the sd stuff is evil..

bsp_q7s/core/ObjectFactory.cpp

@@ -772,7 +772,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
       new VirtualChannelWithQueue(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM", *ptme,
                                   LINK_STATE, args.tmStore, 500);
   args.liveDestination = vcWithQueue;
-  new LiveTmTask(objects::LIVE_TM_TASK, *vcWithQueue);
+  new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel, *vcWithQueue);
 
   // Set up log store.
   auto* vc = new VirtualChannel(objects::PTME_VC1_LOG_TM, ccsds::VC1, "PTME VC1 LOG TM", *ptme,

bsp_q7s/core/ObjectFactory.h

@@ -26,16 +26,21 @@ namespace ObjectFactory {
 
 struct CcsdsComponentArgs {
   CcsdsComponentArgs(LinuxLibgpioIF& gpioIF, StorageManagerIF& ipcStore, StorageManagerIF& tmStore,
-                     PersistentTmStores& stores, CcsdsIpCoreHandler** ipCoreHandler)
+                     PersistentTmStores& stores, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+                     CcsdsIpCoreHandler** ipCoreHandler)
       : gpioComIF(gpioIF),
         ipcStore(ipcStore),
         tmStore(tmStore),
         stores(stores),
+        pusFunnel(pusFunnel),
+        cfdpFunnel(cfdpFunnel),
         ipCoreHandler(ipCoreHandler) {}
   LinuxLibgpioIF& gpioComIF;
   StorageManagerIF& ipcStore;
   StorageManagerIF& tmStore;
   PersistentTmStores& stores;
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
   CcsdsIpCoreHandler** ipCoreHandler;
   AcceptsTelemetryIF* liveDestination = nullptr;
 };

bsp_q7s/core/scheduling.cpp

@@ -116,10 +116,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
   }
-  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
+  //  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
+  //  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
+  //    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
-  }
+  //  }
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
@@ -181,6 +181,7 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
   }
 
+#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", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
@@ -206,7 +207,6 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
   }
-#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_CFDP_COMPONENTS == 1
   PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
@@ -261,7 +261,6 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(acsSysTask);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@@ -395,11 +394,11 @@ void scheduling::initTasks() {
   genericSysTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   pdecHandlerTask->startTask();
+#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
   liveTmTask->startTask();
   logTmTask->startTask();
   hkTmTask->startTask();
   cfdpTmTask->startTask();
-#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
   coreCtrlTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1

bsp_q7s/fmObjectFactory.cpp

@@ -77,7 +77,8 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   CcsdsIpCoreHandler* ipCoreHandler = nullptr;
-  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, &ipCoreHandler);
+  CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
+                               &ipCoreHandler);
   createCcsdsComponents(ccsdsArgs);
 #if OBSW_TM_TO_PTME == 1
   if (ccsdsArgs.liveDestination != nullptr) {

bsp_q7s/fs/SdCardManager.cpp

@@ -2,6 +2,7 @@
 
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw/timemanager/Stopwatch.h>
 #include <unistd.h>
 
 #include <cstring>

common/config/eive/definitions.h

@@ -45,10 +45,13 @@ static constexpr uint32_t SA_DEPL_MAX_BURN_TIME = 180;
 
 static constexpr uint32_t CCSDS_HANDLER_QUEUE_SIZE = 50;
 static constexpr uint8_t NUMBER_OF_VIRTUAL_CHANNELS = 4;
-static constexpr uint8_t VC0_QUEUE_SIZE = 80;
+static constexpr uint32_t VC0_LIVE_TM_QUEUE_SIZE = 300;
-static constexpr uint8_t VC1_QUEUE_SIZE = 80;
+// There are three individual log stores!
-static constexpr uint8_t VC2_QUEUE_SIZE = 50;
+static constexpr uint32_t MISC_STORE_QUEUE_SIZE = 200;
-static constexpr uint8_t VC3_QUEUE_SIZE = 50;
+static constexpr uint32_t OK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t NOK_STORE_QUEUE_SIZE = 350;
+static constexpr uint32_t HK_STORE_QUEUE_SIZE = 300;
+static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
 
 static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
 

mission/core/GenericFactory.cpp

@@ -160,7 +160,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
     PersistentTmStoreArgs storeArgs(objects::MISC_TM_STORE, "tm", "misc",
 
