740 lines
23 KiB
Rust
740 lines
23 KiB
Rust
use core::cell::Cell;
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use std::{println, sync::mpsc};
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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, ModeRequestorBoundedMpsc,
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};
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use satrs::mode_tree::alloc_mod::{
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ModeStoreVec, SequenceModeTables, SequenceTableMapValue, TargetModeTables, TargetTableMapValue,
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};
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use satrs::mode_tree::ModeStoreProvider;
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use satrs::request::{MessageMetadata, MessageSender};
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use satrs::{
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mode::{ModeAndSubmode, ModeReply, ModeRequest},
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queue::GenericTargetedMessagingError,
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request::GenericMessage,
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ComponentId,
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};
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use std::string::{String, ToString};
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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 TestComponentId {
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MagnetometerDevice = 1,
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MagnetorquerDevice = 2,
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ReactionWheelDevice = 3,
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StartrackerDevice = 4,
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ReactionWheelAssembly = 8,
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MagnetometerAssembly = 9,
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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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/// Trait which denotes that an object is a parent in a mode tree.
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///
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/// A mode parent is capable of sending mode requests to child objects and has a unique component
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/// ID.
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pub trait ModeParent {
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type Sender: MessageSender<ModeRequest>;
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fn id(&self) -> ComponentId;
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fn add_mode_child(&mut self, id: ComponentId, request_sender: Self::Sender);
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}
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/// Trait which denotes that an object is a child in a mode tree.
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///
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/// A child is capable of sending mode replies to parent objects and has a unique component ID.
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pub trait ModeChild {
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type Sender: MessageSender<ModeReply>;
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fn id(&self) -> ComponentId;
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fn add_mode_parent(&mut self, id: ComponentId, reply_sender: Self::Sender);
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}
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/// Utility method which connects a mode tree parent object to a child object by calling
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/// [ModeParent::add_mode_child] on the [parent][ModeParent] and calling
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/// [ModeChild::add_mode_parent] on the [child][ModeChild].
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///
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/// # Arguments
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///
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/// * `parent` - The parent object which implements [ModeParent].
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/// * `request_sender` - Sender object to send mode requests to the child.
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/// * `child` - The child object which implements [ModeChild].
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/// * `reply_sender` - Sender object to send mode replies to the parent.
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pub fn connect_mode_nodes<ReqSender, ReplySender>(
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parent: &mut impl ModeParent<Sender=ReqSender>,
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request_sender: ReqSender,
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child: &mut impl ModeChild<Sender=ReplySender>,
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reply_sender: ReplySender,
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) {
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parent.add_mode_child(child.id(), request_sender);
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child.add_mode_parent(parent.id(), reply_sender);
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}
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struct PusModeService {
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pub request_id_counter: Cell<u32>,
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pub mode_node: ModeRequestorBoundedMpsc,
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}
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impl PusModeService {
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pub fn send_announce_mode_cmd_to_subsystem(&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 ModeParent for PusModeService {
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type Sender = RequestSenderType;
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fn id(&self) -> ComponentId {
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TestComponentId::PusModeService as ComponentId
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}
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fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
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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 children_mode_store: ModeStoreVec,
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pub target_tables: TargetModeTables,
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pub sequence_tables: SequenceModeTables,
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}
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impl AcsSubsystem {
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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: TargetTableMapValue,
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sequence_table_val: SequenceTableMapValue,
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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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}
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impl ModeParent for AcsSubsystem {
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type Sender = RequestSenderType;
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fn id(&self) -> ComponentId {
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TestComponentId::PusModeService as ComponentId
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}
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fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
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self.children_mode_store.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 id(&self) -> ComponentId {
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TestComponentId::PusModeService as ComponentId
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}
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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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// 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_map
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.0
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.iter()
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.for_each(|(_, sender)| {
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sender
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.send(GenericMessage::new(
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MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
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mode_request,
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))
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.expect("sending mode request failed");
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});
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}
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fn handle_mode_reached(
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&mut self,
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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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Ok(())
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}
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fn handle_mode_info(
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&mut self,
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requestor_info: MessageMetadata,
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info: ModeAndSubmode,
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) -> Result<(), Self::Error> {
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// TODO: Need to check whether mode table execution is finished.
