sat-rs/satrs/src/event_man.rs

//! Event management and forwarding
//!
//! This module provides components to perform event routing. The most important component for this
//! task is the [EventManager]. It receives all events and then routes them to event subscribers
//! where appropriate. One common use case for satellite systems is to offer a light-weight
//! publish-subscribe mechanism and IPC mechanism for software and hardware events which are also
//! packaged as telemetry (TM) or can trigger a system response.
//!
//! It is recommended to read the
//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
//! about events first:
//!
//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
//! listener groups identified by [ListenerKey]s to a [listener ID][ComponentId].
//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
//! for each OBSW thread and then subscribe for all interesting events for a particular thread
//! using the send event provider ID.
//!
//! This can be done with the [EventManager] like this:
//!
//!  1. Provide a concrete [EventReceiveProvider] implementation. This abstraction allow to use different
//!     message queue backends. A straightforward implementation where dynamic memory allocation is
//!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
//!     form of the [MpscEventReceiver].
//!  2. To set up event creators, create channel pairs using some message queue implementation.
//!     Each event creator gets a (cloned) sender component which allows it to send events to the
//!     manager.
//!  3. The event manager receives the receiver component as part of a [EventReceiveProvider]
//!     implementation so all events are routed to the manager.
//!  4. Create the [event sender map][SenderMapProvider]s which allow routing events to
//!     subscribers. You can now use the subscriber component IDs to subscribe
//!     for event groups, for example by using the [EventManager::subscribe_single] method.
//!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
//!     manager can route listener groups to a the send provider.
//!
//! Some components like a PUS Event Service or PUS Event Action Service might require all
//! events to package them as telemetry or start actions where applicable.
//! Other components might only be interested in certain events. For example, a thermal system
//! handler might only be interested in temperature events generated by a thermal sensor component.
//!
//! # Examples
//!
//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
//! for a concrete example using multi-threading where events are routed to
//! different threads.
use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
use crate::params::Params;
use crate::queue::GenericSendError;
use core::fmt::Debug;
use core::marker::PhantomData;
use core::slice::Iter;

use crate::ComponentId;

#[cfg(feature = "alloc")]
pub use alloc_mod::*;

#[cfg(feature = "std")]
pub use std_mod::*;

#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
pub enum ListenerKey {
    Single(LargestEventRaw),
    Group(LargestGroupIdRaw),
    All,
}

#[derive(Debug)]
pub struct EventMessage<Event: GenericEvent, ParamProvider: Debug = Params> {
    sender_id: ComponentId,
    event: Event,
    params: Option<ParamProvider>,
}

impl<Event: GenericEvent, ParamProvider: Debug + Clone> EventMessage<Event, ParamProvider> {
    pub fn new_generic(
        sender_id: ComponentId,
        event: Event,
        params: Option<&ParamProvider>,
    ) -> Self {
        Self {
            sender_id,
            event,
            params: params.cloned(),
        }
    }

    pub fn sender_id(&self) -> ComponentId {
        self.sender_id
    }

    pub fn event(&self) -> Event {
        self.event
    }

    pub fn params(&self) -> Option<&ParamProvider> {
        self.params.as_ref()
    }

    pub fn new(sender_id: ComponentId, event: Event) -> Self {
        Self::new_generic(sender_id, event, None)
    }

    pub fn new_with_params(sender_id: ComponentId, event: Event, params: &ParamProvider) -> Self {
        Self::new_generic(sender_id, event, Some(params))
    }
}

pub type EventMessageU32 = EventMessage<EventU32, Params>;
pub type EventMessageU16 = EventMessage<EventU16, Params>;

/// Generic abstraction
pub trait EventSendProvider<Event: GenericEvent, ParamProvider: Debug = Params> {
    type Error;

    fn target_id(&self) -> ComponentId;

    fn send(&self, message: EventMessage<Event, ParamProvider>) -> Result<(), Self::Error>;
}

/// Generic abstraction for an event receiver.
pub trait EventReceiveProvider<Event: GenericEvent, ParamsProvider: Debug = Params> {
    type Error;

