modes for VC/stores

CHANGELOG.md

@@ -19,6 +19,10 @@ will consitute of a breaking change warranting a new major release:
 ## Changed
 
 - SCEX filename updates. Also use T as the file ID / date separator between date and time.
+- COM TM store and dump handling: Introduce modes for all 4 TM VC/store tasks. The OFF mode can be
+  used to disable ongoing dumps or to prevent writes to the PTME VC. This allows cleaner reset
+  handling of the PTME. All 4 VC/store tasks were attached to the COM mode tree and are commanded
+  as part of the COM sequence as well to ensure consistent state with the CCSDS IP core handler.
 
 ## Fixed
 

bsp_q7s/core/ObjectFactory.cpp

@@ -20,15 +20,15 @@
 #include <mission/acs/MgmRm3100CustomHandler.h>
 #include <mission/acs/str/StarTrackerHandler.h>
 #include <mission/acs/str/strHelpers.h>
+#include <mission/com/LiveTmTask.h>
+#include <mission/com/PersistentLogTmStoreTask.h>
+#include <mission/com/PersistentSingleTmStoreTask.h>
 #include <mission/power/CspCookie.h>
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/acs/StrAssembly.h>
 #include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/objects/SyrlinksAssembly.h>
-#include <mission/tmtc/LiveTmTask.h>
-#include <mission/tmtc/PersistentLogTmStoreTask.h>
-#include <mission/tmtc/PersistentSingleTmStoreTask.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -81,6 +81,7 @@ using gpio::Levels;
 #include <mission/acs/ImtqHandler.h>
 #include <mission/acs/rwHelpers.h>
 #include <mission/com/SyrlinksHandler.h>
+#include <mission/com/VirtualChannelWithQueue.h>
 #include <mission/payload/PayloadPcduHandler.h>
 #include <mission/payload/RadiationSensorHandler.h>
 #include <mission/payload/payloadPcduDefinitions.h>
@@ -96,7 +97,6 @@ using gpio::Levels;
 #include <mission/tcs/Max31865Definitions.h>
 #include <mission/tcs/Max31865PT1000Handler.h>
 #include <mission/tcs/Tmp1075Handler.h>
-#include <mission/tmtc/VirtualChannelWithQueue.h>
 
 #include <sstream>
 

bsp_q7s/core/ObjectFactory.h

@@ -4,11 +4,11 @@
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <mission/com/CcsdsIpCoreHandler.h>
+#include <mission/com/PersistentLogTmStoreTask.h>
 #include <mission/genericFactory.h>
 #include <mission/system/objects/Stack5VHandler.h>
 #include <mission/tcs/HeaterHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
-#include <mission/tmtc/PersistentLogTmStoreTask.h>
 #include <mission/tmtc/PusTmFunnel.h>
 
 #include <atomic>

linux/ipcore/PapbVcInterface.cpp

@@ -19,7 +19,7 @@ PapbVcInterface::~PapbVcInterface() {}
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
   ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
-      UioMapper::Permissions::WRITE_ONLY);
+                                                   UioMapper::Permissions::WRITE_ONLY);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -38,7 +38,7 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
     // TODO: Maybe this should not be done like this. It would be better if there was a custom
     // FPGA module which can accept packets and then takes care of dumping that packet into
     // the PTME. DMA would be an ideal solution for this.
-    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
+    // nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
     if (pollPapbBusySignal(2) == returnvalue::OK) {
       *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
     } else {
@@ -46,7 +46,7 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
       return returnvalue::FAILED;
     }
   }
-  nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
+  // nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
   if (pollPapbBusySignal(2) == returnvalue::OK) {
     completePacketTransfer();
   } else {

linux/ipcore/PapbVcInterface.h

@@ -5,6 +5,8 @@
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 #include <linux/ipcore/VirtualChannelIF.h>
 
