subsystem,
);
// Mode requestors only.
let mut mode_node_pus = ModeRequestorBoundedMpsc::new(
TestComponentId::PusModeService as ComponentId,
reply_receiver_pus,
);
// Request handlers only.
let mut mgm_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice as ComponentId,
request_receiver_mgm_dev,
);
let mut mgt_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetorquerDevice as ComponentId,
request_receiver_mgt_dev,
);
let mut acs_ctrl_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::AcsController as ComponentId,
request_receiver_acs_ctrl,
);
// Set up mode reply senders.
mgm_dev_node.add_message_target(
TestComponentId::MagnetometerAssembly as ComponentId,
reply_sender_to_mgm_assy.clone(),
);
mgt_dev_node.add_message_target(
TestComponentId::MagnetometerAssembly as ComponentId,
reply_sender_to_mgm_assy.clone(),
);
mgm_assy_node.add_reply_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mgm_assy_node.add_reply_target(
TestComponentId::AcsSubsystem as ComponentId,
reply_sender_to_pus.clone(),
);
let mut mode_store_acs_subsystem = ModeStoreVec::default();
let mut target_tables_acs_subsystem = TargetModeTables::default();
let mut sequence_tables_acs_subsystem = SequenceModeTables::default();
let mut mgm_dev = CommonDevice::new(
"MGM".to_string(),
TestComponentId::MagnetometerDevice as u64,
mgm_dev_node,
);
let mut mgt_dev = CommonDevice::new(
"MGT".to_string(),
TestComponentId::MagnetorquerDevice as u64,
mgt_dev_node,
);
let mut mgm_assy = MgmAssembly {
mode_node: mgm_assy_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
};
let mut acs_subsystem = AcsSubsystem {
mode_node: acs_subsystem_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
children_mode_store: mode_store_acs_subsystem,
target_tables: target_tables_acs_subsystem,
sequence_tables: sequence_tables_acs_subsystem,
};
let mut acs_ctrl = AcsController {
mode_node: acs_ctrl_node,
mode_and_submode: ModeAndSubmode::new(0, 0),
};
let mut pus_service = PusModeService {
request_id_counter: Cell::new(0),
mode_node: mode_node_pus,
};
// Connect the PUS mode service to all mode objects.
connect_mode_nodes(
&mut pus_service,
request_sender_to_acs_subsystem,
&mut acs_subsystem,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_acs_ctrl.clone(),
&mut acs_ctrl,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_dev.clone(),
&mut mgm_dev,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_assy.clone(),
&mut mgm_assy,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgt_dev,
&mut mgt_dev,
reply_sender_to_pus.clone(),
);
// Connect the ACS subsystem to all children.
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_mgm_assy,
&mut mgm_assy,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_acs_ctrl,
&mut acs_ctrl,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut mgm_assy,
request_sender_to_mgm_dev,
&mut mgm_dev,
reply_sender_to_mgm_assy,
);
pus_service.send_announce_mode_cmd_to_subsystem();
mgm_assy.run();
mgm_dev.run();
mgt_dev.run();
pub struct TreeTestbench {
pus: PusModeService,
subsystem: AcsSubsystem,
ctrl: AcsController,
mgm_assy: MgmAssembly,
mgm_dev: CommonDevice,
mgt_dev: CommonDevice,
}
impl Default for TreeTestbench {
fn default() -> Self {
Self::new()
}
}
impl TreeTestbench {
pub fn new() -> Self {
// All request channel handles.
let (request_sender_to_mgm_dev, request_receiver_mgm_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgt_dev, request_receiver_mgt_dev) = mpsc::sync_channel(10);
let (request_sender_to_mgm_assy, request_receiver_mgm_assy) = mpsc::sync_channel(10);
let (request_sender_to_acs_subsystem, request_receiver_acs_subsystem) =
mpsc::sync_channel(10);
let (request_sender_to_acs_ctrl, request_receiver_acs_ctrl) = mpsc::sync_channel(10);
// All reply channel handles.
let (reply_sender_to_mgm_assy, reply_receiver_mgm_assy) = mpsc::sync_channel(10);
let (reply_sender_to_acs_subsystem, reply_receiver_acs_subsystem) = mpsc::sync_channel(10);
let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
// Mode requestors and handlers.
let mut mgm_assy_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::MagnetometerAssembly as ComponentId,
request_receiver_mgm_assy,
reply_receiver_mgm_assy,
);
let acs_subsystem_node = ModeRequestorAndHandlerMpscBounded::new(
TestComponentId::AcsSubsystem as ComponentId,
request_receiver_acs_subsystem,
reply_receiver_acs_subsystem,
);
// Mode requestors only.
let mode_node_pus = ModeRequestorBoundedMpsc::new(
TestComponentId::PusModeService as ComponentId,
reply_receiver_pus,
);
// Request handlers only.