    /// This function has to be provided by any event receiver. A call may or may not return
    /// an event and optional auxiliary data.
    fn try_recv_event(&self) -> Result<Option<EventMessage<Event, ParamsProvider>>, Self::Error>;
}

pub trait ListenerMapProvider {
    #[cfg(feature = "alloc")]
    fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
    fn contains_listener(&self, key: &ListenerKey) -> bool;
    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
    fn add_listener(&mut self, key: ListenerKey, listener_id: ComponentId) -> bool;
    fn remove_duplicates(&mut self, key: &ListenerKey);
}

pub trait SenderMapProvider<
    EventSender: EventSendProvider<Event, ParamProvider>,
    Event: GenericEvent = EventU32,
    ParamProvider: Debug = Params,
>
{
    fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;

    fn get_send_event_provider(&self, target_id: &ComponentId) -> Option<&EventSender>;
    fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool;
}

/// Generic event manager implementation.
///
/// # Generics
///
///  * `EventReceiver`: [EventReceiveProvider] used to receive all events.
///  * `SenderMap`: [SenderMapProvider]  which maps channel IDs to send providers.
///  * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
///  * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
///  * `Ev`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
///     and [EventU16] are supported.
///  * `Data`: Auxiliary data which is sent with the event to provide optional context information
pub struct EventManager<
    EventReceiver: EventReceiveProvider<Event, ParamProvider>,
    SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
    ListenerMap: ListenerMapProvider,
    EventSender: EventSendProvider<Event, ParamProvider>,
    Event: GenericEvent = EventU32,
    ParamProvider: Debug = Params,
> {
    event_receiver: EventReceiver,
    sender_map: SenderMap,
    listener_map: ListenerMap,
    phantom: core::marker::PhantomData<(EventSender, Event, ParamProvider)>,
}

#[derive(Debug)]
pub enum EventRoutingResult<Event: GenericEvent, ParamProvider: Debug> {
    /// No event was received
    Empty,
    /// An event was received and routed to listeners.
    Handled {
        num_recipients: u32,
        event_msg: EventMessage<Event, ParamProvider>,
    },
}

#[derive(Debug)]
pub enum EventRoutingError {
    Send(GenericSendError),
    NoSendersForKey(ListenerKey),
    NoSenderForId(ComponentId),
}

impl<
        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
        SenderMap: SenderMapProvider<EventSender, Event, ParamProvider>,
        ListenerMap: ListenerMapProvider,
        EventSender: EventSendProvider<Event, ParamProvider>,
        Event: GenericEvent + Copy,
        ParamProvider: Debug,
    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Event, ParamProvider>
{
    pub fn remove_duplicates(&mut self, key: &ListenerKey) {
        self.listener_map.remove_duplicates(key)
    }

    /// Subscribe for a unique event.
    pub fn subscribe_single(&mut self, event: &Event, sender_id: ComponentId) {
        self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
    }

    /// Subscribe for an event group.
    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ComponentId) {
        self.update_listeners(ListenerKey::Group(group_id), sender_id);
    }

    /// Subscribe for all events received by the manager.
    ///
    /// For example, this can be useful for a handler component which sends every event as
    /// a telemetry packet.
    pub fn subscribe_all(&mut self, sender_id: ComponentId) {
        self.update_listeners(ListenerKey::All, sender_id);
    }
}
impl<
        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
        SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
        ListenerMap: ListenerMapProvider,
        EventSenderMap: EventSendProvider<Event, ParamProvider>,
        Event: GenericEvent + Copy,
        ParamProvider: Debug,
    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
{
    pub fn new_with_custom_maps(
        event_receiver: EventReceiver,
        sender_map: SenderMap,
        listener_map: ListenerMap,
    ) -> Self {
        EventManager {
            listener_map,
            sender_map,
            event_receiver,
            phantom: PhantomData,
        }
    }

    /// Add a new sender component which can be used to send events to subscribers.
    pub fn add_sender(&mut self, send_provider: EventSenderMap) {
        if !self
            .sender_map
            .contains_send_event_provider(&send_provider.target_id())
        {
            self.sender_map.add_send_event_provider(send_provider);
        }
    }

