add health module

satrs/src/dev_mgmt.rs

@@ -6,54 +6,122 @@ use crate::{
     subsystem::ModeTreeHelperState,
     ComponentId,
 };
+use core::fmt::Debug;
 
 #[derive(Debug, Default)]
-pub enum AssemblyHelperResult {
+pub enum DevManagerHelperResult {
     #[default]
     Idle,
-    TargetKeepingViolation(ComponentId),
+    Busy,
     ModeCommandingDone,
 }
 
+#[derive(Debug)]
+pub enum DevManagerHelperError {
+    ChildNotInStore,
+}
+
+pub trait DevManagerUserHook: Debug {
+    fn send_mode_cmds_to_children(
+        &self,
+        parent_mode: ModeAndSubmode,
+        forced: bool,
+        children_mode_store: &mut ModeStoreVec,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+#[derive(Debug, Default)]
+pub struct TransparentDevManagerHook {}
+
+impl DevManagerUserHook for TransparentDevManagerHook {
+    fn send_mode_cmds_to_children(
+        &self,
+        commanded_parent_mode: ModeAndSubmode,
+        forced: bool,
+        children_mode_store: &mut ModeStoreVec,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        for child in children_mode_store {
+            mode_req_sender.send_mode_request(
+                0,
+                child.id(),
+                ModeRequest::SetMode {
+                    mode_and_submode: commanded_parent_mode,
+                    forced,
+                },
+            )?;
+            child.awaiting_reply = true;
+        }
+        Ok(())
+    }
+}
+
 /// A generic helper for manager components which manage child components in a mode tree.
 ///
 /// Mode commands are usually forwarded to all children components transparently.
 /// For example, this could be used in an Assembly component which manages multiple redundant
 /// child components. It can also be used inside a manager component which only manages one device.
-#[derive(Debug, Default)]
-pub struct AssemblyCommandingHelper {
+#[derive(Debug)]
+pub struct DevManagerCommandingHelper<UserHook: DevManagerUserHook> {
     /// The IDs, modes and reply awaition status of all children are tracked in this data
     /// structure.
     pub children_mode_store: ModeStoreVec,
+    pub user_hook: UserHook,
     /// Target mode used for mode commanding.
     target_mode: Option<ModeAndSubmode>,
     /// Request ID of active mode commanding request.
     active_request_id: Option<RequestId>,
     state: ModeTreeHelperState,
 }
 
-pub type DevManagerCommandingHelper = AssemblyCommandingHelper;
+impl<UserHook: DevManagerUserHook> DevManagerCommandingHelper<UserHook> {
+    pub fn new(user_hook: UserHook) -> Self {
+        Self {
+            children_mode_store: Default::default(),
+            target_mode: None,
+            user_hook,
+            active_request_id: None,
+            state: Default::default(),
+        }
+    }
 
-impl AssemblyCommandingHelper {
-    pub fn send_mode_cmd_to_all_children_with_reply_awaition(
+    pub fn send_mode_cmd_to_one_child(
         &mut self,
         request_id: RequestId,
+        target_id: ComponentId,
         mode_and_submode: ModeAndSubmode,
         forced: bool,
         mode_req_sender: &impl ModeRequestSender,
     ) -> Result<(), GenericTargetedMessagingError> {
         self.target_mode = Some(mode_and_submode);
-        for child in self.children_mode_store.0.iter_mut() {
-            mode_req_sender.send_mode_request(
-                request_id,
-                child.id(),
-                ModeRequest::SetMode {
-                    mode_and_submode,
-                    forced,
-                },
-            )?;
-            child.awaiting_reply = true;
-        }
+        mode_req_sender.send_mode_request(
+            request_id,
+            target_id,
+            ModeRequest::SetMode {
+                mode_and_submode,
+                forced,
+            },
+        )?;
+        self.active_request_id = Some(request_id);
+        self.state = ModeTreeHelperState::ModeCommanding;
+        Ok(())
+    }
+
+    pub fn send_mode_cmd_to_all_children(
+        &mut self,
+        request_id: RequestId,
+        mode_and_submode: ModeAndSubmode,
+        forced: bool,
+        mode_req_sender: &impl ModeRequestSender,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.target_mode = Some(mode_and_submode);
+        self.user_hook.send_mode_cmds_to_children(
+            mode_and_submode,
+            forced,
+            &mut self.children_mode_store,
+            mode_req_sender,
+        )?;
         self.active_request_id = Some(request_id);
         self.state = ModeTreeHelperState::ModeCommanding;
         Ok(())
@@ -91,27 +159,38 @@ impl AssemblyCommandingHelper {
         self.children_mode_store.add_component(target_id, mode);
     }
 
