sat-rs/satrs/src/subsystem.rs

436 lines
14 KiB
Rust

use crate::{
mode::{Mode, ModeAndSubmode, ModeReply, ModeRequest, ModeRequestSender, UNKNOWN_MODE},
mode_tree::{
ModeStoreProvider, ModeStoreVec, SequenceModeTables, SequenceTableMapTable,
SequenceTablesMapValue, TargetModeTables, TargetNotInModeStoreError, TargetTablesMapValue,
},
queue::GenericTargetedMessagingError,
request::{GenericMessage, RequestId},
ComponentId,
};
#[derive(Debug, PartialEq, Eq, Copy, Clone)]
pub enum SequenceExecutionHelperStates {
Idle,
AwaitingCheckSuccess,
Done,
}
pub trait CheckSuccessProvider {
fn mode_request_requires_success_check(
&mut self,
target_id: ComponentId,
target_mode: ModeAndSubmode,
);
}
#[derive(Debug)]
pub enum TargetKeepingResult {
Ok,
Violated { fallback_mode: Option<Mode> },
}
#[derive(Debug)]
pub enum ModeCommandingResult {
CommandingDone,
CommandingStepDone,
AwaitingSuccessCheck,
}
#[derive(Debug, thiserror::Error)]
#[error("Mode {0} does not exist")]
pub struct ModeDoesNotExistError(Mode);
#[derive(Debug)]
pub struct SequenceExecutionHelper {
target_mode: Option<Mode>,
state: SequenceExecutionHelperStates,
request_id: RequestId,
current_sequence_index: Option<usize>,
}
impl Default for SequenceExecutionHelper {
fn default() -> Self {
Self {
target_mode: None,
state: SequenceExecutionHelperStates::Idle,
request_id: 0,
current_sequence_index: None,
}
}
}
impl SequenceExecutionHelper {
pub fn load(
&mut self,
mode: Mode,
request_id: RequestId,
sequence_tables: &SequenceModeTables,
) -> Result<(), ModeDoesNotExistError> {
if !sequence_tables.0.contains_key(&mode) {
return Err(ModeDoesNotExistError(mode));
}
self.target_mode = Some(mode);
self.request_id = request_id;
self.current_sequence_index = None;
Ok(())
}
pub fn target_mode(&self) -> Option<Mode> {
self.target_mode
}
pub fn confirm_sequence_done(&mut self) {
if let SequenceExecutionHelperStates::AwaitingCheckSuccess = self.state {
self.state = SequenceExecutionHelperStates::Idle;
}
}
pub fn state(&self) -> SequenceExecutionHelperStates {
self.state
}
pub fn awaiting_check_success(&self) -> bool {
matches!(
self.state,
SequenceExecutionHelperStates::AwaitingCheckSuccess
)
}
pub fn current_sequence_index(&self) -> Option<usize> {
self.current_sequence_index
}
pub fn run(
&mut self,
table: &SequenceModeTables,
sender: &impl ModeRequestSender,
mode_store_vec: &mut ModeStoreVec,
) -> Result<ModeCommandingResult, GenericTargetedMessagingError> {
if self.state == SequenceExecutionHelperStates::AwaitingCheckSuccess {
return Ok(ModeCommandingResult::AwaitingSuccessCheck);
}
if self.target_mode.is_none() {
return Ok(ModeCommandingResult::CommandingDone);
}
match self.current_sequence_index {
Some(idx) => {
// Execute the sequence.
