Merge branch 'develop' into custom_csp_router_task

CHANGELOG.md

@@ -18,10 +18,23 @@ will consitute of a breaking change warranting a new major release:
 
 ## Fixed
 
+- PAPB busy polling now implemented properly with an upper bound of how often the PAPB is allowed
+  to be busy before returning the BUSY returnvalue. Also propagate and check for that case properly.
+  Ideally, this will never be an issue and the PAPB VC interface should never block for a longer
+  period.
+
+## Added
+
+- The persistent TM stores now have low priorities and behave like background threads now. This
+  should prevent them from blocking or slowing down the system even during dumps
+  (at least in theory).
 - STR: Fix weird issues on datalink layer data reception which sometimes occur.
 
 ## Changed
 
+- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time
+  scheduling.
+- Tweak scheduling priorities.
 - STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
   device handler.
 - STR: Is now scheduled twice in ACS PST.

bsp_q7s/core/scheduling.cpp

@@ -72,8 +72,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* solarArrayDeplTask =
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
@@ -81,7 +82,7 @@ void scheduling::initTasks() {
 #endif
 
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
@@ -89,7 +90,7 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
   result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@@ -119,16 +120,18 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
-  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  PeriodicTaskIF* udpPollingTask =
+      factory->createPeriodicTask("UDP_TMTC_POLLING", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
   }
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
-  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  PeriodicTaskIF* tcpPollingTask =
+      factory->createPeriodicTask("TCP_TMTC_POLLING", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@@ -136,8 +139,9 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
-      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  PeriodicTaskIF* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@@ -171,7 +175,7 @@ void scheduling::initTasks() {
 
   // Runs in IRQ mode, frequency does not really matter
   PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
@@ -179,50 +183,53 @@ void scheduling::initTasks() {
 
 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
   // All the TM store tasks run in permanent loops, frequency does not matter
-  PeriodicTaskIF* liveTmTask =
-      factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
   result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
   }
   PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
-      "HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
   }
   PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
   result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
   }
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = cfdpTask->addComponent(objects::CFDP_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
   }
 #endif
 
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
-      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* gpsTask =
+      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 
 #if OBSW_ADD_ACS_BOARD == 1
-  PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
-      "ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
@@ -230,16 +237,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_RW == 1
-  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
-      "RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
   }
 #endif
 #if OBSW_ADD_MGT == 1
-  PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
-      "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = imtqPolling->addComponent(objects::IMTQ_POLLING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
@@ -247,16 +256,18 @@ void scheduling::initTasks() {
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
-  PeriodicTaskIF* susPolling = factory->createPeriodicTask(
-      "SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = susPolling->addComponent(objects::SUS_POLLING_TASK);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
   }
 #endif
 
-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@@ -283,7 +294,7 @@ void scheduling::initTasks() {
   }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
-      "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   scheduling::scheduleRtdSensors(tcsSystemTask);
   result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
   if (result != returnvalue::OK) {
@@ -308,8 +319,9 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_STAR_TRACKER == 1
   // Relatively high priority to make sure STR COM works well.
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
   result = strHelperTask->addComponent(objects::STR_COM_IF);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
@@ -317,8 +329,9 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* mpsocHelperTask =
+      factory->createPeriodicTask("PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
@@ -326,8 +339,9 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
-  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  PeriodicTaskIF* supvHelperTask =
+      factory->createPeriodicTask("PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0,
+                                  missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@@ -335,7 +349,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
   scheduling::addMpsocSupvHandlers(plTask);
   scheduling::scheduleScexDev(plTask);
@@ -456,8 +470,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.4;
 #endif
-  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -471,8 +486,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
-      "SYRLINKS", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* syrlinksPst =
+      factory.createFixedTimeslotTask("SYRLINKS", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -486,8 +502,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif
 
 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstI2cProcessingSystem(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -500,8 +517,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -515,8 +533,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
@@ -535,8 +554,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
   taskVec.push_back(pusHighPrio);
 