+#include <atomic>
+
 #include "OBSWConfig.h"
 #include "fsfw/returnvalues/returnvalue.h"
 

mission/com/CMakeLists.txt

@@ -1,2 +1,11 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE SyrlinksHandler.cpp
+target_sources(
-                                           CcsdsIpCoreHandler.cpp)
+  ${LIB_EIVE_MISSION}
+  PRIVATE SyrlinksHandler.cpp
+          CcsdsIpCoreHandler.cpp
+          LiveTmTask.cpp
+          PersistentLogTmStoreTask.cpp
+          TmStoreTaskBase.cpp
+          VirtualChannel.cpp
+          VirtualChannelWithQueue.cpp
+          PersistentSingleTmStoreTask.cpp
+          LiveTmTask.cpp)

mission/com/CcsdsIpCoreHandler.h

@@ -2,7 +2,7 @@
 #define CCSDSHANDLER_H_
 
 #include <fsfw/modes/HasModesIF.h>
-#include <mission/tmtc/VirtualChannelWithQueue.h>
+#include <mission/com/VirtualChannelWithQueue.h>
 
 #include <cstdint>
 #include <unordered_map>

mission/com/LiveTmTask.cpp

@@ -0,0 +1,101 @@
+#include "LiveTmTask.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/subsystem/helper.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+
+LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+                       VirtualChannelWithQueue& channel)
+    : SystemObject(objectId),
+      modeHelper(this),
+      pusFunnel(pusFunnel),
+      cfdpFunnel(cfdpFunnel),
+      channel(channel) {
+  requestQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
+  readCommandQueue();
+  while (true) {
+    bool performWriteOp = true;
+    if (mode == MODE_OFF) {
+      performWriteOp = false;
+    }
+
+    // The funnel tasks are scheduled here directly as well.
+    ReturnValue_t result = channel.handleNextTm(performWriteOp);
+    if (result == DirectTmSinkIF::IS_BUSY) {
+      sif::error << "Lost live TM, PAPB busy" << std::endl;
+    }
+    if (result == MessageQueueIF::EMPTY) {
+      if (tmFunnelCd.hasTimedOut()) {
+        pusFunnel.performOperation(0);
+        cfdpFunnel.performOperation(0);
+        tmFunnelCd.resetTimer();
+      }
+      // Read command queue during idle times.
+      readCommandQueue();
+      // 40 ms IDLE delay. Might tweak this in the future.
+      TaskFactory::delayTask(40);
+    } else {
+      packetCounter++;
+    }
+  }
+}
+
+MessageQueueId_t LiveTmTask::getCommandQueue() const { return requestQueue->getId(); }
+
+void LiveTmTask::getMode(Mode_t* mode, Submode_t* submode) {
+  if (mode != nullptr) {
+    *mode = this->mode;
+  }
+  if (submode != nullptr) {
+    *submode = SUBMODE_NONE;
+  }
+}
+
+ReturnValue_t LiveTmTask::checkModeCommand(Mode_t mode, Submode_t submode,
+                                           uint32_t* msToReachTheMode) {
+  if (mode == MODE_ON or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+void LiveTmTask::startTransition(Mode_t mode, Submode_t submode) {
+  this->mode = mode;
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}
+
+void LiveTmTask::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
+
+object_id_t LiveTmTask::getObjectId() const { return SystemObject::getObjectId(); }
+
+const HasHealthIF* LiveTmTask::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& LiveTmTask::getModeIF() const { return *this; }
+
+ReturnValue_t LiveTmTask::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+void LiveTmTask::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;
+  }
+}
+
+ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }

mission/com/LiveTmTask.h

@@ -0,0 +1,55 @@
+#ifndef MISSION_TMTC_LIVETMTASK_H_
+#define MISSION_TMTC_LIVETMTASK_H_
+
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/timemanager/Countdown.h>
+#include <mission/com/VirtualChannelWithQueue.h>
+#include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PusTmFunnel.h>
+
+class LiveTmTask : public SystemObject,
+                   public HasModesIF,
+                   public ExecutableObjectIF,
+                   public ModeTreeChildIF,
+                   public ModeTreeConnectionIF {
+ public:
+  LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+             VirtualChannelWithQueue& channel);
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ private:
+  MessageQueueIF* requestQueue;
+  ModeHelper modeHelper;
+  Mode_t mode = HasModesIF::MODE_OFF;
+  Countdown tmFunnelCd = Countdown(100);
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
+  VirtualChannelWithQueue& channel;
+  uint32_t packetCounter = 0;
+
+  void readCommandQueue(void);
+
+  MessageQueueId_t getCommandQueue() const override;
+
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+
+  void startTransition(Mode_t mode, Submode_t submode) override;
+
+  void announceMode(bool recursive) override;
+
+  object_id_t getObjectId() const override;
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+};
+
+#endif /* MISSION_TMTC_LIVETMTASK_H_ */