    /// Generic function to update the event subscribers.
    fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
        self.listener_map.add_listener(key, sender_id);
    }
}

impl<
        EventReceiver: EventReceiveProvider<Event, ParamProvider>,
        SenderMap: SenderMapProvider<EventSenderMap, Event, ParamProvider>,
        ListenerMap: ListenerMapProvider,
        EventSenderMap: EventSendProvider<Event, ParamProvider, Error = GenericSendError>,
        Event: GenericEvent + Copy,
        ParamProvider: Clone + Debug,
    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSenderMap, Event, ParamProvider>
{
    /// This function will use the cached event receiver and try to receive one event.
    /// If an event was received, it will try to route that event to all subscribed event listeners.
    /// If this works without any issues, the [EventRoutingResult] will contain context information
    /// about the routed event.
    ///
    /// If an error occurs during the routing, the error handler will be called. The error handler
    /// should take a reference to the event message as the first argument, and the routing error
    /// as the second argument.
    pub fn try_event_handling<E: FnMut(&EventMessage<Event, ParamProvider>, EventRoutingError)>(
        &self,
        mut error_handler: E,
    ) -> EventRoutingResult<Event, ParamProvider> {
        let mut num_recipients = 0;
        let mut send_handler =
            |key: &ListenerKey, event_msg: &EventMessage<Event, ParamProvider>| {
                if self.listener_map.contains_listener(key) {
                    if let Some(ids) = self.listener_map.get_listener_ids(key) {
                        for id in ids {
                            if let Some(sender) = self.sender_map.get_send_event_provider(id) {
                                if let Err(e) = sender.send(EventMessage::new_generic(
                                    *id,
                                    event_msg.event,
                                    event_msg.params.as_ref(),
                                )) {
                                    error_handler(event_msg, EventRoutingError::Send(e));
                                } else {
                                    num_recipients += 1;
                                }
                            } else {
                                error_handler(event_msg, EventRoutingError::NoSenderForId(*id));
                            }
                        }
                    } else {
                        error_handler(event_msg, EventRoutingError::NoSendersForKey(*key));
                    }
                }
            };
        if let Ok(Some(event_msg)) = self.event_receiver.try_recv_event() {
            let single_key = ListenerKey::Single(event_msg.event.raw_as_largest_type());
            send_handler(&single_key, &event_msg);
            let group_key = ListenerKey::Group(event_msg.event.group_id_as_largest_type());
            send_handler(&group_key, &event_msg);
            send_handler(&ListenerKey::All, &event_msg);
            return EventRoutingResult::Handled {
                num_recipients,
                event_msg,
            };
        }
        EventRoutingResult::Empty
    }
}

#[cfg(feature = "alloc")]
pub mod alloc_mod {
    use alloc::vec::Vec;
    use hashbrown::HashMap;

    use super::*;

    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
    /// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
    pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
        MpscEventReceiver,
        DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
        DefaultListenerMap,
        EventSenderMpsc<EV>,
    >;

    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
    /// and the [DefaultListenerMap]. It uses
    /// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
    /// message queue backend.
    pub type EventManagerWithBoundedMpsc<Event = EventU32, ParamProvider = Params> = EventManager<
        MpscEventReceiver,
        DefaultSenderMap<EventSenderMpscBounded<Event>, Event, ParamProvider>,
        DefaultListenerMap,
        EventSenderMpscBounded<Event>,
    >;

    impl<
            EventReceiver: EventReceiveProvider<Event, ParamProvider>,
            EventSender: EventSendProvider<Event, ParamProvider>,
            Event: GenericEvent + Copy,
            ParamProvider: 'static + Debug,
        >
        EventManager<
            EventReceiver,
            DefaultSenderMap<EventSender, Event, ParamProvider>,
            DefaultListenerMap,
            EventSender,
            Event,
            ParamProvider,
        >
    {
        /// Create an event manager where the sender table will be the [DefaultSenderMap]
        /// and the listener table will be the [DefaultListenerMap].
        pub fn new(event_receiver: EventReceiver) -> Self {
            Self {
                listener_map: DefaultListenerMap::default(),
                sender_map: DefaultSenderMap::default(),
                event_receiver,
                phantom: PhantomData,
            }
        }
    }

    /// Default listener map.
    ///
    /// Simple implementation which uses a [HashMap] and a [Vec] internally.
    #[derive(Default)]
    pub struct DefaultListenerMap {
        listeners: HashMap<ListenerKey, Vec<ComponentId>>,
    }

    impl ListenerMapProvider for DefaultListenerMap {
        fn get_listeners(&self) -> Vec<ListenerKey> {
            let mut key_list = Vec::new();
            for key in self.listeners.keys() {
                key_list.push(*key);
            }
            key_list
        }

        fn contains_listener(&self, key: &ListenerKey) -> bool {
            self.listeners.contains_key(key)
        }