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// 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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}
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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.mode_node.send_mode_reply(requestor_info, reply)?;
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Ok(())
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}
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}
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struct MgmAssembly {
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pub mode_node: ModeRequestorAndHandlerMpscBounded,
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pub mode_requestor_info: Option<MessageMetadata>,
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pub mode_and_submode: ModeAndSubmode,
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pub target_mode_and_submode: Option<ModeAndSubmode>,
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}
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impl MgmAssembly {
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pub fn run(&mut self) {
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self.check_mode_requests().expect("mode messaging error");
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self.check_mode_replies().expect("mode messaging error");
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}
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pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
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if let Some(request) = self.mode_node.try_recv_mode_request()? {
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match request.message {
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ModeRequest::SetMode(mode_and_submode) => {
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self.start_transition(request.requestor_info, mode_and_submode)
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.unwrap();
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}
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ModeRequest::ReadMode => self
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.mode_node
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.send_mode_reply(
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request.requestor_info,
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ModeReply::ModeReply(self.mode_and_submode),
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)
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.unwrap(),
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ModeRequest::AnnounceMode => {
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self.announce_mode(Some(request.requestor_info), false)
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}
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ModeRequest::AnnounceModeRecursive => {
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self.announce_mode(Some(request.requestor_info), true)
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}
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ModeRequest::ModeInfo(_) => todo!(),
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}
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}
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Ok(())
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}
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pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
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if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
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match reply_and_id.message {
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ModeReply::ModeReply(reply) => {
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println!(
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"TestAssembly: Received mode reply from {:?}, reached: {:?}",
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reply_and_id.sender_id(),
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reply
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);
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}
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ModeReply::CantReachMode(_) => todo!(),
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ModeReply::WrongMode { expected, reached } => {
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println!(
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"TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
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reply_and_id.sender_id(),
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reached,
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expected
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);
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}
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}
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}
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Ok(())
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}
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}
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impl ModeParent for MgmAssembly {
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type Sender = RequestSenderType;
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fn id(&self) -> ComponentId {
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TestComponentId::AcsSubsystem as ComponentId
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}
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fn add_mode_child(&mut self, id: ComponentId, request_sender: RequestSenderType) {
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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 MgmAssembly {
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type Sender = ReplySenderType;
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fn id(&self) -> ComponentId {
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TestComponentId::PusModeService as ComponentId
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}
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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 MgmAssembly {
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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 MgmAssembly {
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type Error = ModeError;
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fn start_transition(
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&mut self,
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requestor: MessageMetadata,
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mode_and_submode: ModeAndSubmode,
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) -> Result<(), Self::Error> {
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self.mode_requestor_info = Some(requestor);
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self.target_mode_and_submode = Some(mode_and_submode);
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Ok(())
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}
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fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
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println!(
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"TestAssembly: Announcing mode (recursively: {}): {:?}",
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recursive, self.mode_and_submode
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);
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// self.mode_requestor_info = Some((request_id, sender_id));
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let mut mode_request = ModeRequest::AnnounceMode;
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if recursive {
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mode_request = ModeRequest::AnnounceModeRecursive;
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}
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let request_id = requestor_info.map_or(0, |info| info.request_id());
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self.mode_node
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.request_sender_map
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.0
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.iter()
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.for_each(|(_, sender)| {
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sender
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.send(GenericMessage::new(
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MessageMetadata::new(request_id, self.mode_node.local_channel_id_generic()),
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mode_request,
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))
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.expect("sending mode request failed");
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});
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}
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fn handle_mode_reached(
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&mut self,
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mode_requestor: Option<MessageMetadata>,
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) -> Result<(), Self::Error> {
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if let Some(requestor) = mode_requestor {
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self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
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}
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Ok(())
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}
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fn send_mode_reply(
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&self,
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requestor: MessageMetadata,
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reply: ModeReply,
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) -> Result<(), Self::Error> {
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self.mode_node.send_mode_reply(requestor, reply)?;
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Ok(())
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}
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fn handle_mode_info(
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&mut self,
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_requestor_info: MessageMetadata,
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_info: ModeAndSubmode,
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) -> Result<(), Self::Error> {
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// TODO: A proper assembly must reach to mode changes of its children..