mission/com/PersistentLogTmStoreTask.cpp

@@ -27,6 +27,8 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     }
   };
   while (true) {
+    readCommandQueue();
+
     if (not cyclicStoreCheck()) {
       continue;
     }
@@ -54,3 +56,17 @@ bool PersistentLogTmStoreTask::initStoresIfPossible() {
   }
   return false;
 }
+
+void PersistentLogTmStoreTask::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_OFF) {
+    bool channelIsOn = channel.isTxOn();
+    cancelDump(okStoreContext, stores.okStore, channelIsOn);
+    cancelDump(notOkStoreContext, stores.notOkStore, channelIsOn);
+    cancelDump(miscStoreContext, stores.miscStore, channelIsOn);
+    this->mode = MODE_OFF;
+  } else if (mode == MODE_ON) {
+    this->mode = MODE_ON;
+  }
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}

mission/com/PersistentLogTmStoreTask.h

@@ -5,11 +5,11 @@
 #include <fsfw/storagemanager/StorageManagerIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <mission/com/TmStoreTaskBase.h>
+#include <mission/com/VirtualChannelWithQueue.h>
 #include <mission/genericFactory.h>
 #include <mission/tmtc/PersistentTmStore.h>
 #include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
-#include <mission/tmtc/TmStoreTaskBase.h>
-#include <mission/tmtc/VirtualChannelWithQueue.h>
 
 struct LogStores {
   LogStores(PersistentTmStores& stores)
@@ -36,6 +36,7 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
   bool someFileWasSwapped = false;
 
   bool initStoresIfPossible() override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
 };
 
 #endif /* MISSION_TMTC_PERSISTENTLOGTMSTORETASK_H_ */

mission/com/PersistentSingleTmStoreTask.cpp

@@ -1,17 +1,21 @@
+#include "PersistentSingleTmStoreTask.h"
+
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
-#include <mission/tmtc/PersistentSingleTmStoreTask.h>
 #include <unistd.h>
 
 PersistentSingleTmStoreTask::PersistentSingleTmStoreTask(
     object_id_t objectId, StorageManagerIF& ipcStore, PersistentTmStoreWithTmQueue& tmStore,
     VirtualChannel& channel, Event eventIfDumpDone, Event eventIfCancelled, SdCardMountedIF& sdcMan)
     : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan),
+      modeHelper(this),
       storeWithQueue(tmStore),
       dumpContext(eventIfDumpDone, eventIfCancelled) {}
 
 ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
   while (true) {
+    readCommandQueue();
+
     // Delay done by the check
     if (not cyclicStoreCheck()) {
       continue;
@@ -33,3 +37,14 @@ bool PersistentSingleTmStoreTask::initStoresIfPossible() {
   }
   return false;
 }
+
+void PersistentSingleTmStoreTask::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_OFF) {
+    cancelDump(dumpContext, storeWithQueue, channel.isTxOn());
+    this->mode = MODE_OFF;
+  } else if (mode == MODE_ON) {
+    this->mode = MODE_ON;
+  }
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}

mission/com/PersistentSingleTmStoreTask.h

@@ -3,9 +3,9 @@
 
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
+#include <mission/com/TmStoreTaskBase.h>
+#include <mission/com/VirtualChannel.h>
 #include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
-#include <mission/tmtc/TmStoreTaskBase.h>
-#include <mission/tmtc/VirtualChannel.h>
 
 class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObjectIF {
  public:
@@ -17,12 +17,15 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
   ReturnValue_t performOperation(uint8_t opCode) override;
 
  private:
+  ModeHelper modeHelper;
   PersistentTmStoreWithTmQueue& storeWithQueue;
   DumpContext dumpContext;
   Countdown tcHandlingCd = Countdown(400);
   Countdown graceDelayDuringDumping = Countdown(100);
 
   bool initStoresIfPossible() override;
+
+  void startTransition(Mode_t mode, Submode_t submode) override;
 };
 
