Fix device lookup during ranging

The devices were looked up by their default mac address,
which does not necessarily match the device mac address
set in the APP config for ranging.

src/lib.rs

@@ -227,18 +227,6 @@ impl Pica {
         }
     }
 
-    fn get_device_mut_by_mac(&mut self, mac_address: &MacAddress) -> Option<&mut Device> {
-        self.devices
-            .values_mut()
-            .find(|d| d.mac_address == *mac_address)
-    }
-
-    fn get_device_by_mac(&self, mac_address: &MacAddress) -> Option<&Device> {
-        self.devices
-            .values()
-            .find(|d| d.mac_address == *mac_address)
-    }
-
     fn send_event(&self, event: PicaEvent) {
         // An error here means that we have
         // no receivers, so ignore it
@@ -418,47 +406,57 @@ impl Pica {
         let device = self.get_device(device_handle).unwrap();
         let session = device.session(session_id).unwrap();
 
+        let mut data_transfer = Vec::new();
         let mut measurements = Vec::new();
-        let mut peer_device_data_transfer = Vec::new();
-        session
-            .get_dst_mac_addresses()
-            .iter()
-            .for_each(|mac_address| {
-                if let Some(other) = self.anchors.get(mac_address) {
-                    let local = self
-                        .ranging_estimator
-                        .estimate(&device.handle, &other.handle)
-                        .unwrap_or(Default::default());
-                    let remote = self
-                        .ranging_estimator
-                        .estimate(&other.handle, &device.handle)
-                        .unwrap_or(Default::default());
-                    measurements.push(make_measurement(mac_address, local, remote));
-                }
 
-                if let Some(other) = self.get_device_by_mac(mac_address) {
-                    if other.can_start_ranging(session, session_id) {
-                        let local = self
-                            .ranging_estimator
-                            .estimate(&device.handle, &other.handle)
-                            .unwrap_or(Default::default());
-                        let remote = self
-                            .ranging_estimator
-                            .estimate(&other.handle, &device.handle)
-                            .unwrap_or(Default::default());
-                        measurements.push(make_measurement(mac_address, local, remote));
-                    }
-                    if device.can_start_data_transfer(session_id)
-                        && other.can_receive_data_transfer(session_id)
-                    {
-                        peer_device_data_transfer.push(other);
-                    }
-                }
-            });
+        // Look for compatible anchors.
+        for mac_address in session.get_dst_mac_addresses() {
+            if let Some(other) = self.anchors.get(mac_address) {
+                let local = self
+                    .ranging_estimator
+                    .estimate(&device.handle, &other.handle)
+                    .unwrap_or(Default::default());
+                let remote = self
+                    .ranging_estimator
+                    .estimate(&other.handle, &device.handle)
+                    .unwrap_or(Default::default());
+                measurements.push(make_measurement(mac_address, local, remote));
+            }
+        }
+
+        // Look for compatible ranging sessions in other devices.
+        for peer_device in self.devices.values() {
+            if peer_device.handle == device_handle {
+                continue;
+            }
+
+            if peer_device.can_start_ranging(session, session_id) {
+                let peer_mac_address = peer_device
+                    .session(session_id)
+                    .unwrap()
+                    .app_config
+                    .device_mac_address;
+                let local = self
+                    .ranging_estimator
+                    .estimate(&device.handle, &peer_device.handle)
+                    .unwrap_or(Default::default());
+                let remote = self
+                    .ranging_estimator
+                    .estimate(&peer_device.handle, &device.handle)
+                    .unwrap_or(Default::default());
+                measurements.push(make_measurement(&peer_mac_address, local, remote));
+            }
+
+            if device.can_start_data_transfer(session_id)
+                && peer_device.can_receive_data_transfer(session_id)
+            {
+                data_transfer.push(peer_device);
+            }
+        }
 
         // TODO: Data transfer should be limited in size for
         // each round of ranging
-        for peer_device in peer_device_data_transfer.iter() {
+        for peer_device in data_transfer.iter() {
             peer_device
                 .tx
                 .send(
@@ -547,21 +545,27 @@ impl Pica {
     // Handle the in-band StopRanging command sent from controller to the controlee with
     // corresponding mac_address and session_id.
     fn stop_controlee_ranging(&mut self, mac_address: &MacAddress, session_id: u32) {
-        if let Some(device) = self.get_device_mut_by_mac(mac_address) {
-            if let Some(session) = device.session_mut(session_id) {
-                if session.session_state() == SessionState::SessionStateActive {
-                    session.stop_ranging_task();
-                    session.set_state(
-                        SessionState::SessionStateIdle,
-                        ReasonCode::SessionStoppedDueToInbandSignal,
-                    );
-                    device.n_active_sessions = device.n_active_sessions.saturating_sub(1);
-                    if device.n_active_sessions == 0 {
-                        device.set_state(DeviceState::DeviceStateReady);
-                    }
-                } else {
-                    log::warn!("stop_controlee_ranging: session is not active !");
+        for device in self.devices.values_mut() {
+            let Some(session) = device.session_mut(session_id) else {
+                continue;
+            };
+
+            if &session.app_config.device_mac_address != mac_address {
+                continue;
+            }
+
+            if session.session_state() == SessionState::SessionStateActive {
+                session.stop_ranging_task();
+                session.set_state(
+                    SessionState::SessionStateIdle,
+                    ReasonCode::SessionStoppedDueToInbandSignal,
+                );
+                device.n_active_sessions = device.n_active_sessions.saturating_sub(1);
+                if device.n_active_sessions == 0 {
+                    device.set_state(DeviceState::DeviceStateReady);
                 }
+            } else {
+                log::warn!("stop_controlee_ranging: session is not active !");
             }
         }
     }