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Merged
merged 3 commits into from
Jul 23, 2021
Merged

Broadcast GpsTime #94

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cb8c5b6
Broadcast GpsTime
notoriaga Jul 22, 2021
606515e
bump libsbp
notoriaga Jul 22, 2021
8a7631d
fmt
notoriaga Jul 22, 2021
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4 changes: 2 additions & 2 deletions Cargo.lock
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2 changes: 1 addition & 1 deletion console_backend/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ chrono = { version = "0.4", features = ["serde"] }
csv = "1"
paste = "1"
pyo3 = { version = "0.13", features = ["extension-module"], optional = true }
sbp = { git = "https://github.com/swift-nav/libsbp.git", rev = "ce5e3d14ae4284c53982bc3fd79a2fa15976ff9f", features = [
sbp = { git = "https://github.com/swift-nav/libsbp.git", rev = "83110eaca01c4fb1ec1500d578a1cbbaa2b8c788", features = [
"json",
"swiftnav-rs",
] }
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2 changes: 1 addition & 1 deletion console_backend/src/bin/fileio.rs
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Expand Up @@ -57,7 +57,7 @@ fn main() -> Result<()> {
let run = move |rdr| {
let messages = sbp::iter_messages(rdr).log_errors(log::Level::Debug);
for msg in messages {
bc_source.send(&msg);
bc_source.send(&msg, None);
if done_rx.try_recv().is_ok() {
break;
}
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66 changes: 37 additions & 29 deletions console_backend/src/broadcaster.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,14 @@ use std::{
};

use crossbeam::channel;
use sbp::messages::{ConcreteMessage, SBPMessage, SBP};
use sbp::{
messages::{ConcreteMessage, SBPMessage, SBP},
time::{GpsTime, GpsTimeError},
};
use slotmap::HopSlotMap;

type MaybeGpsTime = Option<Result<GpsTime, GpsTimeError>>;

pub struct Broadcaster {
channels: Arc<Mutex<HopSlotMap<KeyInner, Sender>>>,
}
Expand All @@ -22,12 +27,12 @@ impl Broadcaster {
}
}

pub fn send(&self, message: &SBP) {
pub fn send(&self, message: &SBP, gps_time: MaybeGpsTime) {
let msg_type = message.get_message_type();
let mut channels = self.channels.lock().expect(Self::CHANNELS_LOCK_FAILURE);
channels.retain(|_, chan| {
if chan.msg_types.iter().any(|ty| ty == &msg_type) {
chan.inner.send(message.clone()).is_ok()
chan.inner.send((message.clone(), gps_time.clone())).is_ok()
} else {
true
}
Expand Down Expand Up @@ -59,7 +64,7 @@ impl Broadcaster {
}

/// Wait once for a specific message. Returns an error if `dur` elapses.
pub fn wait<E>(&self, dur: Duration) -> Result<E, channel::RecvTimeoutError>
pub fn wait<E>(&self, dur: Duration) -> Result<(E, MaybeGpsTime), channel::RecvTimeoutError>
where
E: Event,
{
Expand All @@ -84,13 +89,13 @@ impl Default for Broadcaster {

/// A wrapper around a channel sender that knows what message types its receivers expect.
struct Sender {
inner: channel::Sender<SBP>,
inner: channel::Sender<(SBP, MaybeGpsTime)>,
msg_types: &'static [u16],
}

/// A wrapper around a channel receiver that converts to the appropriate event.
pub struct Receiver<E> {
inner: channel::Receiver<SBP>,
inner: channel::Receiver<(SBP, MaybeGpsTime)>,
marker: PhantomData<E>,
}

Expand All @@ -107,27 +112,30 @@ impl<E> Receiver<E>
where
E: Event,
{
pub fn recv(&self) -> Result<E, channel::RecvError> {
pub fn recv(&self) -> Result<(E, MaybeGpsTime), channel::RecvError> {
let msg = self.inner.recv()?;
Ok(E::from_sbp(msg))
Ok((E::from_sbp(msg.0), msg.1))
}

pub fn recv_timeout(&self, dur: Duration) -> Result<E, channel::RecvTimeoutError> {
pub fn recv_timeout(
&self,
dur: Duration,
) -> Result<(E, MaybeGpsTime), channel::RecvTimeoutError> {
let msg = self.inner.recv_timeout(dur)?;
Ok(E::from_sbp(msg))
Ok((E::from_sbp(msg.0), msg.1))
}

pub fn try_recv(&self) -> Result<E, channel::TryRecvError> {
pub fn try_recv(&self) -> Result<(E, MaybeGpsTime), channel::TryRecvError> {
let msg = self.inner.try_recv()?;
Ok(E::from_sbp(msg))
Ok((E::from_sbp(msg.0), msg.1))
}

pub fn iter(&self) -> impl Iterator<Item = E> + '_ {
self.inner.iter().map(E::from_sbp)
pub fn iter(&self) -> impl Iterator<Item = (E, MaybeGpsTime)> + '_ {
self.inner.iter().map(|msg| (E::from_sbp(msg.0), msg.1))
}

pub fn try_iter(&self) -> impl Iterator<Item = E> + '_ {
self.inner.try_iter().map(E::from_sbp)
pub fn try_iter(&self) -> impl Iterator<Item = (E, MaybeGpsTime)> + '_ {
self.inner.try_iter().map(|msg| (E::from_sbp(msg.0), msg.1))
}

