startup error propagation (#28)

* startup error propagation

* solve CI build issue

Author: MohamedRady-99

examples/rust/cycle-benchmark/src/activities.rs

@@ -40,7 +40,9 @@ impl Activity for DummyActivity {
     }
 
     #[instrument(name = "Activity startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "Activity step")]
     fn step(&mut self) -> Result<(), ActivityError> {

examples/rust/cycle-benchmark/src/composites.rs

@@ -49,10 +49,11 @@ impl Activity for CompositeActivity {
     }
 
     #[instrument(name = "Composite startup")]
-    fn startup(&mut self) {
+    fn startup(&mut self) -> Result<(), ActivityError> {
         for activity in &mut self.activities {
-            activity.startup();
+            activity.startup()?;
         }
+        Ok(())
     }
 
     #[instrument(name = "Composite step")]

examples/rust/mini-adas/src/activities/components.rs

@@ -82,7 +82,9 @@ impl Activity for Camera {
     }
 
     #[instrument(name = "Camera startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "Camera")]
     fn step(&mut self) -> Result<(), ActivityError> {
@@ -149,7 +151,9 @@ impl Activity for Radar {
     }
 
     #[instrument(name = "Radar startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "Radar")]
     fn step(&mut self) -> Result<(), ActivityError> {
@@ -236,7 +240,9 @@ impl Activity for NeuralNet {
     }
 
     #[instrument(name = "NeuralNet startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "NeuralNet")]
     fn step(&mut self) -> Result<(), ActivityError> {
@@ -302,7 +308,9 @@ impl Activity for EmergencyBraking {
     }
 
     #[instrument(name = "EmergencyBraking startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "EmergencyBraking")]
     fn step(&mut self) -> Result<(), ActivityError> {
@@ -379,7 +387,9 @@ impl Activity for BrakeController {
     }
 
     #[instrument(name = "BrakeController startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "BrakeController")]
     fn step(&mut self) -> Result<(), ActivityError> {
@@ -435,7 +445,9 @@ impl Activity for EnvironmentRenderer {
     }
 
     #[instrument(name = "EnvironmentRenderer startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "EnvironmentRenderer")]
     fn step(&mut self) -> Result<(), ActivityError> {
@@ -487,7 +499,9 @@ impl Activity for SteeringController {
     }
 
     #[instrument(name = "SteeringController startup")]
-    fn startup(&mut self) {}
+    fn startup(&mut self) -> Result<(), ActivityError> {
+        Ok(())
+    }
 
     #[instrument(name = "SteeringController")]
     fn step(&mut self) -> Result<(), ActivityError> {

feo/src/activity.rs

@@ -22,7 +22,7 @@ pub trait Activity {
     fn id(&self) -> ActivityId;
 
     /// Called upon startup
-    fn startup(&mut self);
+    fn startup(&mut self) -> Result<(), ActivityError>;
 
     /// Called upon each step
     fn step(&mut self) -> Result<(), ActivityError>;

feo/src/cpp.rs

@@ -86,9 +86,10 @@ macro_rules! cpp_activity {
                 }
 
                 #[instrument(name = "startup")]
-                fn startup(&mut self) {
+                fn startup(&mut self) -> Result<(), ActivityError> {
                     // Safety: Call of external C functions belonging to C++ activitiy, to be reviewed
                     unsafe { make_fn_call!($name, _startup, (self.cpp_activity)) };
+                    Ok(())
                 }
 
                 #[instrument(name = "step")]

feo/src/error.rs

@@ -43,6 +43,8 @@ pub enum Error {
 #[cfg_attr(feature = "recording", derive(Serialize, Deserialize, MaxSize))]
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
 pub enum ActivityError {
+    /// A failure during the `startup()` method.
+    Startup,
     /// A failure during a regular `step()` execution.
     Step,
     /// A failure during the `shutdown()` method.

feo/src/scheduler.rs

@@ -132,13 +132,11 @@ impl Scheduler {
                 self.shutdown_gracefully("Startup timeout exceeded.");
                 return;
             }
-            if self.wait_next_ready().is_err() {
-                // An error here (like a timeout on receive) can also be a startup failure.
-                error!(
-                    "Failed to receive ready signal from all activities within startup timeout {:?}.",
-                    self.startup_timeout
-                );
-                self.shutdown_gracefully("Failed to receive ready signals during startup.");
+            if let Err(err) = self.wait_next_ready() {
+                // An error here, such as ActivityFailed or a timeout, constitutes a startup failure.
+                // Log the specific error, but pass a generic reason to shutdown_gracefully
+                error!("A failure occurred during startup: {:?}. Aborting.", err);
+                self.shutdown_gracefully("Startup failed due to an activity error.");
                 return;
             }
         }

feo/src/signalling/common/socket/mod.rs

@@ -318,8 +318,9 @@ impl EncodeDecode for ProtocolSignal {
 impl From<u8> for ActivityError {
     fn from(value: u8) -> Self {
         match value {
-            0 => ActivityError::Step,
-            1 => ActivityError::Shutdown,
+            0 => ActivityError::Startup,
+            1 => ActivityError::Step,
+            2 => ActivityError::Shutdown,
             _ => panic!("Invalid u8 value for ActivityError"),
         }
     }
@@ -328,8 +329,9 @@ impl From<u8> for ActivityError {
 impl From<ActivityError> for u8 {
     fn from(value: ActivityError) -> Self {
         match value {
-            ActivityError::Step => 0,
-            ActivityError::Shutdown => 1,
+            ActivityError::Startup => 0,
+            ActivityError::Step => 1,
+            ActivityError::Shutdown => 2,
         }
     }
 }

feo/src/worker/mod.rs

@@ -128,11 +128,16 @@ impl<T: ConnectWorker> Worker<T> {
 
         match signal {
             Signal::Startup((activity_id, _ts)) => {
-                activity.startup();
+                let response_signal = match activity.startup() {
+                    Ok(()) => Signal::Ready((*activity_id, timestamp::timestamp())),
+                    Err(e) => {
+                        error!("Activity {} failed during startup: {:?}", id, e);
+                        Signal::ActivityFailed((*id, e))
+                    }
+                };
                 let elapsed = start.elapsed();
                 debug!("Ran startup of activity {id:?} in {elapsed:?}");
-                self.connector
-                    .send_to_scheduler(&Signal::Ready((*activity_id, timestamp::timestamp())))
+                self.connector.send_to_scheduler(&response_signal)
             }
             Signal::Step((activity_id, _ts)) => {
                 let response_signal = match activity.step() {