phoxal 0.41.0

//! Participant-to-participant interop: two runner-driven participants, a `Producer` and a
//! `Consumer`, exchange a typed contract over ONE shared in-process [`Bus`] via the
//! [`run_with_bus`] embedding seam.
//!
//! Everything below `run`/`run_with` (the macro-generated declarations, the runner
//! step loop, the typed publish/subscribe path, the bus codec + metadata) is
//! exercised end-to-end here - the first test that crosses a participant boundary on a
//! live bus, rather than driving the bus or a single participant in isolation.

use phoxal::participant::ExecutionOrigin;
use std::sync::atomic::{AtomicU32, AtomicU64, Ordering};
use std::time::Duration;

use phoxal::api;
use phoxal::participant::ParticipantLaunch;
use phoxal::prelude::*;
use phoxal::raw::{Bus, BusConfig, run_with_bus};
use serial_test::serial;

static RECEIVED: AtomicU64 = AtomicU64::new(0);
static LAST_LINEAR_BITS: AtomicU32 = AtomicU32::new(0);

const TARGET_LINEAR_MPS: f32 = 0.5;

#[derive(phoxal::Api)]
struct ProducerApi {
    target: CommandPublisher<api::drive::Target>,
}

/// Publishes a fixed `drive/target` every step.
#[phoxal::service(id = "producer", config = (), api = ProducerApi)]
struct Producer;

#[phoxal::behavior]
impl Producer {
    #[setup]
    async fn setup(ctx: &mut SetupContext<Self>) -> Result<(Self, Self::Api)> {
        Ok((
            Self,
            Self::Api {
                target: ctx
                    .command_publisher(api::topic::new().drive().target())
                    .await?,
            },
        ))
    }

    #[step(hz = 50)]
    async fn step(&mut self, api: &mut Self::Api, _step: StepContext) -> Result<()> {
        api.target.send(api::drive::Target {
            linear_x_mps: TARGET_LINEAR_MPS,
            angular_z_radps: 0.0,
            curvature_limit_radpm: None,
        })?;
        Ok(())
    }
}

#[derive(phoxal::Api)]
struct ConsumerApi {
    target: Subscriber<api::drive::Target>,
}

/// Subscribes `drive/target` and records what it receives into shared statics so
/// the test can assert delivery after both runtimes have shut down. It plays the
/// OWNER/reader of the `drive/target` command (the side that subscribes a command),
/// so it acquires the topic through the owner (`internal`) builder.
#[phoxal::service(id = "consumer", config = (), api = ConsumerApi)]
struct Consumer;

#[phoxal::behavior]
impl Consumer {
    #[setup]
    async fn setup(ctx: &mut SetupContext<Self>) -> Result<(Self, Self::Api)> {
        let cap = ctx.owner_capability();
        Ok((
            Self,
            Self::Api {
                target: ctx
                    .subscriber(api::topic::internal::new(cap).drive().target(), 32)
                    .await?,
            },
        ))
    }

    #[step(hz = 50)]
    async fn step(&mut self, api: &mut Self::Api, _step: StepContext) -> Result<()> {
        while let Some(received) = api.target.try_recv() {
            RECEIVED.fetch_add(1, Ordering::Relaxed);
            LAST_LINEAR_BITS.store(received.body.linear_x_mps.to_bits(), Ordering::Relaxed);
        }
        Ok(())
    }
}

#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
#[serial]
async fn two_runtimes_exchange_a_contract_on_one_bus() {
    // One shared session: both participants publish/subscribe under the same root,
    // so the producer's puts reach the consumer's subscription (proven single-session
    // local delivery). Separate `run_with` calls would each open an isolated,
    // multicast-off session that could not discover the other.
    let bus = Bus::open(BusConfig::in_process("dev", "robot"))
        .await
        .expect("open shared bus");

    // Run both runtimes concurrently on the shared bus; each stops after a short
    // wall-clock window (enough for the 50 Hz producer to emit many samples).
    let producer = run_with_bus::<Producer, _>(
        &bus,
        ParticipantLaunch::local("producer-1", "robot")
            .with_execution_origin(ExecutionOrigin::mint()),
        async { tokio::time::sleep(Duration::from_millis(500)).await },
    );
    let consumer = run_with_bus::<Consumer, _>(
        &bus,
        ParticipantLaunch::local("consumer-1", "robot")
            .with_execution_origin(ExecutionOrigin::mint()),
        async { tokio::time::sleep(Duration::from_millis(500)).await },
    );

    let (producer_result, consumer_result) = tokio::join!(producer, consumer);
    producer_result.expect("producer ran cleanly");
    consumer_result.expect("consumer ran cleanly");

    bus.close().await.expect("close shared bus");

    assert!(
        RECEIVED.load(Ordering::Relaxed) > 0,
        "the consumer should have received the producer's targets over the shared bus"
    );
    let last = f32::from_bits(LAST_LINEAR_BITS.load(Ordering::Relaxed));
    assert!(
        (last - TARGET_LINEAR_MPS).abs() < 1e-6,
        "the received value should round-trip the published one (got {last})"
    );
}