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Change scheduler interface and add external inputs example.
Relevant for issue #13.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,251 @@ | ||
| //! Example: a model that reads data from the external world. | ||
| //! | ||
| //! This example demonstrates in particular: | ||
| //! | ||
| //! * external world inputs (useful in cosimulation), | ||
| //! * system clock, | ||
| //! * periodic scheduling. | ||
| //! | ||
| //! ```text | ||
| //! ┌────────────────────────────────┐ | ||
| //! │ Simulation │ | ||
| //! ┌────────────┐ ┌────────────┐ │ ┌──────────┐ │ | ||
| //! │ │ UDP │ │ message │ message │ │ message │ ┌─────────────┐ | ||
| //! │ UDP Client ├─────────▶│ UDP Server ├──────────▶├─────────▶│ Listener ├─────────▶├──▶│ EventBuffer │ | ||
| //! │ │ message │ │ │ │ │ │ └─────────────┘ | ||
| //! └────────────┘ └────────────┘ │ └──────────┘ │ | ||
| //! └────────────────────────────────┘ | ||
| //! ``` | ||
| use std::io::ErrorKind; | ||
| use std::net::UdpSocket; | ||
| use std::sync::atomic::{AtomicBool, AtomicU32, Ordering}; | ||
| use std::sync::mpsc::{channel, Receiver, Sender}; | ||
| use std::sync::Arc; | ||
| use std::thread::{self, sleep, JoinHandle}; | ||
| use std::time::Duration; | ||
|
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| use atomic_wait::{wait, wake_one}; | ||
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| use mio::net::UdpSocket as MioUdpSocket; | ||
| use mio::{Events, Interest, Poll, Token}; | ||
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| use asynchronix::model::{Context, InitializedModel, Model, SetupContext}; | ||
| use asynchronix::ports::{EventBuffer, Output}; | ||
| use asynchronix::simulation::{Mailbox, SimInit}; | ||
| use asynchronix::time::{AutoSystemClock, MonotonicTime}; | ||
|
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| const DELTA: Duration = Duration::from_millis(2); | ||
| const PERIOD: Duration = Duration::from_millis(20); | ||
| const N: u32 = 10; | ||
| const SENDER: &str = "127.0.0.1:8000"; | ||
| const RECEIVER: &str = "127.0.0.1:9000"; | ||
|
|
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| /// Model that receives external input. | ||
| pub struct Listener { | ||
| /// Received message. | ||
| pub message: Output<String>, | ||
|
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| /// Receiver of external messages. | ||
| rx: Receiver<String>, | ||
|
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| /// External sender. | ||
| tx: Option<Sender<String>>, | ||
|
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| /// Synchronization with client. | ||
| start: Arc<AtomicU32>, | ||
|
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| /// Synchronization with simulation. | ||
| stop: Arc<AtomicBool>, | ||
|
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| /// Handle to UDP Server. | ||
| external_handle: Option<JoinHandle<()>>, | ||
| } | ||
|
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| impl Listener { | ||
| /// Creates a Listener. | ||
| pub fn new(start: Arc<AtomicU32>) -> Self { | ||
| start.store(0, Ordering::Relaxed); | ||
|
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| let (tx, rx) = channel(); | ||
| Self { | ||
| message: Output::default(), | ||
| rx, | ||
| tx: Some(tx), | ||
| start, | ||
| stop: Arc::new(AtomicBool::new(false)), | ||
| external_handle: None, | ||
| } | ||
| } | ||
|
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| /// Periodically scheduled function that processes external events. | ||
| pub async fn process(&mut self) { | ||
| loop { | ||
| if let Ok(message) = self.rx.try_recv() { | ||
| self.message.send(message).await; | ||
| } else { | ||
| break; | ||
| } | ||
| } | ||
| } | ||
|
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| /// UDP server. | ||
| /// | ||
| /// Code is based on the MIO UDP example. | ||
| fn listener(tx: Sender<String>, start: Arc<AtomicU32>, stop: Arc<AtomicBool>) { | ||
| const UDP_SOCKET: Token = Token(0); | ||
| let mut poll = Poll::new().unwrap(); | ||
| let mut events = Events::with_capacity(10); | ||
| let mut socket = MioUdpSocket::bind(RECEIVER.parse().unwrap()).unwrap(); | ||
| poll.registry() | ||
| .register(&mut socket, UDP_SOCKET, Interest::READABLE) | ||
| .unwrap(); | ||
| let mut buf = [0; 1 << 16]; | ||
|
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| // Wake up the client. | ||
| start.store(1, Ordering::Relaxed); | ||
| wake_one(&*start); | ||
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| 'process: loop { | ||
| // Wait for UDP packet or end of simulation. | ||
| if let Err(err) = poll.poll(&mut events, Some(Duration::from_secs(1))) { | ||
| if err.kind() == ErrorKind::Interrupted { | ||
| // Exit if simulation is finished. | ||
| if stop.load(Ordering::Relaxed) { | ||
| break 'process; | ||
