1348 lines
42 KiB
Rust
1348 lines
42 KiB
Rust
use core::cell::Cell;
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use satrs::mode::{
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Mode, ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
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ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestSender,
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ModeRequestorAndHandlerMpscBounded, ModeRequestorOneChildBoundedMpsc,
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};
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use satrs::mode_tree::{
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connect_mode_nodes, ModeChild, ModeNode, ModeParent, ModeStoreProvider, SequenceTableEntry,
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SequenceTableMapTable, TargetNotInModeStoreError, TargetTableEntry,
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};
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use satrs::mode_tree::{
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ModeStoreVec, SequenceModeTables, SequenceTablesMapValue, TargetModeTables,
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TargetTablesMapValue,
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};
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use satrs::request::MessageMetadata;
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use satrs::subsystem::{SequenceExecutionHelper, SequenceHandlerResult};
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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::cell::RefCell;
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use std::collections::VecDeque;
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use std::convert::Infallible;
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use std::{println, sync::mpsc};
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const INVALID_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff, 0);
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const UNKNOWN_MODE: ModeAndSubmode = ModeAndSubmode::new(0xffffffff - 1, 0);
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pub enum DefaultMode {
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OFF = 0,
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ON = 1,
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NORMAL = 2,
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}
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#[derive(Debug)]
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pub enum AcsMode {
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OFF = 0,
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SAFE = 1,
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IDLE = 2,
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}
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pub enum TestComponentId {
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MagnetometerDevice0 = 1,
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MagnetometerDevice1 = 2,
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MagnetorquerDevice = 5,
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ReactionWheelDevice = 6,
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StartrackerDevice = 7,
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MgtDevManager = 8,
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ReactionWheelAssembly = 10,
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MagnetometerAssembly = 11,
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AcsController = 14,
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AcsSubsystem = 15,
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PusModeService = 16,
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}
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pub type RequestSenderType = mpsc::SyncSender<GenericMessage<ModeRequest>>;
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pub type ReplySenderType = mpsc::SyncSender<GenericMessage<ModeReply>>;
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#[derive(Debug)]
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pub enum ModeTreeHelperState {
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Idle,
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TargetKeeping = 1,
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SequenceCommanding = 2,
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}
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#[derive(Debug)]
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pub enum ModeTreeHelperResult {
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Idle,
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TargetKeeping,
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SequenceCommanding(SequenceHandlerResult),
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}
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impl From<SequenceHandlerResult> for ModeTreeHelperResult {
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fn from(value: SequenceHandlerResult) -> Self {
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Self::SequenceCommanding(value)
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}
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}
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#[derive(Debug, thiserror::Error)]
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pub enum ModeTreeHelperError {
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#[error("generic targeted messaging error: {0}")]
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Message(#[from] GenericTargetedMessagingError),
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}
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// TODO:
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//
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// 1. Fallback mode? Needs to be a part of the target mode table..
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// 2. State to determine whether we are in sequence execution mode or in target keeping mode.
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pub struct ModeTreeCommandingHelper {
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pub state: ModeTreeHelperState,
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pub children_mode_store: ModeStoreVec,
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pub target_tables: TargetModeTables,
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pub sequence_tables: SequenceModeTables,
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pub helper: SequenceExecutionHelper,
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}
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impl ModeTreeCommandingHelper {
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pub fn new(
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children_mode_store: ModeStoreVec,
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target_tables: TargetModeTables,
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sequence_tables: SequenceModeTables,
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) -> Self {
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Self {
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state: ModeTreeHelperState::Idle,
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children_mode_store,
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target_tables,
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sequence_tables,
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helper: Default::default(),
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}
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}
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pub fn add_target_and_sequence_table(
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&mut self,
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mode: Mode,
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target_table_val: TargetTablesMapValue,
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sequence_table_val: SequenceTablesMapValue,
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) {
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self.target_tables.0.insert(mode, target_table_val);
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self.sequence_tables.0.insert(mode, sequence_table_val);
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}
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pub fn update_child_mode(
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&mut self,
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child: ComponentId,
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mode: ModeAndSubmode,
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) -> Result<(), TargetNotInModeStoreError> {
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self.children_mode_store.set_mode(child, mode)
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}
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pub fn handle_mode_reply(&mut self, reply: &GenericMessage<ModeReply>) {
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let mut update_mode_store = |target_id, mode_and_submode| {
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if !self.children_mode_store.has_component(target_id) {
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return;
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}
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self.children_mode_store
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.set_mode_for_contained_component(target_id, mode_and_submode);
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// TODO:
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// 1. If we are in IDLE Mode, we are done.
