587 lines
19 KiB
Rust
587 lines
19 KiB
Rust
use core::{fmt, marker::PhantomData};
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#[cfg(feature = "serde")]
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use serde::{Deserialize, Serialize};
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#[cfg(feature = "alloc")]
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pub use alloc_mod::*;
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#[cfg(feature = "std")]
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pub use std_mod::*;
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use spacepackets::{
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ecss::{tc::IsPusTelecommand, PusPacket},
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ByteConversionError, CcsdsPacket,
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};
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use crate::{queue::GenericTargetedMessagingError, ComponentId};
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/// Generic request ID type. Requests can be associated with an ID to have a unique identifier
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/// for them. This can be useful for tasks like tracking their progress.
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pub type RequestId = u32;
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/// CCSDS APID type definition. Please note that the APID is a 14 bit value.
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pub type Apid = u16;
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#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
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pub struct UniqueApidTargetId {
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pub apid: Apid,
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pub unique_id: u32,
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}
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impl UniqueApidTargetId {
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pub const fn new(apid: Apid, target: u32) -> Self {
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Self {
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apid,
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unique_id: target,
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}
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}
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pub fn raw(&self) -> ComponentId {
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((self.apid as u64) << 32) | (self.unique_id as u64)
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}
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pub fn id(&self) -> ComponentId {
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self.raw()
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}
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/// This function attempts to build the ID from a PUS telecommand by extracting the APID
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/// and the first four bytes of the application data field as the target field.
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pub fn from_pus_tc(
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tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
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) -> Result<Self, ByteConversionError> {
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if tc.user_data().len() < 4 {
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return Err(ByteConversionError::FromSliceTooSmall {
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found: tc.user_data().len(),
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expected: 4,
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});
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}
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Ok(Self::new(
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tc.apid(),
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u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
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))
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}
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}
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impl From<u64> for UniqueApidTargetId {
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fn from(raw: u64) -> Self {
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Self {
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apid: (raw >> 32) as u16,
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unique_id: raw as u32,
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}
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}
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}
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impl From<UniqueApidTargetId> for u64 {
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fn from(target_and_apid_id: UniqueApidTargetId) -> Self {
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target_and_apid_id.raw()
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}
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}
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impl fmt::Display for UniqueApidTargetId {
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fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
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write!(
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f,
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"Target and APID ID with APID {:#03x} and target {}",
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self.apid, self.unique_id
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)
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}
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}
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/// This contains metadata information which might be useful when used together with a
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/// generic message tpye.
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///
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/// This could for example be used to build request/reply patterns or state tracking for request.
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#[derive(Debug, Copy, PartialEq, Eq, Clone)]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct MessageMetadata {
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request_id: RequestId,
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sender_id: ComponentId,
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}
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impl MessageMetadata {
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pub const fn new(request_id: RequestId, sender_id: ComponentId) -> Self {
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Self {
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request_id,
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sender_id,
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}
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}
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pub fn request_id(&self) -> RequestId {
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self.request_id
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}
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pub fn sender_id(&self) -> ComponentId {
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self.sender_id
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}
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}
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/// Generic message type which adds [metadata][MessageMetadata] to a generic message typ.
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#[derive(Debug, Clone, PartialEq, Eq)]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct GenericMessage<Message> {
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pub requestor_info: MessageMetadata,
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pub message: Message,
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}
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impl<Message> GenericMessage<Message> {
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pub fn new(requestor_info: MessageMetadata, message: Message) -> Self {
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Self {
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requestor_info,
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message,
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}
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}
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delegate::delegate! {
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to self.requestor_info {
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pub fn request_id(&self) -> RequestId;
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pub fn sender_id(&self) -> ComponentId;
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}
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}
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}
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/// Generic trait for objects which can send targeted messages.
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pub trait MessageSender<MSG>: Send {
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fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
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}
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// Generic trait for objects which can receive targeted messages.