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);

fsfw

@@ -1 +1 @@
-Subproject commit f8a7c1d4ed621a3375db0da9b9e9f8d5484abbc1
+Subproject commit a937b457f900a6a6b26bc0b42a5357f014840a67

linux/ipcore/PapbVcInterface.cpp

@@ -1,5 +1,6 @@
 #include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/ipcore/PapbVcInterface.h>
+#include <unistd.h>
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -15,47 +16,67 @@ PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
-  return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY);
+  uint32_t* baseReg;
+  ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  vcBaseReg = baseReg;
+  return returnvalue::OK;
 }
 
 ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
-  if (pollPapbBusySignal() == returnvalue::OK) {
+  if (pollPapbBusySignal(0, 0) == returnvalue::OK) {
     startPacketTransfer();
+  } else {
+    return DirectTmSinkIF::IS_BUSY;
   }
   for (size_t idx = 0; idx < size; idx++) {
-    if (pollPapbBusySignal() == returnvalue::OK) {
-      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
+    if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
+      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
     } else {
-      sif::warning << "PapbVcInterface::write: Only written " << idx << " of " << size << " data"
-                   << std::endl;
+      abortPacketTransfer();
       return returnvalue::FAILED;
     }
   }
-  if (pollPapbBusySignal() == returnvalue::OK) {
-    endPacketTransfer();
+  if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
+    completePacketTransfer();
+  } else {
+    abortPacketTransfer();
+    return returnvalue::FAILED;
   }
   return returnvalue::OK;
 }
 
 void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
 
-void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; }
+void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollPapbBusySignal() const {
+ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries,
+                                                  uint32_t retryDelayUs) const {
   gpio::Levels papbBusyState = gpio::Levels::LOW;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result;
+  uint32_t busyIdx = 0;
 
-  /** Check if PAPB interface is ready to receive data */
-  result = gpioComIF->readGpio(papbBusyId, papbBusyState);
-  if (result != returnvalue::OK) {
-    sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-  if (papbBusyState == gpio::Levels::LOW) {
-    return PAPB_BUSY;
-  }
+  while (true) {
+    /** Check if PAPB interface is ready to receive data */
+    result = gpioComIF->readGpio(papbBusyId, papbBusyState);
+    if (result != returnvalue::OK) {
+      sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
+                   << std::endl;
+      return returnvalue::FAILED;
+    }
+    if (papbBusyState == gpio::Levels::HIGH) {
+      return returnvalue::OK;
+    }
 
+    busyIdx++;
+    if (busyIdx >= maxPollRetries) {
+      return PAPB_BUSY;
+    }
+
+    usleep(retryDelayUs);
+  }
   return returnvalue::OK;
 }
 
@@ -79,7 +100,9 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
   return;
 }
 
-bool PapbVcInterface::isBusy() const { return pollPapbBusySignal() == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0, 0) == PAPB_BUSY; }
+
+void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 
 ReturnValue_t PapbVcInterface::sendTestFrame() {
   /** Size of one complete transfer frame data field amounts to 1105 bytes */
@@ -97,3 +120,5 @@ ReturnValue_t PapbVcInterface::sendTestFrame() {
 
   return returnvalue::OK;
 }
+
+void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; }

linux/ipcore/PapbVcInterface.h

@@ -41,6 +41,8 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   ReturnValue_t write(const uint8_t* data, size_t size) override;
 
+  void cancelTransfer() override;
+
   ReturnValue_t initialize() override;
 
  private:
@@ -51,16 +53,21 @@ class PapbVcInterface : public VirtualChannelIF {
   /**
    * Configuration bits:
    * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
-   * bit[2]: Set this bit to 1 to abort a transfered packet
+   * bit[2]: Set this bit to 1 to abort a transferred packet
    * bit[3]: Signals to VcInterface the start of a new telemetry packet
    */
-  static const uint32_t CONFIG_START = 0x8;
+  static constexpr uint32_t CONFIG_START = 0b00001000;
+
+  /**
+   * Abort a transferred packet.
+   */
+  static constexpr uint32_t CONFIG_ABORT = 0b00000100;
 
   /**
    * Writing this word to the VcInterface base address signals to the virtual channel interface
    * that a complete tm packet has been transferred.
    */
-  static const uint32_t CONFIG_END = 0x0;
+  static constexpr uint32_t CONFIG_END = 0x0;
 