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// 2. If we are in sequencing mode, check whether this completes the sequence. How do
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// we best do this? We would have to remember which IDs need a mode confirmation.
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// We could extend the mode store for this.
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// 3. If we are in target keeping mode, we have to check whether the target keeping was
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// violated.
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};
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match reply.message {
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ModeReply::ModeInfo(mode_and_submode) => {
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update_mode_store(reply.sender_id(), mode_and_submode);
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}
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ModeReply::ModeReply(mode_and_submode) => {
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update_mode_store(reply.sender_id(), mode_and_submode);
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}
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ModeReply::CantReachMode(_) => (),
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ModeReply::WrongMode { reached, .. } => {
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update_mode_store(reply.sender_id(), reached);
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}
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};
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}
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pub fn state_machine(
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&mut self,
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opt_reply: Option<&GenericMessage<ModeReply>>,
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req_sender: &impl ModeRequestSender,
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) -> Result<ModeTreeHelperResult, ModeTreeHelperError> {
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if let Some(reply) = opt_reply {
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self.handle_mode_reply(reply);
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}
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match self.state {
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ModeTreeHelperState::Idle => todo!(),
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ModeTreeHelperState::TargetKeeping => {
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// TODO: Verify children modes against target table where applicable.
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Ok(ModeTreeHelperResult::TargetKeeping)
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}
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ModeTreeHelperState::SequenceCommanding => {
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Ok(self.helper.run(&self.sequence_tables, req_sender)?.into())
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}
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}
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}
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//pub fn check_current_sequence_against_mode_store(&self) {
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// TODO: Check whether current sequence requires success checks and if some are required,
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// check mode store content against the sequence target mode.
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//}
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}
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#[derive(Default, Debug)]
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pub struct ModeRequestHandlerMock {
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get_mode_calls: RefCell<u32>,
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start_transition_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
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announce_mode_calls: RefCell<VecDeque<AnnounceModeInfo>>,
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handle_mode_info_calls: VecDeque<(MessageMetadata, ModeAndSubmode)>,
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handle_mode_reached_calls: RefCell<VecDeque<Option<MessageMetadata>>>,
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send_mode_reply_calls: RefCell<VecDeque<(MessageMetadata, ModeReply)>>,
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}
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impl ModeRequestHandlerMock {
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pub fn clear(&mut self) {
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self.get_mode_calls.replace(0);
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self.start_transition_calls.clear();
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self.announce_mode_calls.borrow_mut().clear();
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self.handle_mode_reached_calls.borrow_mut().clear();
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self.handle_mode_info_calls.clear();
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self.send_mode_reply_calls.borrow_mut().clear();
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}
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}
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impl ModeProvider for ModeRequestHandlerMock {
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fn mode_and_submode(&self) -> ModeAndSubmode {
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*self.get_mode_calls.borrow_mut() += 1;
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INVALID_MODE
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}
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}
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impl ModeRequestHandler for ModeRequestHandlerMock {
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type Error = Infallible;
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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.start_transition_calls
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.push_back((requestor, 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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self.announce_mode_calls
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.borrow_mut()
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.push_back(AnnounceModeInfo {
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requestor: requestor_info,
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recursive,
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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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requestor_info: Option<MessageMetadata>,
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) -> Result<(), Self::Error> {
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self.handle_mode_reached_calls
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.borrow_mut()
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.push_back(requestor_info);
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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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self.handle_mode_info_calls
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.push_back((requestor_info, info));
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todo!()
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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<(), Self::Error> {
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self.send_mode_reply_calls
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.borrow_mut()
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.push_back((requestor_info, reply));
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Ok(())
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}
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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: ModeRequestorOneChildBoundedMpsc,
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}
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impl PusModeService {
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pub fn announce_modes_recursively(&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::AcsSubsystem 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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impl ModeNode for PusModeService {
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fn id(&self) -> ComponentId {
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TestComponentId::PusModeService as ComponentId
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}
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}
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impl ModeParent for PusModeService {
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type Sender = RequestSenderType;
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fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
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self.mode_node.add_message_target(id, request_sender);
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}
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}
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struct AcsSubsystem {
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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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pub subsystem_helper: ModeTreeCommandingHelper,
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pub mode_req_handler_mock: ModeRequestHandlerMock,
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pub mode_req_recvd: u32,
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}
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impl AcsSubsystem {
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pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
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Self {
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mode_node,
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mode_requestor_info: None,
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mode_and_submode: UNKNOWN_MODE,
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target_mode_and_submode: None,
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subsystem_helper: Default::default(),
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mode_req_handler_mock: Default::default(),
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mode_req_recvd: 0,
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}
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}
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pub fn get_and_clear_num_mode_requests(&mut self) -> u32 {
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let tmp = self.mode_req_recvd;
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self.mode_req_recvd = 0;
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tmp
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}
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pub fn run(&mut self) {
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if let Some(request) = self.mode_node.try_recv_mode_request().unwrap() {
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self.mode_req_recvd += 1;
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self.handle_mode_request(request)
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.expect("mode messaging error");
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}
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if let Some(_reply) = self.mode_node.try_recv_mode_reply().unwrap() {
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// TODO: Implementation.