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pub trait MessageReceiver<MSG> {
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fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
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}
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pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
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impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
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fn from(receiver: R) -> Self {
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MessageWithSenderIdReceiver(receiver, PhantomData)
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}
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}
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impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
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pub fn try_recv_message(
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&self,
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) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
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self.0.try_recv()
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}
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}
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pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
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local_channel_id: ComponentId,
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reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
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}
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impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
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pub fn new(local_channel_id: ComponentId, reply_receiver: R) -> Self {
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Self {
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local_channel_id,
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reply_receiver: MessageWithSenderIdReceiver::from(reply_receiver),
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}
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}
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pub fn local_channel_id(&self) -> ComponentId {
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self.local_channel_id
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}
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}
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impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
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pub fn try_recv_message(
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&self,
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) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
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self.reply_receiver.0.try_recv()
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}
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}
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#[cfg(feature = "alloc")]
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pub mod alloc_mod {
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use core::marker::PhantomData;
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use crate::queue::GenericSendError;
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use super::*;
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use hashbrown::HashMap;
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pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
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pub HashMap<ComponentId, S>,
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pub(crate) PhantomData<MSG>,
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);
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impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
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fn default() -> Self {
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Self(Default::default(), PhantomData)
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}
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}
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impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
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pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
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self.0.insert(target_id, message_sender);
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}
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pub fn send_message(
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&self,
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requestor_info: MessageMetadata,
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target_channel_id: ComponentId,
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message: MSG,
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) -> Result<(), GenericTargetedMessagingError> {
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if self.0.contains_key(&target_channel_id) {
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return self
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.0
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.get(&target_channel_id)
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.unwrap()
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.send(GenericMessage::new(requestor_info, message));
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}
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Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
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}
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}
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pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
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pub local_channel_id: ComponentId,
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pub message_sender_map: MessageSenderMap<TO, S>,
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pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
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}
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impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
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MessageSenderAndReceiver<TO, FROM, S, R>
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{
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pub fn new(local_channel_id: ComponentId, message_receiver: R) -> Self {
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Self {
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local_channel_id,
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message_sender_map: Default::default(),
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message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
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}
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}
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pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
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self.message_sender_map
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.add_message_target(target_id, message_sender)
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}
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pub fn local_channel_id_generic(&self) -> ComponentId {
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self.local_channel_id
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}
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/// Try to send a message, which can be a reply or a request, depending on the generics.
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pub fn send_message(
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&self,
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request_id: RequestId,
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target_id: ComponentId,
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message: TO,
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) -> Result<(), GenericTargetedMessagingError> {
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self.message_sender_map.send_message(
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MessageMetadata::new(request_id, self.local_channel_id_generic()),
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target_id,
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message,
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)
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}
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/// Try to receive a message, which can be a reply or a request, depending on the generics.
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pub fn try_recv_message(
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&self,
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) -> Result<Option<GenericMessage<FROM>>, GenericTargetedMessagingError> {
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self.message_receiver.try_recv_message()
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}
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}
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pub struct RequestAndReplySenderAndReceiver<
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REQUEST,
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REPLY,
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S0: MessageSender<REQUEST>,
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R0: MessageReceiver<REPLY>,
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S1: MessageSender<REPLY>,
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R1: MessageReceiver<REQUEST>,
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> {
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pub local_channel_id: ComponentId,
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// These 2 are a functional group.
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pub request_sender_map: MessageSenderMap<REQUEST, S0>,
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pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
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// These 2 are a functional group.
