eive-obsw/mission/com/TmStoreTaskBase.cpp

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#include "TmStoreTaskBase.h"
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#include <fsfw/ipc/CommandMessageIF.h>
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#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/subsystem/helper.h>
#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include <fsfw/tmstorage/TmStoreMessage.h>
#include "mission/persistentTmStoreDefs.h"
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TmStoreTaskBase::TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore,
VirtualChannel& channel, SdCardMountedIF& sdcMan)
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: SystemObject(objectId),
modeHelper(this),
ipcStore(ipcStore),
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tmReader(&timeReader),
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channel(channel),
sdcMan(sdcMan) {
requestQueue = QueueFactory::instance()->createMessageQueue(10);
}
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bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext) {
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ReturnValue_t result;
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bool tmToStoreReceived = false;
bool tcRequestReceived = false;
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bool dumpPerformed = false;
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fileHasSwapped = false;
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dumpContext.packetWasDumped = false;
dumpContext.vcBusyDuringDump = false;
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// Store TM persistently
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result = store.handleNextTm();
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if (result == returnvalue::OK) {
tmToStoreReceived = true;
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}
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// Dump TMs
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if (store.getState() == PersistentTmStore::State::DUMPING) {
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if (handleOneDump(store, dumpContext, dumpPerformed) != returnvalue::OK) {
return result;
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}
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} else {
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Command_t execCmd;
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// Handle TC requests, for example deletion or retrieval requests.
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result = store.handleCommandQueue(ipcStore, execCmd);
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if (result == returnvalue::OK) {
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if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
cancelDumpCd.resetTimer();
tmSinkBusyCd.resetTimer();
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dumpContext.reset();
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}
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tcRequestReceived = true;
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}
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}
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if (tcRequestReceived or tmToStoreReceived or dumpPerformed) {
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return true;
}
return false;
}
bool TmStoreTaskBase::cyclicStoreCheck() {
if (not storesInitialized) {
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storesInitialized = initStoresIfPossible();
if (not storesInitialized) {
TaskFactory::delayTask(400);
return false;
}
} else if (sdCardCheckCd.hasTimedOut()) {
if (not sdcMan.isSdCardUsable(std::nullopt)) {
// Might be due to imminent shutdown or SD card switch.
storesInitialized = false;
TaskFactory::delayTask(100);
return false;
}
sdCardCheckCd.resetTimer();
}
return true;
}
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void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn) {
ctx.reset();
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if (store.getState() == PersistentTmStore::State::DUMPING) {
triggerEvent(ctx.eventIfCancelled, ctx.numberOfDumpedPackets, ctx.dumpedBytes);
}
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store.cancelDump();
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if (isTxOn) {
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channel.cancelTransfer();
}
}
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ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext, bool& dumpPerformed) {
ReturnValue_t result = returnvalue::OK;
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// The PTME might have been reset an transmitter state change, so there is no point in continuing
// the dump.
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// TODO: Will be solved in a cleaner way, this is kind of a hack.
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if (not channel.isTxOn()) {
cancelDump(dumpContext, store, false);
return returnvalue::FAILED;
}
if (not channel.isBusy()) {
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performDump(store, dumpContext, dumpPerformed);
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} else {
// The PTME might be at full load, so it might sense to delay for a bit to let it do
// its work until some more bandwidth is available. Set a flag here so the upper layer can
// do ths.
dumpContext.vcBusyDuringDump = true;
dumpContext.ptmeBusyCounter++;
if (dumpContext.ptmeBusyCounter == 100) {
// If this happens, something is probably wrong.
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sif::warning << "PTME busy for longer period. Cancelling dump" << std::endl;
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cancelDump(dumpContext, store, channel.isTxOn());
}
}
if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
cancelDump(dumpContext, store, channel.isTxOn());
}
return result;
}
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ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
DumpContext& dumpContext, bool& dumpPerformed) {
size_t dumpedLen = 0;
auto dumpDoneHandler = [&]() {
uint32_t startTime;
uint32_t endTime;
store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
dumpContext.dumpedBytes);
dumpContext.reset();
};
// Dump the next packet into the PTME.
dumpContext.ptmeBusyCounter = 0;
tmSinkBusyCd.resetTimer();
ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
if (result != returnvalue::OK) {
sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
} else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
// This can happen if a file is corrupted and the next file swap completes the dump.
dumpDoneHandler();
return returnvalue::OK;
}
// Only write to VC if mode is on, but always confirm the dump.
// If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
// (e.g. to confirm a reset or the transmitter is off anyway).
if (mode == MODE_ON) {
result = channel.write(tmReader.getFullData(), tmReader.getFullPacketLen());
if (result == DirectTmSinkIF::IS_BUSY) {
sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
} else if (result != returnvalue::OK) {
sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
}
}
result = store.confirmDump(tmReader, fileHasSwapped);
if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
dumpPerformed = true;
if (dumpedLen > 0) {
dumpContext.dumpedBytes += dumpedLen;
dumpContext.numberOfDumpedPackets += 1;
dumpContext.packetWasDumped = true;
}
}
if (result == PersistentTmStore::DUMP_DONE) {
dumpDoneHandler();
}
return returnvalue::OK;
}
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ReturnValue_t TmStoreTaskBase::initialize() {
modeHelper.initialize();
return returnvalue::OK;
}
void TmStoreTaskBase::getMode(Mode_t* mode, Submode_t* submode) {
if (mode != nullptr) {
*mode = this->mode;
}
if (submode != nullptr) {
*submode = SUBMODE_NONE;
}
}
ReturnValue_t TmStoreTaskBase::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (mode == MODE_ON or mode == MODE_OFF) {
return returnvalue::OK;
}
return returnvalue::FAILED;
}
MessageQueueId_t TmStoreTaskBase::getCommandQueue() const { return requestQueue->getId(); }
void TmStoreTaskBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
object_id_t TmStoreTaskBase::getObjectId() const { return SystemObject::getObjectId(); }
const HasHealthIF* TmStoreTaskBase::getOptHealthIF() const { return nullptr; }
const HasModesIF& TmStoreTaskBase::getModeIF() const { return *this; }
ReturnValue_t TmStoreTaskBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
}
ModeTreeChildIF& TmStoreTaskBase::getModeTreeChildIF() { return *this; }
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void TmStoreTaskBase::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = returnvalue::FAILED;
result = requestQueue->receiveMessage(&commandMessage);
if (result == returnvalue::OK) {
result = modeHelper.handleModeCommand(&commandMessage);
if (result == returnvalue::OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
requestQueue->reply(&reply);
return;
}
}