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}
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}
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pub fn add_target_and_sequence_table(
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&mut self,
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mode: Mode,
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target_table_val: TargetTablesMapValue,
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sequence_table_val: SequenceTablesMapValue,
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) {
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self.subsystem_helper.add_target_and_sequence_table(
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mode,
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target_table_val,
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sequence_table_val,
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);
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}
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}
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impl ModeNode for AcsSubsystem {
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fn id(&self) -> ComponentId {
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TestComponentId::AcsSubsystem as ComponentId
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}
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}
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impl ModeParent for AcsSubsystem {
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type Sender = RequestSenderType;
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fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
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self.subsystem_helper
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.children_mode_store
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.add_component(id, UNKNOWN_MODE);
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self.mode_node.add_request_target(id, request_sender);
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}
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}
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impl ModeChild for AcsSubsystem {
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type Sender = ReplySenderType;
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fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
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self.mode_node.add_reply_target(id, reply_sender);
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}
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}
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impl ModeProvider for AcsSubsystem {
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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 AcsSubsystem {
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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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self.mode_req_handler_mock
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.start_transition(requestor, mode_and_submode)
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.unwrap();
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// Execute mode map by executing the transition table(s).
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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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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_store
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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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self.mode_req_handler_mock
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.announce_mode(requestor_info, recursive);
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}
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fn handle_mode_reached(
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&mut self,
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requestor_info: Option<MessageMetadata>,
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) -> Result<(), Self::Error> {
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if let Some(requestor) = requestor_info {
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self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
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}
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self.mode_req_handler_mock
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.handle_mode_reached(requestor_info)
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.unwrap();
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Ok(())
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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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self.mode_req_handler_mock
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.handle_mode_info(requestor_info, info)
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.unwrap();
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// TODO: Need to check whether mode table execution is finished.
|
|
// This works by checking the children modes received through replies against the
|
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// mode table after all transition tables were executed.
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Ok(())