 #endif /* MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_ */

mission/com/TmStoreTaskBase.cpp

@@ -1,6 +1,8 @@
 #include "TmStoreTaskBase.h"
 
 #include <fsfw/ipc/CommandMessageIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/subsystem/helper.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 #include <fsfw/tmstorage/TmStoreMessage.h>
@@ -9,7 +11,13 @@
 
 TmStoreTaskBase::TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore,
                                  VirtualChannel& channel, SdCardMountedIF& sdcMan)
-    : SystemObject(objectId), ipcStore(ipcStore), channel(channel), sdcMan(sdcMan) {}
+    : SystemObject(objectId),
+      modeHelper(this),
+      ipcStore(ipcStore),
+      channel(channel),
+      sdcMan(sdcMan) {
+  requestQueue = QueueFactory::instance()->createMessageQueue(10);
+}
 
 bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
                                      DumpContext& dumpContext) {
@@ -26,8 +34,8 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
   if (result == returnvalue::OK) {
     tmToStoreReceived = true;
   }
-  // Dump TMs when applicable
+  // Dump TMs when applicable and allowed (mode is on)
-  if (store.getState() == PersistentTmStore::State::DUMPING) {
+  if (mode == MODE_ON and store.getState() == PersistentTmStore::State::DUMPING) {
     if (handleOneDump(store, dumpContext, dumpPerformed) != returnvalue::OK) {
       return result;
     }
@@ -129,3 +137,57 @@ ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store
   }
   return result;
 }
+
+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; }
+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;
+  }
+}

mission/com/TmStoreTaskBase.h

@@ -1,15 +1,21 @@
 #ifndef MISSION_TMTC_TMSTORETASKBASE_H_
 #define MISSION_TMTC_TMSTORETASKBASE_H_
 
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <mission/com/VirtualChannel.h>
 #include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
-#include <mission/tmtc/VirtualChannel.h>
 
 /**
  * Generic class which composes a Virtual Channel and a persistent TM stores. This allows dumping
  * the TM store into the virtual channel directly.
  */
-class TmStoreTaskBase : public SystemObject {
+class TmStoreTaskBase : public SystemObject,
+                        public HasModesIF,
+                        public ModeTreeChildIF,
+                        public ModeTreeConnectionIF {
  public:
   struct DumpContext {
     DumpContext(Event eventIfDone, Event eventIfCancelled)
@@ -35,8 +41,13 @@ class TmStoreTaskBase : public SystemObject {
   TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
                   SdCardMountedIF& sdcMan);
 
+  ReturnValue_t initialize() override;
+
  protected:
+  MessageQueueIF* requestQueue;
+  ModeHelper modeHelper;
   StorageManagerIF& ipcStore;
+  Mode_t mode = HasModesIF::MODE_OFF;
   Countdown sdCardCheckCd = Countdown(800);
   // 20 minutes are allowed as maximum dump time.
   Countdown cancelDumpCd = Countdown(60 * 20 * 1000);
@@ -47,6 +58,11 @@ class TmStoreTaskBase : public SystemObject {
   bool fileHasSwapped = false;
   SdCardMountedIF& sdcMan;
 
+  void readCommandQueue(void);
+
+  virtual bool initStoresIfPossible() = 0;
+  virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
+
   void cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn);
   /**
    *
@@ -65,7 +81,18 @@ class TmStoreTaskBase : public SystemObject {
    */
   bool cyclicStoreCheck();
 
-  virtual bool initStoresIfPossible() = 0;
+  MessageQueueId_t getCommandQueue() const override;
+
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  void announceMode(bool recursive) override;
+  object_id_t getObjectId() const override;
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
 };
 