let seq_table_value = table.0.get(&self.target_mode.unwrap()).unwrap();
self.execute_sequence_and_map_to_result(
seq_table_value,
idx,
sender,
mode_store_vec,
)
}
None => {
// Find the first sequence
let seq_table_value = table.0.get(&self.target_mode.unwrap()).unwrap();
if seq_table_value.entries.is_empty() {
Ok(ModeCommandingResult::CommandingDone)
} else {
self.current_sequence_index = Some(0);
self.execute_sequence_and_map_to_result(
seq_table_value,
0,
sender,
mode_store_vec,
)
}
}
}
}
pub fn execute_sequence_and_map_to_result(
&mut self,
seq_table_value: &SequenceTablesMapValue,
sequence_idx: usize,
sender: &impl ModeRequestSender,
mode_store_vec: &mut ModeStoreVec,
) -> Result<ModeCommandingResult, GenericTargetedMessagingError> {
if Self::execute_sequence(
self.request_id,
&seq_table_value.entries[sequence_idx],
sender,
mode_store_vec,
)? {
self.state = SequenceExecutionHelperStates::AwaitingCheckSuccess;
Ok(ModeCommandingResult::AwaitingSuccessCheck)
} else if seq_table_value.entries.len() - 1 == sequence_idx {
return Ok(ModeCommandingResult::CommandingDone);
} else {
self.current_sequence_index = Some(sequence_idx + 1);
return Ok(ModeCommandingResult::CommandingStepDone);
}
}
pub fn execute_sequence(
request_id: RequestId,
map_table: &SequenceTableMapTable,
sender: &impl ModeRequestSender,
mode_store_vec: &mut ModeStoreVec,
) -> Result<bool, GenericTargetedMessagingError> {
let mut some_succes_check_required = false;
for entry in &map_table.entries {
sender.send_mode_request(
request_id,
entry.common.target_id,
ModeRequest::SetMode {
mode_and_submode: entry.common.mode_submode,
forced: false,
},
)?;
mode_store_vec.0.iter_mut().for_each(|val| {
if val.id() == entry.common.target_id {
val.awaiting_reply = true;
}
});
if entry.check_success {
some_succes_check_required = true;
}
}
Ok(some_succes_check_required)
}
}
#[derive(Debug, Default, PartialEq, Eq)]
pub enum ModeTreeHelperState {
#[default]
Idle,
TargetKeeping = 1,
ModeCommanding = 2,
}
#[derive(Debug, Default)]
pub enum SubsystemHelperResult {
#[default]
Idle,
TargetKeeping(TargetKeepingResult),
ModeCommanding(ModeCommandingResult),
}
impl From<TargetKeepingResult> for SubsystemHelperResult {
fn from(value: TargetKeepingResult) -> Self {
Self::TargetKeeping(value)
}
}
impl From<ModeCommandingResult> for SubsystemHelperResult {
fn from(value: ModeCommandingResult) -> Self {
Self::ModeCommanding(value)
}
}
#[derive(Debug, thiserror::Error)]
pub enum ModeTreeHelperError {
#[error("generic targeted messaging error: {0}")]
Message(#[from] GenericTargetedMessagingError),
#[error("current mode {0} is not contained in target table")]
CurrentModeNotInTargetTable(Mode),
}
pub struct SubsystemCommandingHelper {
pub current_mode: ModeAndSubmode,
pub state: ModeTreeHelperState,
pub children_mode_store: ModeStoreVec,
pub active_request_id: Option<RequestId>,
pub target_tables: TargetModeTables,
pub sequence_tables: SequenceModeTables,
pub seq_exec_helper: SequenceExecutionHelper,
}
impl Default for SubsystemCommandingHelper {
fn default() -> Self {
Self {
current_mode: UNKNOWN_MODE,
state: Default::default(),
children_mode_store: Default::default(),
active_request_id: None,
target_tables: Default::default(),
sequence_tables: Default::default(),
seq_exec_helper: Default::default(),
}
}
}
impl SubsystemCommandingHelper {
pub fn new(
children_mode_store: ModeStoreVec,
target_tables: TargetModeTables,
sequence_tables: SequenceModeTables,
) -> Self {
Self {
current_mode: UNKNOWN_MODE,
state: ModeTreeHelperState::Idle,
children_mode_store,
active_request_id: None,
target_tables,
sequence_tables,
seq_exec_helper: Default::default(),
}
}
pub fn add_mode_child(&mut self, child: ComponentId, mode: ModeAndSubmode) {
self.children_mode_store.add_component(child, mode);
}
pub fn add_target_and_sequence_table(
&mut self,
mode: Mode,
target_table_val: TargetTablesMapValue,
sequence_table_val: SequenceTablesMapValue,
) {
self.target_tables.0.insert(mode, target_table_val);
self.sequence_tables.0.insert(mode, sequence_table_val);
}
pub fn start_command_sequence(
&mut self,
mode: Mode,
request_id: RequestId,
) -> Result<(), ModeDoesNotExistError> {
self.seq_exec_helper.load(mode, request_id, &self.sequence_tables)?;
self.state = ModeTreeHelperState::ModeCommanding;
Ok(())
}
pub fn send_announce_mode_cmd_to_children(
&self,
request_id: RequestId,
req_sender: &impl ModeRequestSender,
recursive: bool,
) -> Result<(), GenericTargetedMessagingError> {
let mut request = ModeRequest::AnnounceMode;
if recursive {
request = ModeRequest::AnnounceModeRecursive;
}
for child in &self.children_mode_store.0 {
req_sender.send_mode_request(request_id, child.id(), request)?;
}
Ok(())
}
pub fn state_machine(
&mut self,
opt_reply: Option<GenericMessage<ModeReply>>,
req_sender: &impl ModeRequestSender,
) -> Result<SubsystemHelperResult, ModeTreeHelperError> {
if let Some(reply) = opt_reply {
self.handle_mode_reply(&reply);
}
match self.state {
ModeTreeHelperState::Idle => Ok(SubsystemHelperResult::Idle),
ModeTreeHelperState::TargetKeeping => {
// We check whether the current mode is modelled by a target table first.