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|
}
|
|
|
|
fn send_mode_reply(
|
|
&self,
|
|
requestor_info: MessageMetadata,
|
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reply: ModeReply,
|
|
) -> Result<(), Self::Error> {
|
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self.mode_req_handler_mock
|
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.send_mode_reply(requestor_info, reply)
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.unwrap();
|
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self.mode_node.send_mode_reply(requestor_info, reply)?;
|
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Ok(())
|
|
}
|
|
}
|
|
|
|
struct MgmAssembly {
|
|
pub mode_node: ModeRequestorAndHandlerMpscBounded,
|
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pub mode_requestor_info: Option<MessageMetadata>,
|
|
pub mode_and_submode: ModeAndSubmode,
|
|
pub target_mode_and_submode: Option<ModeAndSubmode>,
|
|
pub mode_req_mock: ModeRequestHandlerMock,
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pub mode_msgs_recvd: u32,
|
|
}
|
|
|
|
impl MgmAssembly {
|
|
pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
|
|
Self {
|
|
mode_node,
|
|
mode_requestor_info: None,
|
|
mode_and_submode: UNKNOWN_MODE,
|
|
target_mode_and_submode: None,
|
|
mode_req_mock: Default::default(),
|
|
mode_msgs_recvd: 0,
|
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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");
|
|
}
|
|
pub fn get_and_clear_num_mode_msgs(&mut self) -> u32 {
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let tmp = self.mode_msgs_recvd;
|
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self.mode_msgs_recvd = 0;
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tmp
|
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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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self.mode_msgs_recvd += 1;
|
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self.handle_mode_request(request).unwrap();
|
|
}
|
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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::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 ModeNode for MgmAssembly {
|
|
fn id(&self) -> ComponentId {
|
|
TestComponentId::MagnetometerAssembly as u64
|
|
}
|
|
}
|
|
impl ModeParent for MgmAssembly {
|
|
type Sender = RequestSenderType;
|
|
|
|
fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
|
|
self.mode_node.add_request_target(id, request_sender);
|
|
}
|
|
}
|
|
|
|
impl ModeChild for MgmAssembly {
|
|
type Sender = ReplySenderType;
|
|
|
|
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
|
|
self.mode_node.add_reply_target(id, reply_sender);
|
|
}
|
|
}
|
|
|
|
impl ModeProvider for MgmAssembly {
|
|
fn mode_and_submode(&self) -> ModeAndSubmode {
|
|
self.mode_and_submode
|
|
}
|
|
}
|
|
|
|
impl ModeRequestHandler for MgmAssembly {
|
|
type Error = ModeError;
|
|
fn start_transition(
|
|
&mut self,
|
|
requestor: MessageMetadata,
|
|
mode_and_submode: ModeAndSubmode,
|
|
) -> 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(())
|
|
}
|
|
|
|
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
|
|
println!(
|
|
"TestAssembly: Announcing mode (recursively: {}): {:?}",
|
|
recursive, self.mode_and_submode
|
|
);
|
|
let mut mode_request = ModeRequest::AnnounceMode;
|
|
if recursive {
|
|
mode_request = ModeRequest::AnnounceModeRecursive;
|
|
}
|
|
let request_id = requestor_info.map_or(0, |info| info.request_id());
|
|
self.mode_node
|
|
.request_sender_store
|
|
.0
|
|
.iter()
|
|
.for_each(|(_, sender)| {
|
|
sender
|
|
.send(GenericMessage::new(
|
|
MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
|
|
mode_request,
|
|
))
|
|
.expect("sending mode request failed");
|
|
});
|
|
self.mode_req_mock.announce_mode(requestor_info, recursive);
|
|
}
|
|
|
|
fn handle_mode_reached(
|
|
&mut self,
|
|
mode_requestor: Option<MessageMetadata>,
|
|
) -> Result<(), Self::Error> {
|
|
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(())
|
|
}
|
|
|
|
fn handle_mode_info(
|
|
&mut self,
|
|
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(())
|
|
}
|
|
|
|
fn send_mode_reply(
|
|
&self,
|
|
requestor: MessageMetadata,
|
|
reply: ModeReply,
|
|
) -> Result<(), Self::Error> {
|
|
self.mode_node.send_mode_reply(requestor, reply)?;
|
|
self.mode_req_mock
|
|
.send_mode_reply(requestor, reply)
|
|
.unwrap();
|
|
Ok(())
|
|
}
|
|
}
|
|
|
|
struct DeviceManager {
|
|
name: &'static str,
|
|
pub id: ComponentId,
|
|
pub mode_node: ModeRequestorAndHandlerMpscBounded,
|
|
pub mode_and_submode: ModeAndSubmode,
|
|
pub mode_req_mock: ModeRequestHandlerMock,
|
|
pub mode_req_recvd: u32,
|
|
}
|
|
|
|
impl DeviceManager {
|
|
pub fn new(
|
|
name: &'static str,
|
|
id: ComponentId,
|
|
mode_node: ModeRequestorAndHandlerMpscBounded,
|
|
) -> Self {
|
|
Self {
|
|
name,
|
|
id,
|
|
mode_node,
|
|
mode_and_submode: UNKNOWN_MODE,
|
|
mode_req_mock: Default::default(),
|
|
mode_req_recvd: 0,
|
|
}
|
|
}
|
|
|
|
pub fn get_and_clear_num_mode_requests(&mut self) -> u32 {
|
|
let tmp = self.mode_req_recvd;
|
|
self.mode_req_recvd = 0;
|
|
tmp
|
|
}
|
|
|
|
pub fn run(&mut self) {
|
|
self.check_mode_requests().expect("mode messaging error");
|
|
}
|
|
|
|
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
|
|
if let Some(request) = self.mode_node.try_recv_mode_request()? {
|
|
self.mode_req_recvd += 1;
|
|
self.handle_mode_request(request)?