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pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
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pub reply_sender_map: MessageSenderMap<REPLY, S1>,
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}
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impl<
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REQUEST,
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REPLY,
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S0: MessageSender<REQUEST>,
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R0: MessageReceiver<REPLY>,
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S1: MessageSender<REPLY>,
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R1: MessageReceiver<REQUEST>,
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> RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
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{
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pub fn new(
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local_channel_id: ComponentId,
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request_receiver: R1,
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reply_receiver: R0,
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) -> Self {
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Self {
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local_channel_id,
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request_receiver: request_receiver.into(),
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reply_receiver: reply_receiver.into(),
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request_sender_map: Default::default(),
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reply_sender_map: Default::default(),
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}
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}
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pub fn local_channel_id_generic(&self) -> ComponentId {
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self.local_channel_id
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}
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}
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}
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#[cfg(feature = "std")]
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pub mod std_mod {
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use super::*;
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use std::sync::mpsc;
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use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
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impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
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fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
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self.send(message)
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.map_err(|_| GenericSendError::RxDisconnected)?;
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Ok(())
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}
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}
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impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
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fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
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if let Err(e) = self.try_send(message) {
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return match e {
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mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
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mpsc::TrySendError::Disconnected(_) => {
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Err(GenericSendError::RxDisconnected.into())
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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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pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
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pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
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impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
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fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
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match self.try_recv() {
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Ok(msg) => Ok(Some(msg)),
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Err(e) => match e {
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mpsc::TryRecvError::Empty => Ok(None),
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mpsc::TryRecvError::Disconnected => {
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Err(GenericReceiveError::TxDisconnected(None).into())
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}
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},
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}
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}
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}
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pub type MessageReceiverWithIdMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Receiver<MSG>>;
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}
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#[cfg(test)]
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mod tests {
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use std::sync::mpsc;
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use alloc::string::ToString;
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use spacepackets::{
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ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
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ByteConversionError, SpHeader,
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};
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use crate::{
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queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
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request::{MessageMetadata, MessageSenderMap},
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};
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use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
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const TEST_CHANNEL_ID_0: u64 = 1;
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const TEST_CHANNEL_ID_1: u64 = 2;
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const TEST_CHANNEL_ID_2: u64 = 3;
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#[test]
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fn test_basic_target_id_with_apid() {
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let id = UniqueApidTargetId::new(0x111, 0x01);
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assert_eq!(id.apid, 0x111);
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assert_eq!(id.unique_id, 0x01);
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assert_eq!(id.id(), id.raw());
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assert_eq!(u64::from(id), id.raw());
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let id_raw = id.raw();
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let id_from_raw = UniqueApidTargetId::from(id_raw);
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assert_eq!(id_from_raw, id);
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assert_eq!(id.id(), (0x111 << 32) | 0x01);
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let string = id.to_string();
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assert_eq!(
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string,
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"Target and APID ID with APID 0x111 and target 1".to_string()
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);
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}
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#[test]
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fn test_basic_target_id_with_apid_from_pus_tc() {
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let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
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let app_data = 1_u32.to_be_bytes();
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let pus_tc = PusTcCreator::new_simple(sp_header, 17, 1, &app_data, true);
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let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
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assert_eq!(id.apid, 0x111);
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assert_eq!(id.unique_id, 1);
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}
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#[test]
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fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
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let sp_header = SpHeader::new_for_unseg_tc(0x111, 5, 0);
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let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
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let pus_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, true);
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let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
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assert!(error.is_err());
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let error = error.unwrap_err();
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if let ByteConversionError::FromSliceTooSmall { found, expected } = error {
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assert_eq!(found, 0);
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assert_eq!(expected, 4);
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} else {
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panic!("Unexpected error type");
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}
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}
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#[test]
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fn test_receiver_only() {
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let (sender, receiver) = mpsc::channel();
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// Test structure with only a receiver which has a channel ID.
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let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
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let request_id = 5;
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sender
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.send(GenericMessage::new(
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MessageMetadata::new(request_id, TEST_CHANNEL_ID_1),
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5,
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))
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.unwrap();
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let reply = receiver.try_recv_message().unwrap();
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assert!(reply.is_some());
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assert_eq!(receiver.local_channel_id(), TEST_CHANNEL_ID_0);
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let reply = reply.unwrap();
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assert_eq!(reply.requestor_info.request_id, request_id);
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assert_eq!(reply.requestor_info.sender_id, TEST_CHANNEL_ID_1);
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assert_eq!(reply.message, 5);
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}
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#[test]
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fn test_receiver_empty() {
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let (_sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
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// Test structure with only a receiver which has a channel ID.
