Flip T3 to substrate-initiated actuator commands

simulator/tests/end_to_end_t1.rs

@@ -11,8 +11,8 @@ use std::time::Duration;
 use anyhow::Result;
 use simulator::client::SimulatorClient;
 use substrate::config::QuicConfig;
-use substrate::transport::server::{accept_loop, bind_endpoint};
-use substrate::transport::{QuicMessage, SensorType, T1Sender, T2Sender, T3Sender};
+use substrate::transport::server::{accept_loop, bind_endpoint, new_connection_registry};
+use substrate::transport::{OutboundT3, QuicMessage, SensorType, T1Sender, T2Sender};
 use tokio::sync::mpsc;
 use uuid::Uuid;
 
@@ -31,6 +31,7 @@ fn loopback_config(cert: PathBuf, key: PathBuf) -> QuicConfig {
         t1_capacity: 1024,
         t2_capacity: 512,
         t3_capacity: 256,
+        synthetic_t3_rate_hz: 0.0,
     }
 }
 
@@ -50,13 +51,17 @@ async fn t1_datagram_decoded_into_ecs_channel() -> Result<()> {
     // demux pushes into the ECS bridge.
     let (t1_tx, mut t1_rx) = mpsc::channel(64);
     let (t2_tx, _t2_rx) = mpsc::channel(64);
-    let (t3_tx, _t3_rx) = mpsc::channel(64);
+    let (t3_out_tx, t3_out_rx) = mpsc::channel::<OutboundT3>(64);
+    let registry = new_connection_registry();
 
     let server_task = tokio::spawn(accept_loop(
         endpoint,
         T1Sender::new(t1_tx),
         T2Sender::new(t2_tx),
-        T3Sender::new(t3_tx),
+        registry,
+        t3_out_rx,
+        t3_out_tx,
+        0.0, // synthetic driver disabled
     ));
 
     // Connect a client and send one datagram.
@@ -99,13 +104,17 @@ async fn t1_burst_preserves_order_and_count() -> Result<()> {
     // T1 capacity 64 ≥ burst size 32 so nothing is dropped under loopback.
     let (t1_tx, mut t1_rx) = mpsc::channel(64);
     let (t2_tx, _t2_rx) = mpsc::channel(8);
-    let (t3_tx, _t3_rx) = mpsc::channel(8);
+    let (t3_out_tx, t3_out_rx) = mpsc::channel::<OutboundT3>(8);
+    let registry = new_connection_registry();
 
     let server_task = tokio::spawn(accept_loop(
         endpoint,
         T1Sender::new(t1_tx),
         T2Sender::new(t2_tx),
-        T3Sender::new(t3_tx),
+        registry,
+        t3_out_rx,
+        t3_out_tx,
+        0.0,
     ));
 
     let client = SimulatorClient::connect(server_addr, "localhost", &cert).await?;