U. Mohr suggestions worked in
Furthermore, some enhancements added: delay between sent tm and max number of sent tm per cycle can be specified
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@ -1,19 +1,16 @@
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/**
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* @file TmTcBridge.cpp
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*
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* @date 26.12.2019
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* @author R. Mueller
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*/
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#include <framework/tmtcservices/TmTcBridge.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/osal/FreeRTOS/PeriodicTask.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/tasks/PeriodicTaskIF.h>
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TmTcBridge::TmTcBridge(object_id_t objectId_,
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object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
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ccsdsPacketDistributor(ccsdsPacketDistributor_)
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ccsdsPacketDistributor(ccsdsPacketDistributor_),
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sentPacketsPerCycle(5), delayBetweenSentPacketsMs(0)
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{
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TmTcReceptionQueue = QueueFactory::instance()->
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createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
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@ -21,6 +18,21 @@ TmTcBridge::TmTcBridge(object_id_t objectId_,
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TmTcBridge::~TmTcBridge() {}
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void TmTcBridge::setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets) {
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this->delayBetweenSentPacketsMs = delayBetweenSentPackets;
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}
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ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
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uint8_t sentPacketsPerCycle) {
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if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) {
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this->sentPacketsPerCycle = sentPacketsPerCycle;
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return RETURN_OK;
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}
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else {
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return RETURN_FAILED;
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}
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}
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ReturnValue_t TmTcBridge::initialize() {
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tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
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if (tcStore == NULL) {
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@ -53,7 +65,21 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
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}
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ReturnValue_t TmTcBridge::handleTc() {
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ReturnValue_t result = receiveTc(&recvBuffer, &size);
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uint8_t * recvBuffer = nullptr;
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size_t recvLen = 0;
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ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
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if(result == RETURN_OK and recvLen > 0 and recvBuffer != nullptr) {
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store_address_t storeId = 0;
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ReturnValue_t result = tcStore->addData(&storeId,
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recvBuffer, (uint32_t)recvLen);
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if(result != RETURN_OK) {
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return result;
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}
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TmTcMessage message(storeId);
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if (TmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) {
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tcStore->deleteData(storeId);
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}
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}
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return result;
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}
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@ -106,8 +132,8 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
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store_address_t storeId = 0;
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if(fifo.full()) {
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info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached."
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" Overwriting old data" << std::endl;
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error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
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"reached! Overwriting old data" << std::endl;
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fifo.retrieve(&storeId);
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tmStore->deleteData(storeId);
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}
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@ -120,14 +146,16 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
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ReturnValue_t TmTcBridge::sendStoredTm() {
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uint8_t counter = 0;
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ReturnValue_t result = RETURN_OK;
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while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) {
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info << "TMTC Bridge: Sending stored TM data. There are "
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<< (int) fifo.size() << " left to send\r\n" << std::flush;
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while(!fifo.empty() && counter < sentPacketsPerCycle) {
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//info << "TMTC Bridge: Sending stored TM data. There are "
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// << (int) fifo.size() << " left to send\r\n" << std::flush;
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store_address_t storeId;
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const uint8_t* data = NULL;
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uint32_t size = 0;
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fifo.retrieve(&storeId);
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result = tmStore->getData(storeId, &data, &size);
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// This does not work yet: is not static function
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//PeriodicTaskIF::sleepFor(delayBetweenSentPacketsMs);
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sendTm(data,size);
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if(result != RETURN_OK) {
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error << "TMTC Bridge: Could not send stored downlink data"
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@ -162,7 +190,7 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
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return TmTcReceptionQueue->getId();
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}
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void TmTcBridge::printData(uint8_t * data, uint32_t dataLen) {
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void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
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info << "TMTC Bridge: Printing data: [";
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for(uint32_t i=0;i<dataLen;i++) {
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info << std::hex << (int)data[i];
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@ -1,9 +1,3 @@
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/**
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* @file TmTcBridge.h
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*
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* @date 26.12.2019
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*/
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#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
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#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
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@ -21,32 +15,44 @@ class TmTcBridge : public AcceptsTelemetryIF,
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public HasReturnvaluesIF,
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public SystemObject {
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public:
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static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
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static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
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static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
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TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
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virtual ~TmTcBridge();
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/**
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* Initializes basic FSFW components for the TMTC Bridge
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* @return
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*/
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virtual ReturnValue_t initialize();
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void setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets);
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/**
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* @brief The performOperation method is executed in a task.
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* @details There are no restrictions for calls within this method, so any
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* other member of the class can be used.
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* @return Currently, the return value is ignored.
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* Set number of packets sent per performOperation().Please note that this
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* value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
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* @param sentPacketsPerCycle
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* @return -@c RETURN_OK if value was set successfully
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* -@c RETURN_FAILED otherwise, stored value stays the same
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*/
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
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ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
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void registerCommConnect();
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void registerCommDisconnect();
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/**
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* Initializes necessary FSFW components for the TMTC Bridge
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* @return
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*/
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ReturnValue_t initialize() override;
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/**
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* @brief Handles TMTC reception
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*/
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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/**
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* Return TMTC Reception Queue
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* @param virtualChannel
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* @return
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*/
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virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
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void registerCommConnect();
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void registerCommDisconnect();
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MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
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protected:
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//! Used to send and receive TMTC messages.
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//! TmTcMessage is used to transport messages between tasks.
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@ -65,13 +71,14 @@ protected:
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virtual ReturnValue_t handleTc();
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/**
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* Implemented by child class. Perform receiving of Telecommand, for example by implementing
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* specific drivers or wrappers, e.g. UART Communication or lwIP stack
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* Implemented by child class. Perform receiving of Telecommand,
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* for example by implementing specific drivers or wrappers,
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* e.g. UART Communication or an ethernet stack
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* @param recvBuffer [out] Received data
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* @param size [out] Size of received data
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* @return
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*/
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virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, uint32_t * size) = 0;
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virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
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/**
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* Handle Telemetry. Default implementation provided.
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@ -93,7 +100,7 @@ protected:
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* @param dataLen
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* @return
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*/
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virtual ReturnValue_t sendTm(const uint8_t * data, uint32_t dataLen) = 0;
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virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
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/**
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* Store data to be sent later if communication link is not up.
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@ -113,16 +120,12 @@ protected:
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* @param data
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* @param dataLen
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*/
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void printData(uint8_t * data, uint32_t dataLen);
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void printData(uint8_t * data, size_t dataLen);
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private:
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static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
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static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
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static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
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FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
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uint8_t * recvBuffer = nullptr;
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uint32_t size = 0;
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uint8_t sentPacketsPerCycle = 10;
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uint32_t delayBetweenSentPacketsMs = 0;
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};
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