302 lines
11 KiB
Rust
302 lines
11 KiB
Rust
use crate::{
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mode::{ModeAndSubmode, ModeReply, ModeRequest, ModeRequestSender},
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mode_tree::{ModeStoreProvider, ModeStoreVec},
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queue::GenericTargetedMessagingError,
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request::{GenericMessage, RequestId},
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subsystem::ModeTreeHelperState,
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ComponentId,
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};
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use core::fmt::Debug;
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#[derive(Debug, Default)]
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pub enum DevManagerHelperResult {
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#[default]
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Idle,
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Busy,
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ModeCommandingDone,
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}
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#[derive(Debug)]
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pub enum DevManagerHelperError {
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ChildNotInStore,
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}
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pub trait DevManagerUserHook: Debug {
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fn send_mode_cmds_to_children(
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&self,
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parent_mode: ModeAndSubmode,
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forced: bool,
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children_mode_store: &mut ModeStoreVec,
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mode_req_sender: &impl ModeRequestSender,
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) -> Result<(), GenericTargetedMessagingError>;
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}
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#[derive(Debug, Default)]
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pub struct TransparentDevManagerHook {}
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impl DevManagerUserHook for TransparentDevManagerHook {
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fn send_mode_cmds_to_children(
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&self,
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commanded_parent_mode: ModeAndSubmode,
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forced: bool,
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children_mode_store: &mut ModeStoreVec,
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mode_req_sender: &impl ModeRequestSender,
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) -> Result<(), GenericTargetedMessagingError> {
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for child in children_mode_store {
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mode_req_sender.send_mode_request(
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0,
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child.id(),
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ModeRequest::SetMode {
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mode_and_submode: commanded_parent_mode,
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forced,
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},
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)?;
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child.awaiting_reply = true;
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}
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Ok(())
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}
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}
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/// A generic helper for manager components which manage child components in a mode tree.
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///
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/// Mode commands are usually forwarded to all children components transparently.
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/// For example, this could be used in an Assembly component which manages multiple redundant
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/// child components. It can also be used inside a manager component which only manages one device.
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#[derive(Debug)]
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pub struct DevManagerCommandingHelper<UserHook: DevManagerUserHook> {
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/// The IDs, modes and reply awaition status of all children are tracked in this data
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/// structure.
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pub children_mode_store: ModeStoreVec,
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pub user_hook: UserHook,
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/// Target mode used for mode commanding.
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target_mode: Option<ModeAndSubmode>,
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/// Request ID of active mode commanding request.
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active_request_id: Option<RequestId>,
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state: ModeTreeHelperState,
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}
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impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
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pub fn new(user_hook: UserHook) -> Self {
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Self {
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children_mode_store: Default::default(),
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target_mode: None,
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user_hook,
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active_request_id: None,
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state: Default::default(),
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}
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}
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pub fn send_mode_cmd_to_one_child(
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&mut self,
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request_id: RequestId,
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target_id: ComponentId,
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mode_and_submode: ModeAndSubmode,
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forced: bool,
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mode_req_sender: &impl ModeRequestSender,
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) -> Result<(), GenericTargetedMessagingError> {
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self.target_mode = Some(mode_and_submode);
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mode_req_sender.send_mode_request(
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request_id,
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target_id,
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ModeRequest::SetMode {
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mode_and_submode,
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forced,
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},
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)?;
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self.active_request_id = Some(request_id);
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self.state = ModeTreeHelperState::ModeCommanding;
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Ok(())
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}
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pub fn send_mode_cmd_to_all_children(
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&mut self,
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request_id: RequestId,
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mode_and_submode: ModeAndSubmode,
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forced: bool,
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mode_req_sender: &impl ModeRequestSender,
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) -> Result<(), GenericTargetedMessagingError> {
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self.target_mode = Some(mode_and_submode);
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self.user_hook.send_mode_cmds_to_children(
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mode_and_submode,
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forced,
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&mut self.children_mode_store,
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mode_req_sender,
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)?;
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self.active_request_id = Some(request_id);
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self.state = ModeTreeHelperState::ModeCommanding;
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Ok(())
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}
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pub fn target_mode(&self) -> Option<ModeAndSubmode> {
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self.target_mode
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}
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pub fn active_request_id(&self) -> Option<RequestId> {
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self.active_request_id
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}
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pub fn state(&self) -> ModeTreeHelperState {
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self.state
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}
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pub fn send_announce_mode_cmd_to_children(
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&self,
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request_id: RequestId,
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mode_req_sender: &impl ModeRequestSender,
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recursive: bool,
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) -> Result<(), GenericTargetedMessagingError> {
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let mut request = ModeRequest::AnnounceMode;
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if recursive {
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request = ModeRequest::AnnounceModeRecursive;
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}
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for child in self.children_mode_store.0.iter() {
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mode_req_sender.send_mode_request(request_id, child.id(), request)?;
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}
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Ok(())
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}
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pub fn add_mode_child(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
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self.children_mode_store.add_component(target_id, mode);
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}
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/// Helper method which counts the number of children which have a certain mode.
