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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| //! This module contains all component related to the direct interface of the example. | ||
| pub mod sim_client_udp; | ||
| pub mod tcp; | ||
| pub mod udp; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,172 @@ | ||
| use std::{ | ||
| collections::HashMap, | ||
| net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket}, | ||
| sync::mpsc, | ||
| time::Duration, | ||
| }; | ||
|
|
||
| use satrs_minisim::{udp::SIM_CTRL_PORT, SimComponent, SimMessageProvider, SimReply, SimRequest}; | ||
| use satrs_minisim::{SimCtrlReply, SimCtrlRequest}; | ||
|
|
||
| struct SimReplyMap(pub HashMap<SimComponent, mpsc::Sender<SimReply>>); | ||
|
|
||
| pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<SimClientUdp> { | ||
| match SimClientUdp::new( | ||
| SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::LOCALHOST, SIM_CTRL_PORT)), | ||
| sim_request_rx, | ||
| ) { | ||
| Ok(sim_client) => { | ||
| log::info!("simulator client connection success"); | ||
| return Some(sim_client); | ||
| } | ||
| Err(e) => match e { | ||
| SimClientCreationResult::Io(e) => { | ||
| log::warn!("creating SIM client failed with io error {}", e); | ||
| } | ||
| SimClientCreationResult::Timeout => { | ||
| log::warn!("timeout when attempting connection to SIM client"); | ||
| } | ||
| SimClientCreationResult::InvalidPingReply(reply) => { | ||
| log::warn!( | ||
| "invalid ping reply when attempting connection to SIM client: {}", | ||
| reply | ||
| ); | ||
| } | ||
| }, | ||
| } | ||
| None | ||
| } | ||
|
|
||
| #[derive(thiserror::Error, Debug)] | ||
| pub enum SimClientCreationResult { | ||
| #[error("io error: {0}")] | ||
| Io(#[from] std::io::Error), | ||
| #[error("timeout when trying to connect to sim UDP server")] | ||
| Timeout, | ||
| #[error("invalid ping reply when trying connection to UDP sim server")] | ||
| InvalidPingReply(#[from] serde_json::Error), | ||
| } | ||
|
|
||
| pub struct SimClientUdp { | ||
| udp_client: UdpSocket, | ||
| simulator_addr: SocketAddr, | ||
| sim_request_rx: mpsc::Receiver<SimRequest>, | ||
| reply_map: SimReplyMap, | ||
| reply_buf: [u8; 4096], | ||
| } | ||
|
|
||
| impl SimClientUdp { | ||
| pub fn new( | ||
| simulator_addr: SocketAddr, | ||
| sim_request_rx: mpsc::Receiver<SimRequest>, | ||
| ) -> Result<Self, SimClientCreationResult> { | ||
| let mut reply_buf: [u8; 4096] = [0; 4096]; | ||
| let udp_client = UdpSocket::bind("127.0.0.1:0")?; | ||
| udp_client.set_read_timeout(Some(Duration::from_millis(100)))?; | ||
| let sim_req = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping); | ||
| let sim_req_json = serde_json::to_string(&sim_req).expect("failed to serialize SimRequest"); | ||
| udp_client.send_to(sim_req_json.as_bytes(), simulator_addr)?; | ||
| match udp_client.recv(&mut reply_buf) { | ||
| Ok(reply_len) => { | ||
| let sim_reply: SimCtrlReply = serde_json::from_slice(&reply_buf[0..reply_len])?; | ||
| udp_client.set_read_timeout(None)?; | ||
| match sim_reply { | ||
| SimCtrlReply::Pong => Ok(Self { | ||
| udp_client, | ||
| simulator_addr, | ||
| sim_request_rx, | ||
| reply_map: SimReplyMap(HashMap::new()), | ||
| reply_buf, | ||
| }), | ||
| SimCtrlReply::InvalidRequest(_) => { | ||
| panic!("received invalid request reply from UDP sim server") | ||
| } | ||
| } | ||
| } | ||
| Err(e) => { | ||
| if e.kind() == std::io::ErrorKind::TimedOut | ||
| || e.kind() == std::io::ErrorKind::WouldBlock | ||
| { | ||
| Err(SimClientCreationResult::Timeout) | ||
| } else { | ||
| Err(SimClientCreationResult::Io(e)) | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| pub fn operation(&mut self) { | ||
| let mut no_sim_requests_handled = true; | ||
| let mut no_data_from_udp_server_received = true; | ||
| loop { | ||
| match self.sim_request_rx.try_recv() { | ||
| Ok(request) => { | ||
| let request_json = | ||
| serde_json::to_string(&request).expect("failed to serialize SimRequest"); | ||
| if let Err(e) = self | ||
| .udp_client | ||
| .send_to(request_json.as_bytes(), self.simulator_addr) | ||
| { | ||
| log::error!("error sending data to UDP SIM server: {}", e); | ||
| break; | ||
| } else { | ||
| no_sim_requests_handled = false; | ||
| } | ||
| } | ||
| Err(e) => match e { | ||
| mpsc::TryRecvError::Empty => { | ||
| break; | ||
| } | ||
| mpsc::TryRecvError::Disconnected => { | ||
| log::warn!("SIM request sender disconnected"); | ||
| break; | ||
| } | ||
| }, | ||
| } | ||
| } | ||
| loop { | ||
| match self.udp_client.recv(&mut self.reply_buf) { | ||
| Ok(recvd_bytes) => { | ||
| no_data_from_udp_server_received = false; | ||
| let sim_reply_result: serde_json::Result<SimReply> = | ||
| serde_json::from_slice(&self.reply_buf[0..recvd_bytes]); | ||
| match sim_reply_result { | ||
| Ok(sim_reply) => { | ||
| if let Some(sender) = self.reply_map.0.get(&sim_reply.component()) { | ||
| sender.send(sim_reply).expect("failed to send SIM reply"); | ||
| } else { | ||
| log::warn!( | ||
| "no recipient for SIM reply from component {:?}", | ||
| sim_reply.component() | ||
| ); | ||
| } | ||
| } | ||
| Err(e) => { | ||
| log::warn!("failed to deserialize SIM reply: {}", e); | ||
| } | ||
| } | ||
| } | ||
| Err(e) => { | ||
| if e.kind() == std::io::ErrorKind::WouldBlock | ||
| || e.kind() == std::io::ErrorKind::TimedOut | ||
| { | ||
| break; | ||
| } | ||
| log::error!("error receiving data from UDP SIM server: {}", e); | ||
| break; | ||
| } | ||
| } | ||
| } | ||
| if no_sim_requests_handled && no_data_from_udp_server_received { | ||
| std::thread::sleep(Duration::from_millis(5)); | ||
| } | ||
| } | ||
|
|
||
| pub fn add_reply_recipient( | ||
| &mut self, | ||
| component: SimComponent, | ||
| reply_sender: mpsc::Sender<SimReply>, | ||
| ) { | ||
| self.reply_map.0.insert(component, reply_sender); | ||
| } | ||
| } |
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