 #endif /* MISSION_TMTC_TMSTORETASKBASE_H_ */

mission/com/VirtualChannelWithQueue.cpp

@@ -1,4 +1,4 @@
-#include <mission/tmtc/VirtualChannelWithQueue.h>
+#include "VirtualChannelWithQueue.h"
 
 #include "OBSWConfig.h"
 #include "fsfw/ipc/QueueFactory.h"
@@ -19,7 +19,7 @@ VirtualChannelWithQueue::VirtualChannelWithQueue(object_id_t objectId, uint8_t v
 
 const char* VirtualChannelWithQueue::getName() const { return VirtualChannel::getName(); }
 
-ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
+ReturnValue_t VirtualChannelWithQueue::handleNextTm(bool performWriteOp) {
   TmTcMessage message;
   ReturnValue_t result = tmQueue->receiveMessage(&message);
   if (result == MessageQueueIF::EMPTY) {
@@ -36,7 +36,9 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
     return result;
   }
 
-  result = write(data, size);
+  if (performWriteOp) {
+    result = write(data, size);
+  }
   // Try delete in any case, ignore failures (which should not happen), it is more important to
   // propagate write errors.
   tmStore.deleteData(storeId);

mission/com/VirtualChannelWithQueue.h

@@ -4,7 +4,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <linux/ipcore/PtmeIF.h>
-#include <mission/tmtc/VirtualChannel.h>
+#include <mission/com/VirtualChannel.h>
 
 #include <atomic>
 
@@ -34,7 +34,7 @@ class VirtualChannelWithQueue : public VirtualChannel, public AcceptsTelemetryIF
 
   MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
   [[nodiscard]] const char* getName() const override;
-  ReturnValue_t sendNextTm();
+  ReturnValue_t handleNextTm(bool performWriteOp);
 
  private:
   MessageQueueIF* tmQueue = nullptr;

mission/config/comCfg.cpp

@@ -3,6 +3,8 @@
 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/ipc/MutexGuard.h>
 
+#include <atomic>
+
 com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
 MutexIF* DATARATE_LOCK = nullptr;
 

mission/system/com/comModeTree.cpp

@@ -22,7 +22,7 @@ auto COM_SEQUENCE_RX_ONLY =
 auto COM_TABLE_RX_ONLY_TGT = std::make_pair(
     static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
 auto COM_TABLE_RX_ONLY_TRANS_0 = std::make_pair(
-    static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+    static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto COM_TABLE_RX_ONLY_TRANS_1 = std::make_pair(
     static_cast<uint32_t>(::com::Submode::RX_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 3>());
 
@@ -36,7 +36,7 @@ auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 =
                    FixedArrayList<ModeListEntry, 3>());
 auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 =
     std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3,
-                   FixedArrayList<ModeListEntry, 3>());
+                   FixedArrayList<ModeListEntry, 6>());
 
 auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_HIGH_DATARATE, FixedArrayList<ModeListEntry, 3>());
@@ -48,7 +48,7 @@ auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 =
                    FixedArrayList<ModeListEntry, 3>());
 auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 =
     std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3,
-                   FixedArrayList<ModeListEntry, 3>());
+                   FixedArrayList<ModeListEntry, 6>());
 
 auto COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_DEFAULT_DATARATE, FixedArrayList<ModeListEntry, 3>());
@@ -60,7 +60,7 @@ auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0 =
                    FixedArrayList<ModeListEntry, 3>());
 auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1 =
     std::make_pair(static_cast<uint32_t>(::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 3,
-                   FixedArrayList<ModeListEntry, 3>());
+                   FixedArrayList<ModeListEntry, 6>());
 
 namespace {
 
@@ -110,6 +110,10 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build RX Only transition 0
   iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
+  iht(objects::LOG_STORE_AND_TM_TASK, OFF, 0, COM_TABLE_RX_ONLY_TRANS_0.second);
+  iht(objects::HK_STORE_AND_TM_TASK, OFF, 0, COM_TABLE_RX_ONLY_TRANS_0.second);
+  iht(objects::CFDP_STORE_AND_TM_TASK, OFF, 0, COM_TABLE_RX_ONLY_TRANS_0.second);
+  iht(objects::LIVE_TM_TASK, OFF, 0, COM_TABLE_RX_ONLY_TRANS_0.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
         ctxc);
 