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pub fn count_number_of_children_with_mode(&self, mode_and_submode: ModeAndSubmode) -> usize {
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let mut children_in_target_mode = 0;
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for child in &self.children_mode_store {
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if child.mode_and_submode() == mode_and_submode {
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children_in_target_mode += 1;
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}
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}
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children_in_target_mode
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}
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/// Helper method which counts the number of children which have the mode of the assembly
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/// itself.
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///
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/// This is useful for device managers where the child or the children devices should have the
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/// same mode as the device manager.
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pub fn count_number_of_children_with_target_mode(&self) -> Option<usize> {
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Some(self.count_number_of_children_with_mode(self.target_mode?))
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}
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pub fn handle_mode_reply(
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&mut self,
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mode_reply: &GenericMessage<ModeReply>,
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) -> Result<DevManagerHelperResult, DevManagerHelperError> {
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if self.target_mode().is_none() || self.active_request_id().is_none() {
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return Ok(DevManagerHelperResult::Idle);
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}
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if !self
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.children_mode_store
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.has_component(mode_reply.sender_id())
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{
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return Err(DevManagerHelperError::ChildNotInStore);
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}
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let mut generic_mode_reply_handler = |mode_and_submode: Option<ModeAndSubmode>| {
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// Tying the reply awaition to the request ID ensures that something like replies
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// belonging to older requests do not interfere with the completion handling of
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// the mode commanding. This is important for forced mode commands.
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let mut handle_awaition = false;
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if self.state == ModeTreeHelperState::ModeCommanding
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&& self.active_request_id.is_some()
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&& mode_reply.request_id() == self.active_request_id.unwrap()
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{
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handle_awaition = true;
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}
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let still_awating_replies = self.children_mode_store.mode_reply_handler(
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mode_reply.sender_id(),
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mode_and_submode,
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handle_awaition,
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);
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// It is okay to unwrap: If awaition should be handled, the returned value should
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// always be some valid value.
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if self.state == ModeTreeHelperState::ModeCommanding
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&& handle_awaition
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&& !still_awating_replies.unwrap()
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{
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self.state = ModeTreeHelperState::TargetKeeping;
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self.active_request_id = None;
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return Ok(DevManagerHelperResult::ModeCommandingDone);
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}
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Ok(DevManagerHelperResult::Busy)
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};
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match mode_reply.message {
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ModeReply::ModeInfo(mode_and_submode) | ModeReply::ModeReply(mode_and_submode) => {
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generic_mode_reply_handler(Some(mode_and_submode))
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}
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ModeReply::CantReachMode(_result_u16) => generic_mode_reply_handler(None),
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ModeReply::WrongMode {
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expected: _,
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reached,
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} => generic_mode_reply_handler(Some(reached)),
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}
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}
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}
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#[cfg(test)]
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mod tests {
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use crate::mode::{tests::ModeReqSenderMock, UNKNOWN_MODE};
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use super::*;
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pub enum ExampleId {
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Id1 = 1,
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Id2 = 2,
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}
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#[test]
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fn test_basic() {
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let assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
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assert_eq!(assy_helper.state(), ModeTreeHelperState::Idle);
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assert!(assy_helper.active_request_id().is_none());
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assert!(assy_helper.target_mode().is_none());
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}
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#[test]
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fn test_mode_announce() {
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let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
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let mode_req_sender = ModeReqSenderMock::default();
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assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
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assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
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assy_helper
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.send_announce_mode_cmd_to_children(1, &mode_req_sender, false)
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.unwrap();
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assert_eq!(mode_req_sender.requests.borrow().len(), 2);
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let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
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assert_eq!(req.target_id, ExampleId::Id1 as u64);
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assert_eq!(req.request_id, 1);
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assert_eq!(req.request, ModeRequest::AnnounceMode);
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req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
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assert_eq!(req.target_id, ExampleId::Id2 as u64);
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assert_eq!(req.request_id, 1);
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assert_eq!(req.request, ModeRequest::AnnounceMode);
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}
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#[test]
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fn test_mode_announce_recursive() {
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let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
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let mode_req_sender = ModeReqSenderMock::default();
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assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
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assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
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assy_helper
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.send_announce_mode_cmd_to_children(1, &mode_req_sender, true)
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.unwrap();
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assert_eq!(mode_req_sender.requests.borrow().len(), 2);
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let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
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assert_eq!(req.target_id, ExampleId::Id1 as u64);
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assert_eq!(req.request_id, 1);
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assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
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req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
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assert_eq!(req.target_id, ExampleId::Id2 as u64);
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assert_eq!(req.request_id, 1);
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assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
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}
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#[test]
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fn test_mode_commanding_one_child() {
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let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
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let mode_req_sender = ModeReqSenderMock::default();
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//assy_helper.send_mode_cmd_to_all_children_with_reply_awaition(1, , forced, mode_req_sender)
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}
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}
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