        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>> {
            self.listeners.get(key).map(|vec| vec.iter())
        }

        fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool {
            if let Some(existing_list) = self.listeners.get_mut(&key) {
                existing_list.push(sender_id);
            } else {
                let new_list = alloc::vec![sender_id];
                self.listeners.insert(key, new_list);
            }
            true
        }

        fn remove_duplicates(&mut self, key: &ListenerKey) {
            if let Some(list) = self.listeners.get_mut(key) {
                list.sort_unstable();
                list.dedup();
            }
        }
    }

    /// Default sender map.
    ///
    /// Simple implementation which uses a [HashMap] internally.
    pub struct DefaultSenderMap<
        EventSender: EventSendProvider<Event, ParamProvider>,
        Event: GenericEvent = EventU32,
        ParamProvider: Debug = Params,
    > {
        senders: HashMap<ComponentId, EventSender>,
        phantom: PhantomData<(Event, ParamProvider)>,
    }

    impl<
            EventSender: EventSendProvider<Event, ParamProvider>,
            Event: GenericEvent,
            ParamProvider: Debug,
        > Default for DefaultSenderMap<EventSender, Event, ParamProvider>
    {
        fn default() -> Self {
            Self {
                senders: Default::default(),
                phantom: Default::default(),
            }
        }
    }

    impl<
            EventSender: EventSendProvider<Event, ParamProvider>,
            Event: GenericEvent,
            ParamProvider: Debug,
        > SenderMapProvider<EventSender, Event, ParamProvider>
        for DefaultSenderMap<EventSender, Event, ParamProvider>
    {
        fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
            self.senders.contains_key(id)
        }

        fn get_send_event_provider(&self, id: &ComponentId) -> Option<&EventSender> {
            self.senders
                .get(id)
                .filter(|sender| sender.target_id() == *id)
        }

        fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool {
            let id = send_provider.target_id();
            if self.senders.contains_key(&id) {
                return false;
            }
            self.senders.insert(id, send_provider).is_none()
        }
    }
}

#[cfg(feature = "std")]
pub mod std_mod {
    use crate::queue::GenericReceiveError;

    use super::*;
    use std::sync::mpsc;

    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
        receiver: mpsc::Receiver<EventMessage<Event>>,
    }

    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
        pub fn new(receiver: mpsc::Receiver<EventMessage<Event>>) -> Self {
            Self { receiver }
        }
    }
    impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
        type Error = GenericReceiveError;

        fn try_recv_event(&self) -> Result<Option<EventMessage<Event>>, Self::Error> {
            match self.receiver.try_recv() {
                Ok(msg) => Ok(Some(msg)),
                Err(e) => match e {
                    mpsc::TryRecvError::Empty => Ok(None),
                    mpsc::TryRecvError::Disconnected => {
                        Err(GenericReceiveError::TxDisconnected(None))
                    }
                },
            }
        }
    }

    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;

    /// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
    /// send events.
    #[derive(Clone)]
    pub struct EventSenderMpsc<Event: GenericEvent + Send> {
        target_id: ComponentId,
        sender: mpsc::Sender<EventMessage<Event>>,
    }

    impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
        pub fn new(target_id: ComponentId, sender: mpsc::Sender<EventMessage<Event>>) -> Self {
            Self { target_id, sender }
        }
    }

    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
        type Error = GenericSendError;

        fn target_id(&self) -> ComponentId {
            self.target_id
        }

        fn send(&self, event_msg: EventMessage<Event>) -> Result<(), GenericSendError> {
            self.sender
                .send(event_msg)
                .map_err(|_| GenericSendError::RxDisconnected)
        }
    }

    /// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
    /// events. This has the advantage that the channel is bounded and thus more deterministic.
    #[derive(Clone)]
    pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
        target_id: ComponentId,
        sender: mpsc::SyncSender<EventMessage<Event>>,
        capacity: usize,
    }

    impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
        pub fn new(
            target_id: ComponentId,
            sender: mpsc::SyncSender<EventMessage<Event>>,
            capacity: usize,
        ) -> Self {
            Self {
                target_id,
                sender,
                capacity,
            }
        }
    }