|
|
}
|
|
Ok(())
|
|
}
|
|
}
|
|
|
|
impl ModeNode for DeviceManager {
|
|
fn id(&self) -> ComponentId {
|
|
self.id
|
|
}
|
|
}
|
|
|
|
impl ModeChild for DeviceManager {
|
|
type Sender = ReplySenderType;
|
|
|
|
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
|
|
self.mode_node.add_reply_target(id, reply_sender);
|
|
}
|
|
}
|
|
|
|
impl ModeParent for DeviceManager {
|
|
type Sender = RequestSenderType;
|
|
|
|
fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender) {
|
|
self.mode_node.add_request_target(id, request_sender);
|
|
}
|
|
}
|
|
|
|
impl ModeProvider for DeviceManager {
|
|
fn mode_and_submode(&self) -> ModeAndSubmode {
|
|
self.mode_and_submode
|
|
}
|
|
}
|
|
|
|
impl ModeRequestHandler for DeviceManager {
|
|
type Error = ModeError;
|
|
|
|
fn start_transition(
|
|
&mut self,
|
|
requestor: MessageMetadata,
|
|
mode_and_submode: ModeAndSubmode,
|
|
) -> 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) {
|
|
println!(
|
|
"{}: announcing mode: {:?}",
|
|
self.name, self.mode_and_submode
|
|
);
|
|
let mut mode_request = ModeRequest::AnnounceMode;
|
|
if recursive {
|
|
mode_request = ModeRequest::AnnounceModeRecursive;
|
|
}
|
|
let request_id = requestor_info.map_or(0, |info| info.request_id());
|
|
self.mode_node
|
|
.request_sender_store
|
|
.0
|
|
.iter()
|
|
.for_each(|(_, sender)| {
|
|
sender
|
|
.send(GenericMessage::new(
|
|
MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
|
|
mode_request,
|
|
))
|
|
.expect("sending mode request failed");
|
|
});
|
|
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 handle_mode_info(
|
|
&mut self,
|
|
requestor_info: MessageMetadata,
|
|
info: ModeAndSubmode,
|
|
) -> Result<(), ModeError> {
|
|
// A device is a leaf in the tree.. so this really should not happen
|
|
println!(
|
|
"{}: unexpected mode info from {:?} with mode: {:?}",
|
|
self.name,
|
|
requestor_info.sender_id(),
|
|
info
|
|
);
|
|
self.mode_req_mock
|
|
.handle_mode_info(requestor_info, info)
|
|
.unwrap();
|
|
Ok(())
|
|
}
|
|
|
|
fn send_mode_reply(
|
|
&self,
|
|
requestor_info: MessageMetadata,
|
|
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(())
|
|
}
|
|
}
|
|
|
|
struct CommonDevice {
|
|
name: &'static str,
|
|
pub id: ComponentId,
|
|
pub mode_node: ModeRequestHandlerMpscBounded,
|
|
pub mode_and_submode: ModeAndSubmode,
|
|
pub mode_req_mock: ModeRequestHandlerMock,
|
|
pub num_mode_msgs_recvd: u32,
|
|
}
|
|
|
|
impl CommonDevice {
|
|
pub fn new(
|
|
name: &'static str,
|
|
id: ComponentId,
|
|
mode_node: ModeRequestHandlerMpscBounded,
|
|
) -> Self {
|
|
Self {
|
|
name,
|
|
id,
|
|
mode_node,
|
|
mode_and_submode: UNKNOWN_MODE,
|
|
mode_req_mock: Default::default(),
|
|
num_mode_msgs_recvd: 0,
|
|
}
|
|
}
|
|
|
|
pub fn run(&mut self) {
|
|
self.check_mode_requests().expect("mode messaging error");
|
|
}
|
|
|
|
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
|
|
if let Some(request) = self.mode_node.try_recv_mode_request()? {
|
|
self.num_mode_msgs_recvd += 1;
|
|
self.handle_mode_request(request)?
|
|
}
|
|
Ok(())
|
|
}
|
|
|
|
pub fn get_and_clear_num_mode_msgs(&mut self) -> u32 {
|
|
let tmp = self.num_mode_msgs_recvd;
|
|
self.num_mode_msgs_recvd = 0;
|
|
tmp
|
|
}
|
|
}
|
|
|
|
impl ModeNode for CommonDevice {
|
|
fn id(&self) -> ComponentId {
|
|
self.id
|
|
}
|
|
}
|
|
|
|
impl ModeChild for CommonDevice {
|
|
type Sender = ReplySenderType;
|
|
|
|
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
|
|
self.mode_node.add_message_target(id, reply_sender);
|
|
}
|
|
}
|
|
|
|
impl ModeProvider for CommonDevice {
|
|
fn mode_and_submode(&self) -> ModeAndSubmode {
|
|
self.mode_and_submode
|
|
}
|
|
}
|
|
|
|
impl ModeRequestHandler for CommonDevice {
|
|
type Error = ModeError;
|
|
|
|
fn start_transition(
|
|
&mut self,
|
|
requestor: MessageMetadata,
|
|
mode_and_submode: ModeAndSubmode,
|
|
) -> 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) {
|
|
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 handle_mode_info(
|
|
&mut self,
|
|
requestor_info: MessageMetadata,
|
|
info: ModeAndSubmode,
|
|
) -> Result<(), ModeError> {
|
|
// A device is a leaf in the tree.. so this really should not happen
|
|
println!(
|
|
"{}: unexpected mode info from {:?} with mode: {:?}",
|
|
self.name,
|
|
requestor_info.sender_id(),
|
|
info
|
|
);
|
|
self.mode_req_mock
|
|
.handle_mode_info(requestor_info, info)
|
|
.unwrap();
|
|
Ok(())
|
|
}
|
|
|
|
fn send_mode_reply(
|
|
&self,
|
|
requestor_info: MessageMetadata,
|
|
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(())
|
|
}
|
|
}
|
|
|
|
#[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 {
|
|
pub fn run(&mut self) {
|
|
self.check_mode_requests().expect("mode messaging error");
|
|
}
|
|
|
|
pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
|
|
if let Some(request) = self.mode_node.try_recv_mode_request()? {
|
|
self.handle_mode_request(request)?