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let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
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let reply = receiver.try_recv_message().unwrap();
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assert!(reply.is_none());
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}
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#[test]
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fn test_all_tx_disconnected() {
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let (sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
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// Test structure with only a receiver which has a channel ID.
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let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
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drop(sender);
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let reply = receiver.try_recv_message();
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assert!(reply.is_err());
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let error = reply.unwrap_err();
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if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
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error
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{
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} else {
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panic!("unexpected error type");
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}
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}
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#[test]
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fn test_sender_map() {
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let (sender0, receiver0) = mpsc::channel();
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let (sender1, receiver1) = mpsc::channel();
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let mut sender_map = MessageSenderMap::default();
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sender_map.add_message_target(TEST_CHANNEL_ID_1, sender0);
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sender_map.add_message_target(TEST_CHANNEL_ID_2, sender1);
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sender_map
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.send_message(
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MessageMetadata::new(1, TEST_CHANNEL_ID_0),
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TEST_CHANNEL_ID_1,
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5,
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)
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.expect("sending message failed");
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let mut reply = receiver0.recv().expect("receiving message failed");
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assert_eq!(reply.request_id(), 1);
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assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
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assert_eq!(reply.message, 5);
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sender_map
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.send_message(
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MessageMetadata::new(2, TEST_CHANNEL_ID_0),
|
|
TEST_CHANNEL_ID_2,
|
|
10,
|
|
)
|
|
.expect("sending message failed");
|
|
reply = receiver1.recv().expect("receiving message failed");
|
|
assert_eq!(reply.request_id(), 2);
|
|
assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
|
|
assert_eq!(reply.message, 10);
|
|
}
|
|
|
|
#[test]
|
|
fn test_sender_map_target_does_not_exist() {
|
|
let (sender0, _) = mpsc::channel();
|
|
let mut sender_map_with_id = MessageSenderMap::default();
|
|
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
|
|
let result = sender_map_with_id.send_message(
|
|
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
|
|
TEST_CHANNEL_ID_2,
|
|
5,
|
|
);
|
|
assert!(result.is_err());
|
|
let error = result.unwrap_err();
|
|
if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
|
|
error
|
|
{
|
|
assert_eq!(target, TEST_CHANNEL_ID_2);
|
|
} else {
|
|
panic!("Unexpected error type");
|
|
}
|
|
}
|
|
#[test]
|
|
fn test_sender_map_queue_full() {
|
|
let (sender0, _receiver0) = mpsc::sync_channel(1);
|
|
let mut sender_map_with_id = MessageSenderMap::default();
|
|
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
|
|
sender_map_with_id
|
|
.send_message(
|
|
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
|
|
TEST_CHANNEL_ID_1,
|
|
5,
|
|
)
|
|
.expect("sending message failed");
|
|
let result = sender_map_with_id.send_message(
|
|
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
|
|
TEST_CHANNEL_ID_1,
|
|
5,
|
|
);
|
|
assert!(result.is_err());
|
|
let error = result.unwrap_err();
|
|
if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
|
|
assert!(capacity.is_none());
|
|
} else {
|
|
panic!("Unexpected error type {}", error);
|
|
}
|
|
}
|
|
|
|
#[test]
|
|
fn test_sender_map_queue_receiver_disconnected() {
|
|
let (sender0, receiver0) = mpsc::sync_channel(1);
|
|
let mut sender_map_with_id = MessageSenderMap::default();
|
|
sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
|
|
drop(receiver0);
|
|
let result = sender_map_with_id.send_message(
|
|
MessageMetadata::new(1, TEST_CHANNEL_ID_0),
|
|
TEST_CHANNEL_ID_1,
|
|
5,
|
|
);
|
|
assert!(result.is_err());
|
|
let error = result.unwrap_err();
|
|
if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
|
|
} else {
|
|
panic!("Unexpected error type {}", error);
|
|
}
|
|
}
|
|
}
|