    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
        type Error = GenericSendError;

        fn target_id(&self) -> ComponentId {
            self.target_id
        }

        fn send(&self, event_msg: EventMessage<Event>) -> Result<(), Self::Error> {
            if let Err(e) = self.sender.try_send(event_msg) {
                return match e {
                    mpsc::TrySendError::Full(_) => {
                        Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
                    }
                    mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
                };
            }
            Ok(())
        }
    }

    pub type EventU32SenderMpsc = EventSenderMpsc<EventU32>;
    pub type EventU16SenderMpsc = EventSenderMpsc<EventU16>;
    pub type EventU32SenderMpscBounded = EventSenderMpscBounded<EventU32>;
    pub type EventU16SenderMpscBounded = EventSenderMpscBounded<EventU16>;
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::event_man::EventManager;
    use crate::events::{EventU32, GenericEvent, Severity};
    use crate::params::{ParamsHeapless, ParamsRaw};
    use crate::pus::test_util::{TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1};
    use std::format;
    use std::sync::mpsc::{self};

    const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);

    fn check_next_event(
        expected: EventU32,
        receiver: &mpsc::Receiver<EventMessageU32>,
    ) -> Option<Params> {
        if let Ok(event_msg) = receiver.try_recv() {
            assert_eq!(event_msg.event, expected);
            return event_msg.params;
        }
        None
    }

    fn check_handled_event(
        res: EventRoutingResult<EventU32, Params>,
        expected: EventU32,
        expected_num_sent: u32,
    ) {
        assert!(matches!(res, EventRoutingResult::Handled { .. }));
        if let EventRoutingResult::Handled {
            num_recipients,
            event_msg,
        } = res
        {
            assert_eq!(event_msg.event, expected);
            assert_eq!(num_recipients, expected_num_sent);
        }
    }

    fn generic_event_man() -> (mpsc::Sender<EventMessageU32>, EventManagerWithMpsc) {
        let (event_sender, manager_queue) = mpsc::channel();
        let event_man_receiver = MpscEventReceiver::new(manager_queue);
        (event_sender, EventManager::new(event_man_receiver))
    }

    #[test]
    fn test_basic() {
        let (event_sender, mut event_man) = generic_event_man();
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (single_event_sender, single_event_receiver) = mpsc::channel();
        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
        event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
        event_man.add_sender(single_event_listener);
        let (group_event_sender_0, group_event_receiver_0) = mpsc::channel();
        let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
        event_man.add_sender(group_event_listener);

        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
        };
        // Test event with one listener
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
            .expect("Sending single error failed");
        let res = event_man.try_event_handling(&error_handler);
        // assert!(res.is_ok());
        check_handled_event(res, event_grp_0, 1);
        check_next_event(event_grp_0, &single_event_receiver);

        // Test event which is sent to all group listeners
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
            .expect("Sending group error failed");
        let res = event_man.try_event_handling(&error_handler);
        check_handled_event(res, event_grp_1_0, 1);
        check_next_event(event_grp_1_0, &group_event_receiver_0);
    }

    #[test]
    fn test_with_basic_params() {
        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
        };
        let (event_sender, mut event_man) = generic_event_man();
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let (single_event_sender, single_event_receiver) = mpsc::channel();
        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
        event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
        event_man.add_sender(single_event_listener);
        event_sender
            .send(EventMessage::new_with_params(
                TEST_COMPONENT_ID_0.id(),
                event_grp_0,
                &Params::Heapless((2_u32, 3_u32).into()),
            ))
            .expect("Sending group error failed");
        let res = event_man.try_event_handling(&error_handler);
        check_handled_event(res, event_grp_0, 1);
        let aux = check_next_event(event_grp_0, &single_event_receiver);
        assert!(aux.is_some());
        let aux = aux.unwrap();
        if let Params::Heapless(ParamsHeapless::Raw(ParamsRaw::U32Pair(pair))) = aux {
            assert_eq!(pair.0, 2);
            assert_eq!(pair.1, 3);
        } else {
            panic!("{}", format!("Unexpected auxiliary value type {:?}", aux));
        }
    }