   /**
    * Writing to this offset within the memory space of a virtual channel will insert data for
@@ -79,7 +86,7 @@ class PapbVcInterface : public VirtualChannelIF {
   std::string uioFile;
   int mapNum = 0;
 
-  uint32_t* vcBaseReg = nullptr;
+  volatile uint32_t* vcBaseReg = nullptr;
 
   uint32_t vcOffset = 0;
 
@@ -89,11 +96,13 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   void startPacketTransfer();
 
+  void abortPacketTransfer();
+
   /**
    * @brief   This function sends the config byte to the virtual channel interface of the PTME
    *          IP Core to signal the end of a  packet transfer.
    */
-  void endPacketTransfer();
+  void completePacketTransfer();
 
   /**
    * @brief   This function reads the papb busy signal indicating whether the virtual channel
@@ -102,7 +111,7 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  ReturnValue_t pollPapbBusySignal() const;
+  ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries, uint32_t retryDelayUs) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in

linux/ipcore/Ptme.cpp

@@ -20,7 +20,6 @@ ReturnValue_t Ptme::initialize() {
 }
 
 ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
-  ReturnValue_t result = returnvalue::OK;
   VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
   if (vcInterfaceMapIter == vcInterfaceMap.end()) {
     sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual "
@@ -28,8 +27,7 @@ ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
                  << static_cast<unsigned int>(vcId) << std::endl;
     return UNKNOWN_VC_ID;
   }
-  result = vcInterfaceMapIter->second->write(data, size);
-  return result;
+  return vcInterfaceMapIter->second->write(data, size);
 }
 
 void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) {
@@ -62,3 +60,11 @@ bool Ptme::isBusy(uint8_t vcId) const {
   }
   return vcInterfaceMapIter->second->isBusy();
 }
+
+void Ptme::cancelTransfer(uint8_t vcId) {
+  VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
+  if (vcInterfaceMapIter == vcInterfaceMap.end()) {
+    return;
+  }
+  return vcInterfaceMapIter->second->cancelTransfer();
+}

linux/ipcore/Ptme.h

@@ -36,6 +36,7 @@ class Ptme : public PtmeIF, public SystemObject {
   ReturnValue_t initialize() override;
   ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) override;
   bool isBusy(uint8_t vcId) const override;
+  void cancelTransfer(uint8_t vcId) override;
 
   /**
    * @brief   This function adds the reference to a virtual channel interface to the vcInterface

linux/ipcore/PtmeIF.h

@@ -23,6 +23,7 @@ class PtmeIF {
    */
   virtual ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) = 0;
   virtual bool isBusy(uint8_t vcId) const = 0;
+  virtual void cancelTransfer(uint8_t vcId) = 0;
 };
 
 #endif /* LINUX_OBC_PTMEIF_H_ */

linux/ipcore/VirtualChannelIF.h

@@ -18,6 +18,7 @@ class VirtualChannelIF : public DirectTmSinkIF {
   virtual ~VirtualChannelIF(){};
 
   virtual ReturnValue_t initialize() = 0;
+  virtual void cancelTransfer() = 0;
 };
 
 #endif /* LINUX_OBC_VCINTERFACEIF_H_ */

linux/scheduling.cpp

@@ -8,6 +8,9 @@
 #include "ObjectFactory.h"
 #include "eive/objects.h"
 
+PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR};
+PosixThreadArgs scheduling::NORMAL_SCHEDULING;
+
 void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
   using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;
@@ -18,8 +21,9 @@ void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexR
 #endif
 
   result = returnvalue::OK;
-  scexReaderTask = factory.createPeriodicTask(
-      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  scexReaderTask =
+      factory.createPeriodicTask("SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                 missedDeadlineFunc, &NORMAL_SCHEDULING);
   result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
   if (result != returnvalue::OK) {
     printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);

linux/scheduling.h

@@ -1,8 +1,13 @@
 #pragma once
 
+#include <fsfw/osal/linux/PosixThread.h>
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
+
+extern PosixThreadArgs RR_SCHEDULING;
+extern PosixThreadArgs NORMAL_SCHEDULING;
+
 void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
 void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -206,6 +206,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
 void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
 