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Ok(())
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}
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}
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struct CommonDevice {
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name: String,
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pub id: ComponentId,
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pub mode_node: ModeRequestHandlerMpscBounded,
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pub mode_and_submode: ModeAndSubmode,
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}
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impl CommonDevice {
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pub fn new(name: String, id: ComponentId, mode_node: ModeRequestHandlerMpscBounded) -> Self {
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Self {
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name,
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id,
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mode_node,
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mode_and_submode: ModeAndSubmode::new(0, 0),
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}
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}
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pub fn run(&mut self) {
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self.check_mode_requests().expect("mode messaging error");
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}
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pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
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if let Some(request) = self.mode_node.try_recv_mode_request()? {
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self.handle_mode_request(request)?
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}
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Ok(())
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}
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}
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impl ModeChild for CommonDevice {
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type Sender = ReplySenderType;
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fn id(&self) -> ComponentId {
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self.id
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}
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fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
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self.mode_node.add_message_target(id, reply_sender);
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}
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}
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impl ModeProvider for CommonDevice {
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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 CommonDevice {
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type Error = ModeError;
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fn start_transition(
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&mut self,
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requestor: MessageMetadata,
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mode_and_submode: ModeAndSubmode,
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) -> Result<(), ModeError> {
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self.mode_and_submode = mode_and_submode;
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self.handle_mode_reached(Some(requestor))?;
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Ok(())
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}
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fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
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println!(
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"{}: announcing mode: {:?}",
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self.name, self.mode_and_submode
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);
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}
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fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
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if let Some(requestor) = requestor {
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self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
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}
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Ok(())
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}
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fn send_mode_reply(
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&self,
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requestor_info: MessageMetadata,
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reply: ModeReply,
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) -> Result<(), ModeError> {
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self.mode_node.send_mode_reply(requestor_info, reply)?;
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Ok(())
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}
|
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fn handle_mode_info(
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&mut self,
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requestor_info: MessageMetadata,
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info: ModeAndSubmode,
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) -> Result<(), ModeError> {
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// A device is a leaf in the tree.. so this really should not happen
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println!(
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"{}: unexpected mode info from {:?} with mode: {:?}",
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self.name,
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requestor_info.sender_id(),
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info
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);
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Ok(())
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}
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}
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pub struct AcsController {
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pub mode_node: ModeRequestHandlerMpscBounded,
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pub mode_and_submode: ModeAndSubmode,
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}
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impl AcsController {
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pub fn run(&mut self) {
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self.check_mode_requests().expect("mode messaging error");
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}
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pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
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if let Some(request) = self.mode_node.try_recv_mode_request()? {
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self.handle_mode_request(request)?
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}
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Ok(())
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}
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}
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impl ModeChild for AcsController {
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type Sender = ReplySenderType;
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fn id(&self) -> ComponentId {
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TestComponentId::AcsController as u64
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}
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fn add_mode_parent(&mut self, id: ComponentId, reply_sender: ReplySenderType) {
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self.mode_node.add_message_target(id, reply_sender);
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}
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}
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impl ModeProvider for AcsController {
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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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|
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impl ModeRequestHandler for AcsController {
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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_and_submode = mode_and_submode;
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self.handle_mode_reached(Some(requestor))?;
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Ok(())
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}
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|
|
fn announce_mode(&self, requestor_info: Option<MessageMetadata>, recursive: bool) {
|
|
println!(
|
|
"ACS Controllerj: announcing mode: {:?}",
|
|
self.mode_and_submode
|
|
);
|
|
}
|
|
|
|
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))?;
|
|
}
|
|
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
|
|
);
|
|
Ok(())
|
|
}
|
|
|
|
fn send_mode_reply(
|
|
&self,
|
|
requestor_info: MessageMetadata,
|
|
reply: ModeReply,
|
|
) -> Result<(), Self::Error> {
|
|
self.mode_node.send_mode_reply(requestor_info, reply)?;
|
|
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();
|
|
}
|