@@ -165,6 +169,10 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TX and RX low transition 1
   iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
       COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
+  iht(objects::LOG_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
+  iht(objects::HK_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
+  iht(objects::CFDP_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
+  iht(objects::LIVE_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
         ctxc);
@@ -217,6 +225,10 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TX and RX high transition 1
   iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
       COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
+  iht(objects::LOG_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
+  iht(objects::HK_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
+  iht(objects::CFDP_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
+  iht(objects::LIVE_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
         ctxc);
@@ -271,6 +283,10 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TX and RX default transition 1
   iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
+  iht(objects::LOG_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
+  iht(objects::HK_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
+  iht(objects::CFDP_STORE_AND_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
+  iht(objects::LIVE_TM_TASK, ON, 0, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)),
         ctxc);

mission/tmtc/CMakeLists.txt

@@ -1,17 +1,11 @@
 target_sources(
   ${LIB_EIVE_MISSION}
-  PRIVATE VirtualChannelWithQueue.cpp
+  PRIVATE PersistentTmStoreWithTmQueue.cpp
-          PersistentTmStoreWithTmQueue.cpp
-          LiveTmTask.cpp
-          VirtualChannel.cpp
           TmFunnelHandler.cpp
           TmFunnelBase.cpp
           CfdpTmFunnel.cpp
           tmFilters.cpp
           PusLiveDemux.cpp
-          PersistentSingleTmStoreTask.cpp
-          PersistentLogTmStoreTask.cpp
-          TmStoreTaskBase.cpp
           PusPacketFilter.cpp
           PusTmRouteByFilterHelper.cpp
           Service15TmStorage.cpp

mission/tmtc/LiveTmTask.cpp

@@ -1,27 +0,0 @@
-#include "LiveTmTask.h"
-
-#include <fsfw/tasks/TaskFactory.h>
-#include <fsfw/timemanager/Stopwatch.h>
-
-LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
-                       VirtualChannelWithQueue& channel)
-    : SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel), channel(channel) {}
-
-ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
-  while (true) {
-    // The funnel tasks are scheduled here directly as well.
-    ReturnValue_t result = channel.sendNextTm();
-    if (result == DirectTmSinkIF::IS_BUSY) {
-      sif::error << "Lost live TM, PAPB busy" << std::endl;
-    }
-    if (result == MessageQueueIF::EMPTY) {
-      if (tmFunnelCd.hasTimedOut()) {
-        pusFunnel.performOperation(0);
-        cfdpFunnel.performOperation(0);
-        tmFunnelCd.resetTimer();
-      }
-      // 40 ms IDLE delay. Might tweak this in the future.
-      TaskFactory::delayTask(40);
-    }
-  }
-}

mission/tmtc/LiveTmTask.h

@@ -1,25 +0,0 @@
-#ifndef MISSION_TMTC_LIVETMTASK_H_
-#define MISSION_TMTC_LIVETMTASK_H_
-
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/timemanager/Countdown.h>
-#include <mission/tmtc/CfdpTmFunnel.h>
-#include <mission/tmtc/PusTmFunnel.h>
-#include <mission/tmtc/VirtualChannelWithQueue.h>
-
-class LiveTmTask : public SystemObject, public ExecutableObjectIF {
- public:
-  LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
-             VirtualChannelWithQueue& channel);
-
-  ReturnValue_t performOperation(uint8_t opCode) override;
-
- private:
-  Countdown tmFunnelCd = Countdown(100);
-  PusTmFunnel& pusFunnel;
-  CfdpTmFunnel& cfdpFunnel;
-  VirtualChannelWithQueue& channel;
-};
-
-#endif /* MISSION_TMTC_LIVETMTASK_H_ */