 void CcsdsIpCoreHandler::enableTransmit() {
+  // Reset PTME on each transmit enable.
+  updateBatPriorityFromParam();
 #ifndef TE0720_1CFA
   gpioIF->pullHigh(ptmeGpios.enableTxClock);
   gpioIF->pullHigh(ptmeGpios.enableTxData);

mission/tmtc/CcsdsIpCoreHandler.h

@@ -153,7 +153,7 @@ class CcsdsIpCoreHandler : public SystemObject,
   PtmeConfig& ptmeConfig;
   PtmeGpios ptmeGpios;
   // BAT priority bit on by default to enable priority selection mode for the PTME.
-  uint8_t batPriorityParam = 1;
+  uint8_t batPriorityParam = 0;
   bool updateBatPriorityOnTxOff = false;
 
   GpioIF* gpioIF = nullptr;

mission/tmtc/LiveTmTask.cpp

@@ -11,6 +11,9 @@ 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);

mission/tmtc/PersistentLogTmStoreTask.cpp

@@ -13,26 +13,32 @@ PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, Storage
       miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE) {}
 
 ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
+  bool someonesBusy = false;
+  auto stateHandlingForStore = [&](bool storeIsBusy) {
+    if (storeIsBusy) {
+      someonesBusy = true;
+    }
+    if (fileHasSwapped) {
+      someFileWasSwapped = fileHasSwapped;
+    }
+  };
   while (true) {
     if (not cyclicStoreCheck()) {
       continue;
     }
-    bool someonesBusy = false;
-    bool busy = false;
-    busy = handleOneStore(stores.okStore, okStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.notOkStore, notOkStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.miscStore, miscStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
+    someonesBusy = false;
+    someFileWasSwapped = false;
+    stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext));
+    stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext));
+    stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext));
     if (not someonesBusy) {
-      TaskFactory::delayTask(40);
+      TaskFactory::delayTask(100);
+    } else /* and graceDelayDuringDumping.hasTimedOut()*/ {
+      if (someFileWasSwapped) {
+        TaskFactory::delayTask(20);
+      }
+      //      TaskFactory::delayTask(2);
+      //      graceDelayDuringDumping.resetTimer();
     }
   }
 }

mission/tmtc/PersistentLogTmStoreTask.h

@@ -32,6 +32,8 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
   DumpContext notOkStoreContext;
   DumpContext miscStoreContext;
   Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(200);
+  bool someFileWasSwapped = false;
 
   bool initStoresIfPossible();
 };

mission/tmtc/PersistentSingleTmStoreTask.cpp

@@ -17,7 +17,15 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     }
     bool busy = handleOneStore(storeWithQueue, dumpContext);
     if (not busy) {
-      TaskFactory::delayTask(40);
+      TaskFactory::delayTask(100);
+    } else {
+      if (fileHasSwapped) {
+        TaskFactory::delayTask(20);
+      }
+      //      if (fileHasSwapped and graceDelayDuringDumping.hasTimedOut()) {
+      //        TaskFactory::delayTask(2);
+      //        graceDelayDuringDumping.resetTimer();
+      //      }
     }
   }
 }

mission/tmtc/PersistentSingleTmStoreTask.h

@@ -19,6 +19,7 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
   PersistentTmStoreWithTmQueue& storeWithQueue;
   DumpContext dumpContext;
   Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(100);
 
   bool initStoresIfPossible();
 };

mission/tmtc/PersistentTmStore.cpp

@@ -195,11 +195,7 @@ ReturnValue_t PersistentTmStore::startDumpFromUpTo(uint32_t fromUnixSeconds,
   dumpParams.fromUnixTime = fromUnixSeconds;
   dumpParams.untilUnixTime = upToUnixSeconds;
   state = State::DUMPING;
-  if (loadNextDumpFile() == DUMP_DONE) {
-    // State will be set inside the function loading the next file.
-    return DUMP_DONE;
-  }
-  return returnvalue::OK;
+  return loadNextDumpFile();
 }
 
 ReturnValue_t PersistentTmStore::loadNextDumpFile() {
@@ -218,7 +214,7 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
     }
     sif::debug << "Path: " << dumpParams.dirEntry.path() << std::endl;
 