-    pub fn count_number_of_children_with_target_mode(&self) -> Option<usize> {
-        self.target_mode?;
-        let target_mode = self.target_mode.unwrap();
+    /// Helper method which counts the number of children which have a certain mode.
+    pub fn count_number_of_children_with_mode(&self, mode_and_submode: ModeAndSubmode) -> usize {
         let mut children_in_target_mode = 0;
-        for child in self.children_mode_store.0.iter() {
-            if child.mode_and_submode() == target_mode {
+        for child in &self.children_mode_store {
+            if child.mode_and_submode() == mode_and_submode {
                 children_in_target_mode += 1;
             }
         }
-        Some(children_in_target_mode)
+        children_in_target_mode
+    }
+
+    /// Helper method which counts the number of children which have the mode of the assembly
+    /// itself.
+    ///
+    /// This is useful for device managers where the child or the children devices should have the
+    /// same mode as the device manager.
+    pub fn count_number_of_children_with_target_mode(&self) -> Option<usize> {
+        Some(self.count_number_of_children_with_mode(self.target_mode?))
     }
 
     pub fn handle_mode_reply(
         &mut self,
         mode_reply: &GenericMessage<ModeReply>,
-    ) -> AssemblyHelperResult {
+    ) -> Result<DevManagerHelperResult, DevManagerHelperError> {
+        if self.target_mode().is_none() || self.active_request_id().is_none() {
+            return Ok(DevManagerHelperResult::Idle);
+        }
         if !self
             .children_mode_store
             .has_component(mode_reply.sender_id())
         {
-            return AssemblyHelperResult::Idle;
+            return Err(DevManagerHelperError::ChildNotInStore);
         }
         let mut generic_mode_reply_handler = |mode_and_submode: Option<ModeAndSubmode>| {
             // Tying the reply awaition to the request ID ensures that something like replies
@@ -129,13 +208,6 @@ impl AssemblyCommandingHelper {
                 mode_and_submode,
                 handle_awaition,
             );
-            if self.state == ModeTreeHelperState::TargetKeeping
-                && mode_and_submode.is_some()
-                && self.target_mode.is_some()
-                && mode_and_submode.unwrap() != self.target_mode.unwrap()
-            {
-                return AssemblyHelperResult::TargetKeepingViolation(mode_reply.sender_id());
-            }
             // It is okay to unwrap: If awaition should be handled, the returned value should
             // always be some valid value.
             if self.state == ModeTreeHelperState::ModeCommanding
@@ -144,9 +216,9 @@ impl AssemblyCommandingHelper {
             {
                 self.state = ModeTreeHelperState::TargetKeeping;
                 self.active_request_id = None;
-                return AssemblyHelperResult::ModeCommandingDone;
+                return Ok(DevManagerHelperResult::ModeCommandingDone);
             }
-            AssemblyHelperResult::Idle
+            Ok(DevManagerHelperResult::Busy)
         };
         match mode_reply.message {
             ModeReply::ModeInfo(mode_and_submode) | ModeReply::ModeReply(mode_and_submode) => {
@@ -174,15 +246,15 @@ mod tests {
 
     #[test]
     fn test_basic() {
-        let assy_helper = AssemblyCommandingHelper::default();
+        let assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         assert_eq!(assy_helper.state(), ModeTreeHelperState::Idle);
         assert!(assy_helper.active_request_id().is_none());
         assert!(assy_helper.target_mode().is_none());
     }
 