| } | ||
| continue; | ||
| } | ||
| break 'process; | ||
| } | ||
|
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||
| for event in events.iter() { | ||
| match event.token() { | ||
| UDP_SOCKET => loop { | ||
| match socket.recv_from(&mut buf) { | ||
| Ok((packet_size, _)) => { | ||
| if let Ok(message) = std::str::from_utf8(&buf[..packet_size]) { | ||
| // Inject external message into simulation. | ||
| if tx.send(message.into()).is_err() { | ||
| break 'process; | ||
| } | ||
| }; | ||
| } | ||
| Err(e) if e.kind() == ErrorKind::WouldBlock => { | ||
| break; | ||
| } | ||
| _ => { | ||
| break 'process; | ||
| } | ||
| } | ||
| }, | ||
| _ => { | ||
| panic!("Got event for unexpected token: {:?}", event); | ||
| } | ||
| } | ||
| } | ||
| // Exit if simulation is finished. | ||
| if stop.load(Ordering::Relaxed) { | ||
| break 'process; | ||
| } | ||
| } | ||
|
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| poll.registry().deregister(&mut socket).unwrap(); | ||
| } | ||
| } | ||
|
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| impl Model for Listener { | ||
| /// Start UDP Server on model setup. | ||
| fn setup(&mut self, _: &SetupContext<Self>) { | ||
| let tx = self.tx.take().unwrap(); | ||
| let start = Arc::clone(&self.start); | ||
| let stop = Arc::clone(&self.stop); | ||
| self.external_handle = Some(thread::spawn(move || { | ||
| Self::listener(tx, start, stop); | ||
| })); | ||
| } | ||
|
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| /// Initialize model. | ||
| async fn init(self, context: &Context<Self>) -> InitializedModel<Self> { | ||
| // Schedule periodic function that processes external events. | ||
| context | ||
| .scheduler | ||
| .schedule_periodic_event(DELTA, PERIOD, Listener::process, ()) | ||
| .unwrap(); | ||
|
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| self.into() | ||
| } | ||
| } | ||
|
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| impl Drop for Listener { | ||
| /// Notify UDP Server that simulation is over and wait for server shutdown. | ||
| fn drop(&mut self) { | ||
| self.stop.store(true, Ordering::Relaxed); | ||
| let handle = self.external_handle.take(); | ||
| if let Some(handle) = handle { | ||
| handle.join().unwrap(); | ||
| } | ||
| } | ||
| } | ||
|
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| fn main() { | ||
| // --------------- | ||
| // Bench assembly. | ||
| // --------------- | ||
|
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| // Models. | ||
|
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| // Client-server synchronization. | ||
| let start = Arc::new(AtomicU32::new(0)); | ||
|
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| let mut listener = Listener::new(Arc::clone(&start)); | ||
|
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| // Mailboxes. | ||
| let listener_mbox = Mailbox::new(); | ||
|
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| // Model handles for simulation. | ||
| let mut message = EventBuffer::new(); | ||
| listener.message.connect_sink(&message); | ||
|
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| // Start time (arbitrary since models do not depend on absolute time). | ||
| let t0 = MonotonicTime::EPOCH; | ||
|
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| // Assembly and initialization. | ||
| let mut simu = SimInit::new() | ||
| .add_model(listener, listener_mbox, "listener") | ||
| .set_clock(AutoSystemClock::new()) | ||
| .init(t0); | ||
|
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| // ---------- | ||
| // Simulation. | ||
| // ---------- | ||
|
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| // External client that sends UDP messages. | ||
| let sender_handle = thread::spawn(move || { | ||
| // Wait until UDP Server is ready. | ||
| wait(&start, 0); | ||
|
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| for i in 0..N { | ||
| let socket = UdpSocket::bind(SENDER).unwrap(); | ||
| socket.send_to(i.to_string().as_bytes(), RECEIVER).unwrap(); | ||
| if i % 3 == 0 { | ||
| sleep(PERIOD * i) | ||
| } | ||
| } | ||
| }); | ||
|
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| // Advance simulation, external messages will be collected. | ||
| simu.step_by(Duration::from_secs(2)); | ||
|
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| // Check collected external messages. | ||
| let mut packets = 0_u32; | ||
| for _ in 0..N { | ||
| // UDP can reorder packages, we are expecting that on not too loaded | ||
| // localhost packages would not be dropped | ||
| packets |= 1 << message.next().unwrap().parse::<u8>().unwrap(); | ||
| } | ||
| assert_eq!(packets, u32::MAX >> 22); | ||
| assert_eq!(message.next(), None); | ||
|
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| sender_handle.join().unwrap(); | ||
| } |
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