kaptan/firmware/libs/kaptan-drivers/src/mpu6000/test_bus.rs

//! Test transport with owned pending bytes, never retained caller pointers.

use kaptan_spi::{CompletionError, SpiCompletion, SpiDevice};

#[derive(Debug, Eq, PartialEq)]
pub(crate) enum FakeError {
    Start,
    Busy,
    InvalidLength,
    Quarantined,
}

pub(crate) struct FakeBus {
    pub response: [u8; 32],
    pub fail_start: bool,
    pub fail_completion: Option<CompletionError>,
    pub busy: bool,
    pub starts: usize,
    pub cancellations: usize,
    pub transmitted: [u8; 32],
    pending: Option<([u8; 32], usize)>,
    quarantined: bool,
}

impl FakeBus {
    pub fn ready() -> Self {
        Self {
            response: [0; 32],
            fail_start: false,
            fail_completion: None,
            busy: false,
            starts: 0,
            cancellations: 0,
            transmitted: [0; 32],
            pending: None,
            quarantined: false,
        }
    }
}

impl SpiDevice for FakeBus {
    type StartError = FakeError;

    fn is_busy(error: &Self::StartError) -> bool {
        *error == FakeError::Busy
    }

    fn start_transfer(&mut self, transmit: &[u8]) -> Result<(), Self::StartError> {
        if self.quarantined {
            return Err(FakeError::Quarantined);
        }
        if self.pending.is_some() || self.busy {
            return Err(FakeError::Busy);
        }
        if self.fail_start {
            return Err(FakeError::Start);
        }
        if transmit.is_empty() || transmit.len() > self.response.len() {
            return Err(FakeError::InvalidLength);
        }
        // Simulated hardware computes its response at submission, but only the
        // accepted completion is allowed to copy those owned bytes to a caller.
        self.pending = Some((self.response, transmit.len()));
        self.transmitted[..transmit.len()].copy_from_slice(transmit);
        self.starts += 1;
        Ok(())
    }

    fn complete_transfer(
        &mut self,
        completion: SpiCompletion,
        receive: &mut [u8],
    ) -> Result<(), CompletionError> {
        if completion == SpiCompletion::NotPending {
            return Err(CompletionError::NotPending);
        }
        if self.quarantined {
            return Err(CompletionError::Quarantined);
        }
        if completion == SpiCompletion::TransferFault {
            self.cancellations += 1;
        }
        let (pending, length) = self.pending.take().ok_or(CompletionError::NotActive)?;
        if let Some(error) = self.fail_completion.take() {
            self.quarantined = error == CompletionError::Quarantined;
            return Err(error);
        }
        if completion == SpiCompletion::TransferFault {
            return Err(CompletionError::TransferFault);
        }
        if receive.len() != length {
            return Err(CompletionError::InvalidLength);
        }
        receive.copy_from_slice(&pending[..length]);
        Ok(())
    }
}