let mut mgm_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetometerDevice as ComponentId,
request_receiver_mgm_dev,
);
let mut mgt_dev_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::MagnetorquerDevice as ComponentId,
request_receiver_mgt_dev,
);
let acs_ctrl_node = ModeRequestHandlerMpscBounded::new(
TestComponentId::AcsController as ComponentId,
request_receiver_acs_ctrl,
);
// Set up mode reply senders.
mgm_dev_node.add_message_target(
TestComponentId::MagnetometerAssembly as ComponentId,
reply_sender_to_mgm_assy.clone(),
);
mgt_dev_node.add_message_target(
TestComponentId::MagnetometerAssembly as ComponentId,
reply_sender_to_mgm_assy.clone(),
);
mgm_assy_node.add_reply_target(
TestComponentId::PusModeService as ComponentId,
reply_sender_to_pus.clone(),
);
mgm_assy_node.add_reply_target(
TestComponentId::AcsSubsystem as ComponentId,
reply_sender_to_pus.clone(),
);
let mut mode_store_acs_subsystem = ModeStoreVec::default();
let mut target_tables_acs_subsystem = TargetModeTables::default();
let mut sequence_tables_acs_subsystem = SequenceModeTables::default();
let mut mgm_dev = CommonDevice::new(
"MGM".to_string(),
TestComponentId::MagnetometerDevice as u64,
mgm_dev_node,
);
let mut mgt_dev = CommonDevice::new(
"MGT".to_string(),
TestComponentId::MagnetorquerDevice as u64,
mgt_dev_node,
);
let mut mgm_assy = MgmAssembly {
mode_node: mgm_assy_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
mode_req_mock: ModeRequestHandlerMock::default(),
};
let mut acs_subsystem = AcsSubsystem {
mode_node: acs_subsystem_node,
mode_requestor_info: None,
mode_and_submode: ModeAndSubmode::new(0, 0),
target_mode_and_submode: None,
children_mode_store: mode_store_acs_subsystem,
target_tables: target_tables_acs_subsystem,
sequence_tables: sequence_tables_acs_subsystem,
mode_req_handler_mock: Default::default(),
};
let mut acs_ctrl = AcsController {
mode_node: acs_ctrl_node,
mode_and_submode: UNKNOWN_MODE,
announce_mode_queue: RefCell::new(Default::default()),
mode_req_mock: Default::default(),
};
let mut pus_service = PusModeService {
request_id_counter: Cell::new(0),
mode_node: mode_node_pus,
};
// Connect the PUS mode service to all mode objects.
connect_mode_nodes(
&mut pus_service,
request_sender_to_acs_subsystem,
&mut acs_subsystem,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_acs_ctrl.clone(),
&mut acs_ctrl,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_dev.clone(),
&mut mgm_dev,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgm_assy.clone(),
&mut mgm_assy,
reply_sender_to_pus.clone(),
);
connect_mode_nodes(
&mut pus_service,
request_sender_to_mgt_dev.clone(),
&mut mgt_dev,
reply_sender_to_pus.clone(),
);
// Connect the ACS subsystem to all children.
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_mgm_assy,
&mut mgm_assy,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_acs_ctrl,
&mut acs_ctrl,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut acs_subsystem,
request_sender_to_mgt_dev,
&mut mgt_dev,
reply_sender_to_acs_subsystem.clone(),
);
connect_mode_nodes(
&mut mgm_assy,
request_sender_to_mgm_dev,
&mut mgm_dev,
reply_sender_to_mgm_assy,
);
Self {
pus: pus_service,
subsystem: acs_subsystem,
ctrl: acs_ctrl,
mgm_assy,
mgm_dev,
mgt_dev,
}
}
}
#[test]
fn announce_recursively() {
let mut tb = TreeTestbench::new();
tb.pus.announce_modes_recursively();
tb.subsystem.run();
tb.ctrl.run();
tb.mgm_assy.run();
tb.mgm_dev.run();
tb.mgt_dev.run();
let mut announces = tb
.subsystem
.mode_req_handler_mock
.announce_mode_calls
.borrow_mut();
assert_eq!(announces.len(), 1);
announces = tb.ctrl.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.ctrl.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(tb.ctrl.mode_and_submode(), UNKNOWN_MODE);
assert_eq!(announces.len(), 1);
announces = tb.mgm_assy.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.mgm_assy.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(announces.len(), 1);
announces = tb.mgm_dev.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.mgm_dev.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(announces.len(), 1);
announces = tb.mgt_dev.mode_req_mock.announce_mode_calls.borrow_mut();
assert_eq!(tb.mgt_dev.mode_req_mock.start_transition_calls.len(), 0);
assert_eq!(announces.len(), 1);
}