    /// Test listening for multiple groups
    #[test]
    fn test_multi_group() {
        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
        };
        let (event_sender, mut event_man) = generic_event_man();
        let res = event_man.try_event_handling(error_handler);
        assert!(matches!(res, EventRoutingResult::Empty));

        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_grp_0_sender, event_grp_0_receiver) = mpsc::channel();
        let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
        event_man.subscribe_group(
            event_grp_0.group_id(),
            event_grp_0_and_1_listener.target_id(),
        );
        event_man.subscribe_group(
            event_grp_1_0.group_id(),
            event_grp_0_and_1_listener.target_id(),
        );
        event_man.add_sender(event_grp_0_and_1_listener);

        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_grp_0))
            .expect("Sending Event Group 0 failed");
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_grp_1_0))
            .expect("Sendign Event Group 1 failed");
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_grp_0, 1);
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_grp_1_0, 1);

        check_next_event(event_grp_0, &event_grp_0_receiver);
        check_next_event(event_grp_1_0, &event_grp_0_receiver);
    }

    /// Test listening to the same event from multiple listeners. Also test listening
    /// to both group and single events from one listener
    #[test]
    fn test_listening_to_same_event_and_multi_type() {
        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
        };
        let (event_sender, mut event_man) = generic_event_man();
        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_0_tx_0, event_0_rx_0) = mpsc::channel();
        let (event_0_tx_1, event_0_rx_1) = mpsc::channel();
        let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
        let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
        let event_listener_0_sender_id = event_listener_0.target_id();
        event_man.subscribe_single(&event_0, event_listener_0_sender_id);
        event_man.add_sender(event_listener_0);
        let event_listener_1_sender_id = event_listener_1.target_id();
        event_man.subscribe_single(&event_0, event_listener_1_sender_id);
        event_man.add_sender(event_listener_1);
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
            .expect("Triggering Event 0 failed");
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_0, 2);
        check_next_event(event_0, &event_0_rx_0);
        check_next_event(event_0, &event_0_rx_1);
        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
            .expect("Triggering Event 0 failed");
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
            .expect("Triggering Event 1 failed");

        // 3 Events messages will be sent now
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_0, 2);
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_1, 1);
        // Both the single event and the group event should arrive now
        check_next_event(event_0, &event_0_rx_0);
        check_next_event(event_1, &event_0_rx_0);

        // Do double insertion and then remove duplicates
        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
        event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_1))
            .expect("Triggering Event 1 failed");
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_1, 1);
    }

    #[test]
    fn test_all_events_listener() {
        let error_handler = |event_msg: &EventMessageU32, e: EventRoutingError| {
            panic!("routing error occurred for event {:?}: {:?}", event_msg, e);
        };
        let (event_sender, manager_queue) = mpsc::channel();
        let event_man_receiver = MpscEventReceiver::new(manager_queue);
        let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_0_tx_0, all_events_rx) = mpsc::channel();
        let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
        event_man.subscribe_all(all_events_listener.target_id());
        event_man.add_sender(all_events_listener);
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), event_0))
            .expect("Triggering event 0 failed");
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_1.id(), event_1))
            .expect("Triggering event 1 failed");
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_0, 1);
        let res = event_man.try_event_handling(error_handler);
        check_handled_event(res, event_1, 1);
        check_next_event(event_0, &all_events_rx);
        check_next_event(event_1, &all_events_rx);
    }

    #[test]
    fn test_bounded_event_sender_queue_full() {
        let (event_sender, _event_receiver) = mpsc::sync_channel(3);
        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
            .expect("sending test event failed");
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
            .expect("sending test event failed");
        event_sender
            .send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT))
            .expect("sending test event failed");
        let error = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT));
        if let Err(e) = error {
            assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
        } else {
            panic!("unexpected error {error:?}");
        }
    }
    #[test]
    fn test_bounded_event_sender_rx_dropped() {
        let (event_sender, event_receiver) = mpsc::sync_channel(3);
        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
        drop(event_receiver);
        if let Err(e) = event_sender.send(EventMessage::new(TEST_COMPONENT_ID_0.id(), TEST_EVENT)) {
            assert!(matches!(e, GenericSendError::RxDisconnected));
        } else {
            panic!("Expected error");
        }
    }
}