-    // Can't even read CCSDS header.
+    // File empty or can't even read CCSDS header.
     if (dumpParams.fileSize <= 6) {
       continue;
     }
@@ -247,14 +243,12 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
                  static_cast<std::streamsize>(dumpParams.fileSize));
       // Increment iterator for next cycle.
       dumpParams.dirIter++;
-      break;
+      return returnvalue::OK;
     }
   }
-  if (dumpParams.dirIter == directory_iterator()) {
-    state = State::IDLE;
-    return DUMP_DONE;
-  }
-  return returnvalue::OK;
+  // Directory iterator was consumed and we are done.
+  state = State::IDLE;
+  return DUMP_DONE;
 }
 
 ReturnValue_t PersistentTmStore::dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen,

mission/tmtc/TmStoreTaskBase.cpp

@@ -25,10 +25,12 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
   // Dump TMs when applicable
   if (store.getState() == PersistentTmStore::State::DUMPING) {
     size_t dumpedLen = 0;
-    bool fileHasSwapped;
     if (not channel.isBusy()) {
       tmSinkBusyCd.resetTimer();
       result = store.dumpNextPacket(channel, dumpedLen, fileHasSwapped);
+      if (result == DirectTmSinkIF::IS_BUSY) {
+        sif::warning << "Unexpected PAPB busy" << std::endl;
+      }
       if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK) and dumpedLen > 0) {
         dumpContext.dumpedBytes += dumpedLen;
         dumpContext.numberOfDumpedPackets += 1;
@@ -43,6 +45,13 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
       } else if (result == returnvalue::OK) {
         dumpsPerformed = true;
       }
+    } else {
+      dumpContext.ptmeBusyCounter++;
+      if (dumpContext.ptmeBusyCounter == 50) {
+        sif::warning << "PTME busy for longer period. Dumped length so far: "
+                     << dumpContext.dumpedBytes << std::endl;
+        dumpContext.ptmeBusyCounter = 0;
+      }
     }
     if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
       triggerEvent(persTmStore::DUMP_WAS_CANCELLED, store.getObjectId());

mission/tmtc/TmStoreTaskBase.h

@@ -16,6 +16,7 @@ class TmStoreTaskBase : public SystemObject {
     const Event eventIfDone;
     uint32_t numberOfDumpedPackets = 0;
     uint32_t dumpedBytes = 0;
+    uint32_t ptmeBusyCounter = 0;
   };
 
   TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
@@ -45,6 +46,7 @@ class TmStoreTaskBase : public SystemObject {
   Countdown tmSinkBusyCd = Countdown(60 * 1000);
   VirtualChannel& channel;
   bool storesInitialized = false;
+  bool fileHasSwapped = false;
   SdCardMountedIF& sdcMan;
 };
 

mission/tmtc/VirtualChannel.cpp

@@ -25,4 +25,12 @@ uint8_t VirtualChannel::getVcid() const { return vcId; }
 
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
 
-bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
+bool VirtualChannel::isBusy() const {
+  // Data is discarded, so channel is not busy.
+  if (linkStateProvider.load()) {
+    return false;
+  }
+  return ptme.isBusy(vcId);
+}
+
+void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }

mission/tmtc/VirtualChannel.h

@@ -28,6 +28,7 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
   ReturnValue_t sendNextTm(const uint8_t* data, size_t size);
   bool isBusy() const override;
   ReturnValue_t write(const uint8_t* data, size_t size) override;
+  void cancelTransfer() override;
   uint8_t getVcid() const;
 
   const char* getName() const;

mission/tmtc/VirtualChannelWithQueue.cpp

@@ -36,7 +36,10 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
     return result;
   }
 
-  write(data, size);
+  result = write(data, size);
+  if (result != returnvalue::OK) {
+    return result;
+  }
   tmStore.deleteData(storeId);
   if (result != returnvalue::OK) {
     return result;

tmtc

@@ -1 +1 @@
-Subproject commit 2263938b8b1324b309a44d70c291800050ff4178
+Subproject commit 9f17661f529e045e92714817bdc52572f976da2d