if let Some(target_table) = self.target_tables.0.get(&self.current_mode.mode()) {
return Ok(self.perform_target_keeping(target_table).into());
}
Ok(TargetKeepingResult::Ok.into())
}
ModeTreeHelperState::ModeCommanding => {
let result = self.seq_exec_helper.run(
&self.sequence_tables,
req_sender,
&mut self.children_mode_store,
)?;
// By default, the helper will automatically transition into the target keeping
// mode after an executed sequence.
if let ModeCommandingResult::CommandingDone = result {
self.state = ModeTreeHelperState::TargetKeeping;
self.active_request_id = None;
self.current_mode = ModeAndSubmode::new(self.seq_exec_helper.target_mode().unwrap(), 0);
}
Ok(result.into())
}
}
}
pub fn perform_target_keeping(
&self,
target_table: &TargetTablesMapValue,
) -> TargetKeepingResult {
for entry in &target_table.entries {
if !entry.monitor_state {
continue;
}
let mut target_mode_violated = false;
self.children_mode_store.0.iter().for_each(|val| {
if val.id() == entry.common.target_id {
target_mode_violated =
if let Some(allowed_submode_mask) = entry.allowed_submode_mask() {
let fixed_bits = !allowed_submode_mask;
(val.mode_and_submode().mode() != entry.common.mode_submode.mode())
&& (val.mode_and_submode().submode() & fixed_bits
!= entry.common.mode_submode.submode() & fixed_bits)
} else {
val.mode_and_submode() != entry.common.mode_submode
};
}
});
if target_mode_violated {
// Target keeping violated. Report violation and fallback mode to user.
return TargetKeepingResult::Violated {
fallback_mode: target_table.fallback_mode,
};
}
}
TargetKeepingResult::Ok
}
pub fn handle_mode_reply(&mut self, reply: &GenericMessage<ModeReply>) {
if !self.children_mode_store.has_component(reply.sender_id()) {
return;
}
let mut generic_mode_reply_handler =
|sender_id, mode_and_submode: Option<ModeAndSubmode>| {
// Tying the reply awaition to the request ID ensures that something like replies
// belonging to older requests do not interfere with the completion handling of
// the mode commanding. This is important for forced mode commands.
let mut handle_awaition = false;
if self.state == ModeTreeHelperState::ModeCommanding
&& self.active_request_id.is_some()
&& reply.request_id() == self.active_request_id.unwrap()
{
handle_awaition = true;
}
let still_awating_replies = self.children_mode_store.generic_reply_handler(
sender_id,
mode_and_submode,
handle_awaition,
);
if self.state == ModeTreeHelperState::ModeCommanding && !still_awating_replies {
self.seq_exec_helper.confirm_sequence_done();
}
};
match reply.message {
ModeReply::ModeInfo(mode_and_submode) => {
generic_mode_reply_handler(reply.sender_id(), Some(mode_and_submode));
}
ModeReply::ModeReply(mode_and_submode) => {
generic_mode_reply_handler(reply.sender_id(), Some(mode_and_submode));
}
ModeReply::CantReachMode(_) => {
generic_mode_reply_handler(reply.sender_id(), None);
}
ModeReply::WrongMode { reached, .. } => {
generic_mode_reply_handler(reply.sender_id(), Some(reached));
}
};
}
pub fn update_child_mode(
&mut self,
child: ComponentId,
mode: ModeAndSubmode,
) -> Result<(), TargetNotInModeStoreError> {
self.children_mode_store.set_mode(child, mode)
}
}
#[cfg(test)]
mod tests {
// TODO: Test sequence execution helper
// TODO: Test subsystem commanding helper
}