     #[test]
     fn test_mode_announce() {
-        let mut assy_helper = AssemblyCommandingHelper::default();
+        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
         assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
         assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
@@ -199,10 +271,10 @@ mod tests {
         assert_eq!(req.request_id, 1);
         assert_eq!(req.request, ModeRequest::AnnounceMode);
     }
-    
+
     #[test]
     fn test_mode_announce_recursive() {
-        let mut assy_helper = AssemblyCommandingHelper::default();
+        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
         assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
         assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
@@ -221,10 +293,9 @@ mod tests {
     }
 
     #[test]
-    fn test_mode_commanding() {
-        let mut assy_helper = AssemblyCommandingHelper::default();
+    fn test_mode_commanding_one_child() {
+        let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
-        assy_helper.send_mode_cmd_to_all_children_with_reply_awaition(1, , forced, mode_req_sender)
-
+        //assy_helper.send_mode_cmd_to_all_children_with_reply_awaition(1, , forced, mode_req_sender)
     }
 }

satrs/src/health.rs

@@ -0,0 +1,39 @@
+use crate::ComponentId;
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum HealthState {
+    Healthy = 1,
+    Faulty = 2,
+    PermanentFaulty = 3,
+    ExternalControl = 4,
+    NeedsRecovery = 5,
+}
+
+pub trait HealthTableProvider {
+    fn health(&self, id: ComponentId) -> Option<HealthState>;
+    fn set_health(&mut self, id: ComponentId, health: HealthState);
+}
+
+#[cfg(feature = "std")]
+#[derive(Debug, Clone)]
+pub struct HealthTableMapSync(
+    std::sync::Arc<std::sync::Mutex<hashbrown::HashMap<ComponentId, HealthState>>>,
+);
+
+#[cfg(feature = "std")]
+impl HealthTableMapSync {
+    pub fn new(health_table: hashbrown::HashMap<ComponentId, HealthState>) -> Self {
+        Self(std::sync::Arc::new(std::sync::Mutex::new(health_table)))
+    }
+}
+
+#[cfg(feature = "std")]
+impl HealthTableProvider for HealthTableMapSync {
+    fn health(&self, id: ComponentId) -> Option<HealthState> {
+        self.0.lock().unwrap().get(&id).copied()
+    }
+
+    fn set_health(&mut self, id: ComponentId, health: HealthState) {
+        self.0.lock().unwrap().insert(id, health);
+    }
+}

satrs/src/lib.rs

@@ -31,6 +31,7 @@ pub mod events;
 #[cfg(feature = "std")]
 pub mod executable;
 pub mod hal;
+pub mod health;
 pub mod hk;
 pub mod mode;
 #[cfg(feature = "std")]

satrs/src/mode_tree.rs

@@ -360,10 +360,37 @@ pub mod alloc_mod {
     #[derive(Debug, Default)]
     pub struct ModeStoreVec(pub alloc::vec::Vec<ModeStoreValue>);
 
+    impl<'a> IntoIterator for &'a ModeStoreVec {
+        type Item = &'a ModeStoreValue;
+        type IntoIter = std::slice::Iter<'a, ModeStoreValue>;
+
+        fn into_iter(self) -> Self::IntoIter {
+            self.0.iter()
+        }
+    }
+
+    impl<'a> IntoIterator for &'a mut ModeStoreVec {
+        type Item = &'a mut ModeStoreValue;
+        type IntoIter = std::slice::IterMut<'a, ModeStoreValue>;
+
+        fn into_iter(self) -> Self::IntoIter {
+            self.0.iter_mut()
+        }
+    }
+
     /// Mode store which tracks the mode information inside a [hashbrown::HashMap]
     #[derive(Debug, Default)]
     pub struct ModeStoreMap(pub hashbrown::HashMap<ComponentId, ModeStoreValue>);
 
+    impl<'a> IntoIterator for &'a ModeStoreMap {
+        type Item = (&'a ComponentId, &'a ModeStoreValue);
+        type IntoIter = hashbrown::hash_map::Iter<'a, ComponentId, ModeStoreValue>;
+
+        fn into_iter(self) -> Self::IntoIter {
+            self.0.iter()
+        }
+    }
+
     impl ModeStoreProvider for ModeStoreVec {
         fn add_component(&mut self, target_id: ComponentId, mode: ModeAndSubmode) {
             self.0.push(ModeStoreValue::new(target_id, mode));