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This commit is contained in:
Robin Müller
2023-09-11 20:16:54 +02:00
parent 5d8b81e131
commit 6771d656bb
12 changed files with 113 additions and 31 deletions
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42
mission/com/LiveTmTask.cpp
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@ -5,8 +5,13 @@
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include "mission/sysDefs.h"
std::atomic_bool signals::CFDP_CHANNEL_THROTTLE_SIGNAL = false;
LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
VirtualChannelWithQueue& channel, const std::atomic_bool& ptmeLocked)
VirtualChannel& channel, const std::atomic_bool& ptmeLocked,
uint32_t regularTmQueueDepth, uint32_t cfdpQueueDepth)
: SystemObject(objectId),
modeHelper(this),
pusFunnel(pusFunnel),
@ -14,17 +19,34 @@ LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunne
channel(channel),
ptmeLocked(ptmeLocked) {
requestQueue = QueueFactory::instance()->createMessageQueue();
cfdpTmQueue = QueueFactory::instance()->createMessageQueue(cfdpQueueDepth);
regularTmQueue = QueueFactory::instance()->createMessageQueue(regularTmQueueDepth);
}
ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
readCommandQueue();
bool handledTm;
ReturnValue_t result;
while (true) {
// The funnel tasks are scheduled here directly as well.
ReturnValue_t result = channel.handleNextTm(!ptmeLocked);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::error << "Lost live TM, PAPB busy" << std::endl;
// TODO: Must read CFDP TM queue and regular TM queue and forward them. Handle regular queue
// first.
handledTm = false;
if (!channel.isBusy()) {
result = handleRegularTmQueue();
if (result == MessageQueueIF::EMPTY) {
result = handleCfdpTmQueue();
}
if (result == returnvalue::OK) {
handledTm = true;
}
}
if (result == MessageQueueIF::EMPTY) {
if (channel.isBusy()) {
// Throttle CFDP packet creator. It is by far the most relevant data creator, so throttling
// it is the easiest way to handle back pressure for now in a sensible way. It is cleared
// by the data creator.
signals::CFDP_CHANNEL_THROTTLE_SIGNAL = true;
}
if (!handledTm) {
if (tmFunnelCd.hasTimedOut()) {
pusFunnel.performOperation(0);
cfdpFunnel.performOperation(0);
@ -94,9 +116,17 @@ void LiveTmTask::readCommandQueue(void) {
}
}
ReturnValue_t LiveTmTask::handleRegularTmQueue() { return returnvalue::OK; }
ReturnValue_t LiveTmTask::handleCfdpTmQueue() { return returnvalue::OK; }
ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }
ReturnValue_t LiveTmTask::initialize() {
modeHelper.initialize();
return returnvalue::OK;
}
MessageQueueId_t LiveTmTask::getNormalLiveQueueId() const { return regularTmQueue->getId(); }
MessageQueueId_t LiveTmTask::getCfdpLiveQueueId() const { return cfdpTmQueue->getId(); }