|
|
}
|
|
Ok(())
|
|
}
|
|
}
|
|
|
|
impl ModeNode for AcsController {
|
|
fn id(&self) -> ComponentId {
|
|
TestComponentId::AcsController as u64
|
|
}
|
|
}
|
|
|
|
impl ModeChild for AcsController {
|
|
type Sender = ReplySenderType;
|
|
|
|
fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
|
|
self.mode_node.add_message_target(id, reply_sender);
|
|
}
|
|
}
|
|
|
|
impl ModeProvider for AcsController {
|
|
fn mode_and_submode(&self) -> ModeAndSubmode {
|
|
self.mode_and_submode
|
|
}
|
|
}
|
|
|
|
impl ModeRequestHandler for AcsController {
|
|
type Error = ModeError;
|
|
|
|
fn start_transition(
|
|
&mut self,
|
|
requestor: MessageMetadata,
|
|
mode_and_submode: ModeAndSubmode,
|
|
) -> 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) {
|
|
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(
|
|
&mut self,
|
|
requestor_info: Option<MessageMetadata>,
|
|
) -> Result<(), Self::Error> {
|
|
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(())
|
|
}
|
|
|
|
fn handle_mode_info(
|
|
&mut self,
|
|
requestor_info: MessageMetadata,
|
|
info: ModeAndSubmode,
|
|
) -> Result<(), Self::Error> {
|
|
// The controller is a leaf in the tree.. so this really should not happen
|
|
println!(
|
|
"ACS Controller: unexpected mode info from {:?} with mode: {:?}",
|
|
requestor_info.sender_id(),
|
|
info
|
|
);
|
|
self.mode_req_mock
|
|
.handle_mode_info(requestor_info, info)
|
|
.unwrap();
|
|
Ok(())
|
|
}
|
|
|
|
fn send_mode_reply(
|
|
&self,
|
|
requestor_info: MessageMetadata,
|
|
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(())
|
|
}
|
|
}
|
|
|
|
pub struct TreeTestbench {
|
|
pus: PusModeService,
|
|
subsystem: AcsSubsystem,
|
|
ctrl: AcsController,
|
|
mgt_manager: DeviceManager,
|
|
mgm_assy: MgmAssembly,
|
|
mgm_devs: [CommonDevice; 2],
|
|
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_0, request_receiver_mgm_dev_0) = mpsc::sync_channel(10);
|
|
let (request_sender_to_mgm_dev_1, request_receiver_mgm_dev_1) = mpsc::sync_channel(10);
|
|
let (request_sender_to_mgt_dev, request_receiver_mgt_dev) = mpsc::sync_channel(10);
|
|
let (request_sender_to_mgt_man, request_receiver_mgt_man) = 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);
|
|
let (reply_sender_to_mgt_man, reply_receiver_mgt_man) = mpsc::sync_channel(10);
|
|
|
|
// Mode requestors only.
|
|
let mode_node_pus = ModeRequestorOneChildBoundedMpsc::new(
|
|
TestComponentId::PusModeService as ComponentId,
|
|
reply_receiver_pus,
|
|
);
|
|
|
|
// Mode requestors and handlers.