// other channel methods as needed
Expand Down Expand Up @@ -171,8 +179,8 @@ mod tests {
let b = Broadcaster::new();
let (msg_obs, _) = b.subscribe::<MsgObs>();

b.send(&make_msg_obs());
b.send(&make_msg_obs_dep_a());
b.send(&make_msg_obs(), None);
b.send(&make_msg_obs_dep_a(), None);

assert!(msg_obs.try_recv().is_ok());
assert!(msg_obs.try_recv().is_err());
Expand All @@ -184,8 +192,8 @@ mod tests {
let (msg_obs1, _) = b.subscribe::<MsgObs>();
let (msg_obs2, _) = b.subscribe::<MsgObs>();

b.send(&make_msg_obs());
b.send(&make_msg_obs());
b.send(&make_msg_obs(), None);
b.send(&make_msg_obs(), None);

assert_eq!(msg_obs1.try_iter().count(), 2);
assert_eq!(msg_obs2.try_iter().count(), 2);
Expand All @@ -198,13 +206,13 @@ mod tests {
let (msg_obs1, key) = b.subscribe::<MsgObs>();
let (msg_obs2, _) = b.subscribe::<MsgObs>();

b.send(&make_msg_obs());
b.send(&make_msg_obs(), None);
assert_eq!(msg_obs1.try_iter().count(), 1);
assert_eq!(msg_obs2.try_iter().count(), 1);

b.unsubscribe(key);

b.send(&make_msg_obs());
b.send(&make_msg_obs(), None);
assert_eq!(msg_obs1.try_iter().count(), 0);
assert_eq!(msg_obs2.try_iter().count(), 1);
}
Expand All @@ -226,9 +234,9 @@ mod tests {

std::thread::sleep(Duration::from_secs(1));

b.send(&make_msg_obs());
b.send(&make_msg_obs_dep_a());
b.send(&make_msg_obs());
b.send(&make_msg_obs(), None);
b.send(&make_msg_obs_dep_a(), None);
b.send(&make_msg_obs(), None);

// msg_obs.iter() goes forever if you don't drop the channel
b.unsubscribe(key);
Expand All @@ -243,7 +251,7 @@ mod tests {
scope(|s| {
s.spawn(|_| {
std::thread::sleep(Duration::from_secs(1));
b.send(&make_msg_obs())
b.send(&make_msg_obs(), None)
});

assert!(b.wait::<MsgObs>(Duration::from_secs(2)).is_ok());
Expand All @@ -258,7 +266,7 @@ mod tests {
scope(|s| {
s.spawn(|_| {
std::thread::sleep(Duration::from_secs(2));
b.send(&make_msg_obs())
b.send(&make_msg_obs(), None)
});

assert!(b.wait::<MsgObs>(Duration::from_secs(1)).is_err());
Expand All @@ -273,8 +281,8 @@ mod tests {
let (obs_msg, _) = b.subscribe::<ObsMsg>();
let (msg_obs, _) = b.subscribe::<MsgObs>();

b.send(&make_msg_obs());
b.send(&make_msg_obs_dep_a());
b.send(&make_msg_obs(), None);
b.send(&make_msg_obs_dep_a(), None);

// ObsMsg should accept both MsgObs and MsgObsDepA
assert!(obs_msg.try_recv().is_ok());
Expand Down
14 changes: 7 additions & 7 deletions console_backend/src/fileio.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ where
pending.insert(sequence, request);
},
recv(res_rx) -> msg => {
let msg = msg?;
let (msg, _) = msg?;
let req = match pending.remove(&msg.sequence) {
Some(req) => req,
None => continue,
Expand Down Expand Up @@ -243,7 +243,7 @@ where
pending.insert(req_state.sequence, (req_state, req));
},
recv(res_rx) -> msg => {
let msg = msg?;
let (msg, _) = msg?;
if pending.remove(&msg.sequence).is_none() {
continue
}
Expand Down Expand Up @@ -284,7 +284,7 @@ where
dirname: path.clone().into(),
}))?;

let reply = self
let (reply, _) = self
.broadcast
.wait::<MsgFileioReadDirResp>(READDIR_TIMEOUT)?;

Expand Down Expand Up @@ -341,7 +341,7 @@ where
let config = self
.broadcast
.wait::<MsgFileioConfigResp>(CONFIG_REQ_TIMEOUT)
.map_or_else(|_| Default::default(), Into::into);
.map_or_else(|_| Default::default(), |(msg, _)| FileioConfig::new(msg));

tx.send(true).unwrap();

Expand Down Expand Up @@ -487,9 +487,9 @@ struct FileioConfig {
batch_size: u32,
}

impl From<MsgFileioConfigResp> for FileioConfig {
fn from(msg: MsgFileioConfigResp) -> Self {
FileioConfig {
impl FileioConfig {
fn new(msg: MsgFileioConfigResp) -> Self {
Self {
window_size: msg.window_size,
batch_size: msg.batch_size,
}
Expand Down