|
|
let mgm_assy_node = ModeRequestorAndHandlerMpscBounded::new(
|
|
TestComponentId::MagnetometerAssembly as ComponentId,
|
|
request_receiver_mgm_assy,
|
|
reply_receiver_mgm_assy,
|
|
);
|
|
let mgt_dev_mgmt_node = ModeRequestorAndHandlerMpscBounded::new(
|
|
TestComponentId::MgtDevManager as ComponentId,
|
|
request_receiver_mgt_man,
|
|
reply_receiver_mgt_man,
|
|
);
|
|
let acs_subsystem_node = ModeRequestorAndHandlerMpscBounded::new(
|
|
TestComponentId::AcsSubsystem as ComponentId,
|
|
request_receiver_acs_subsystem,
|
|
reply_receiver_acs_subsystem,
|
|
);
|
|
|
|
// Request handlers only.
|
|
let mgm_dev_node_0 = ModeRequestHandlerMpscBounded::new(
|
|
TestComponentId::MagnetometerDevice0 as ComponentId,
|
|
request_receiver_mgm_dev_0,
|
|
);
|
|
let mgm_dev_node_1 = ModeRequestHandlerMpscBounded::new(
|
|
TestComponentId::MagnetometerDevice1 as ComponentId,
|
|
request_receiver_mgm_dev_1,
|
|
);
|
|
let 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,
|
|
);
|
|
|
|
let mut mgm_dev_0 = CommonDevice::new(
|
|
"MGM_0",
|
|
TestComponentId::MagnetometerDevice0 as u64,
|
|
mgm_dev_node_0,
|
|
);
|
|
let mut mgm_dev_1 = CommonDevice::new(
|
|
"MGM_1",
|
|
TestComponentId::MagnetometerDevice1 as u64,
|
|
mgm_dev_node_1,
|
|
);
|
|
let mut mgt_dev = CommonDevice::new(
|
|
"MGT",
|
|
TestComponentId::MagnetorquerDevice as u64,
|
|
mgt_dev_node,
|
|
);
|
|
let mut mgt_manager = DeviceManager::new(
|
|
"MGT_MANAGER",
|
|
TestComponentId::MgtDevManager as u64,
|
|
mgt_dev_mgmt_node,
|
|
);
|
|
let mut mgm_assy = MgmAssembly::new(mgm_assy_node);
|
|
let mut acs_subsystem = AcsSubsystem::new(acs_subsystem_node);
|
|
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,
|
|
};
|
|
|
|
// ACS subsystem tables
|
|
let mut target_table_safe = TargetTablesMapValue::new("SAFE_TARGET_TBL");
|
|
target_table_safe.add_entry(TargetTableEntry::new(
|
|
"CTRL_SAFE",
|
|
TestComponentId::AcsController as u64,
|
|
ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
|
|
true,
|
|
// All submodes allowed.
|
|
Some(0xffff),
|
|
));
|
|
target_table_safe.add_entry(TargetTableEntry::new_with_precise_submode(
|
|
"MGM_A_NML",
|
|
TestComponentId::MagnetometerAssembly as u64,
|
|
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
|
|
true,
|
|
));
|
|
target_table_safe.add_entry(TargetTableEntry::new_with_precise_submode(
|
|
"MGT_MAN_NML",
|
|
TestComponentId::MgtDevManager as u64,
|
|
ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
|
|
true,
|
|
));
|
|
let mut sequence_tbl_safe_0 = SequenceTableMapTable::new("SAFE_SEQ_0_TBL");
|
|
sequence_tbl_safe_0.add_entry(SequenceTableEntry::new(
|
|
"SAFE_SEQ_0_MGM_A",
|
|
TestComponentId::MagnetometerAssembly as u64,
|
|
ModeAndSubmode::new(DefaultMode::NORMAL as Mode, 0),
|
|
false,
|
|
));
|
|
sequence_tbl_safe_0.add_entry(SequenceTableEntry::new(
|
|
"SAFE_SEQ_0_MGT_MAN",
|
|
TestComponentId::MgtDevManager as u64,
|
|
ModeAndSubmode::new(DefaultMode::NORMAL as Mode, 0),
|
|
false,
|
|
));
|
|
let mut sequence_tbl_safe_1 = SequenceTableMapTable::new("SAFE_SEQ_1_TBL");
|
|
sequence_tbl_safe_1.add_entry(SequenceTableEntry::new(
|
|
"SAFE_SEQ_1_ACS_CTRL",
|
|
TestComponentId::AcsController as u64,
|
|
ModeAndSubmode::new(AcsMode::IDLE as Mode, 0),
|
|
false,
|
|
));
|
|
let mut sequence_tbl_safe = SequenceTablesMapValue::new("SAFE_SEQ_TBL");
|
|
sequence_tbl_safe.add_sequence_table(sequence_tbl_safe_0);
|
|
sequence_tbl_safe.add_sequence_table(sequence_tbl_safe_1);
|
|
acs_subsystem.add_target_and_sequence_table(
|
|
AcsMode::SAFE as u32,
|
|
target_table_safe,
|
|
sequence_tbl_safe,
|
|
);
|
|
|
|
// 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_0.clone(),
|
|
&mut mgm_dev_0,
|
|
reply_sender_to_pus.clone(),
|
|
);
|
|
connect_mode_nodes(
|
|
&mut pus_service,
|
|
request_sender_to_mgm_dev_1.clone(),
|
|
&mut mgm_dev_1,
|
|
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_man.clone(),
|
|
&mut mgt_manager,
|
|
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_man.clone(),
|
|
&mut mgt_manager,
|
|
reply_sender_to_acs_subsystem.clone(),
|
|
);
|
|
|
|
connect_mode_nodes(
|
|
&mut mgm_assy,
|
|
request_sender_to_mgm_dev_0,
|
|
&mut mgm_dev_0,
|
|
reply_sender_to_mgm_assy.clone(),
|
|
);
|
|
connect_mode_nodes(
|
|
&mut mgm_assy,
|
|
request_sender_to_mgm_dev_1,
|
|
&mut mgm_dev_1,
|
|
reply_sender_to_mgm_assy,
|
|
);
|
|
|
|
connect_mode_nodes(
|
|
&mut mgt_manager,
|
|
request_sender_to_mgt_dev,
|
|
&mut mgt_dev,
|
|
reply_sender_to_mgt_man,
|
|
);
|
|
Self {
|
|
pus: pus_service,
|
|
subsystem: acs_subsystem,
|
|
ctrl: acs_ctrl,
|
|
mgm_assy,
|
|
mgt_dev,
|
|
mgt_manager,
|
|
mgm_devs: [mgm_dev_0, mgm_dev_1],
|
|
}
|
|
}
|
|
}
|
|
|
|
#[test]
|
|
fn announce_recursively() {
|
|
let mut tb = TreeTestbench::new();
|
|
tb.pus.announce_modes_recursively();
|
|
// Run everything twice so the order does not matter.
|
|
for _ in 0..2 {
|
|
tb.subsystem.run();
|
|
tb.ctrl.run();
|
|
tb.mgt_manager.run();
|
|
tb.mgm_assy.run();
|
|
tb.mgm_devs[0].run();
|
|
tb.mgm_devs[1].run();
|
|
tb.mgt_dev.run();
|
|
}
|
|
assert_eq!(tb.subsystem.get_and_clear_num_mode_requests(), 1);
|
|
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);
|
|
assert_eq!(tb.mgm_assy.get_and_clear_num_mode_msgs(), 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!(tb.mgm_assy.mode_and_submode(), UNKNOWN_MODE);
|
|
assert_eq!(announces.len(), 1);
|
|
for mgm_dev in &mut tb.mgm_devs {
|
|
assert_eq!(mgm_dev.get_and_clear_num_mode_msgs(), 1);
|
|
announces = mgm_dev.mode_req_mock.announce_mode_calls.borrow_mut();
|
|
assert_eq!(mgm_dev.mode_req_mock.start_transition_calls.len(), 0);
|
|
assert_eq!(mgm_dev.mode_and_submode(), UNKNOWN_MODE);
|
|
assert_eq!(announces.len(), 1);
|
|
}
|
|
assert_eq!(announces.len(), 1);
|
|
assert_eq!(tb.mgt_dev.get_and_clear_num_mode_msgs(), 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!(tb.mgt_dev.mode_and_submode(), UNKNOWN_MODE);
|
|
assert_eq!(announces.len(), 1);
|
|
assert_eq!(tb.mgt_manager.get_and_clear_num_mode_requests(), 1);
|
|
announces = tb
|
|
.mgt_manager
|
|
.mode_req_mock
|
|
.announce_mode_calls
|
|
.borrow_mut();
|
|
assert_eq!(tb.mgt_manager.mode_req_mock.start_transition_calls.len(), 0);
|
|
assert_eq!(tb.mgt_manager.mode_and_submode(), UNKNOWN_MODE);
|
|
assert_eq!(announces.len(), 1);
|
|
}
|
|
|
|
#[test]
|
|
fn command_safe_mode() {
|
|
let mut tb = TreeTestbench::new();
|
|
tb.subsystem.run();
|
|
tb.ctrl.run();
|
|
tb.mgm_assy.run();
|
|
tb.mgt_dev.run();
|
|
tb.mgm_devs[0].run();
|
|
tb.mgm_devs[1].run();
|
|
}
|