                                     RolloverInterval::HOURLY, 2, **tmStore, sdcMan);
-    stores.miscStore = new PersistentTmStoreWithTmQueue(storeArgs, "MISC STORE", 500);
+    stores.miscStore =
+        new PersistentTmStoreWithTmQueue(storeArgs, "MISC STORE", config::MISC_STORE_QUEUE_SIZE);
     (*pusFunnel)
         ->addPersistentTmStoreRouting(filters::miscFilter(),
                                       stores.miscStore->getReportReceptionQueue(0));
@@ -171,7 +172,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   {
     PersistentTmStoreArgs storeArgs(objects::OK_TM_STORE, "tm", "ok", RolloverInterval::MINUTELY,
                                     30, **tmStore, sdcMan);
-    stores.okStore = new PersistentTmStoreWithTmQueue(storeArgs, "OK STORE", 500);
+    stores.okStore =
+        new PersistentTmStoreWithTmQueue(storeArgs, "OK STORE", config::OK_STORE_QUEUE_SIZE);
     (*pusFunnel)
         ->addPersistentTmStoreRouting(filters::okFilter(),
                                       stores.okStore->getReportReceptionQueue(0));
@@ -182,7 +184,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   {
     PersistentTmStoreArgs storeArgs(objects::NOT_OK_TM_STORE, "tm", "nok",
                                     RolloverInterval::MINUTELY, 30, **tmStore, sdcMan);
-    stores.notOkStore = new PersistentTmStoreWithTmQueue(storeArgs, "NOT OK STORE", 500);
+    stores.notOkStore =
+        new PersistentTmStoreWithTmQueue(storeArgs, "NOT OK STORE", config::NOK_STORE_QUEUE_SIZE);
     (*pusFunnel)
         ->addPersistentTmStoreRouting(filters::notOkFilter(),
                                       stores.notOkStore->getReportReceptionQueue(0));
@@ -193,7 +196,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   {
     PersistentTmStoreArgs storeArgs(objects::HK_TM_STORE, "tm", "hk", RolloverInterval::MINUTELY,
                                     15, **tmStore, sdcMan);
-    stores.hkStore = new PersistentTmStoreWithTmQueue(storeArgs, "HK STORE", 500);
+    stores.hkStore =
+        new PersistentTmStoreWithTmQueue(storeArgs, "HK STORE", config::HK_STORE_QUEUE_SIZE);
     (*pusFunnel)
         ->addPersistentTmStoreRouting(filters::hkFilter(),
                                       stores.hkStore->getReportReceptionQueue(0));
@@ -204,7 +208,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   {
     PersistentTmStoreArgs storeArgs(objects::CFDP_TM_STORE, "tm", "cfdp",
                                     RolloverInterval::MINUTELY, 30, **tmStore, sdcMan);
-    stores.cfdpStore = new PersistentTmStoreWithTmQueue(storeArgs, "CFDP STORE", 500);
+    stores.cfdpStore =
+        new PersistentTmStoreWithTmQueue(storeArgs, "CFDP STORE", config::CFDP_STORE_QUEUE_SIZE);
 
     (*pusFunnel)
         ->addPersistentTmStoreRouting(filters::cfdpFilter(),
@@ -221,8 +226,6 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
   (*pusFunnel)->addLiveDestination("TCP Server", *tcpBridge, 0);
 #endif
 #endif
-  // Every TM packet goes through this funnel
-  new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);
 
   // PUS service stack
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,

mission/tmtc/LiveTmTask.cpp

@@ -1,16 +1,24 @@
 #include "LiveTmTask.h"
 
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
 
-LiveTmTask::LiveTmTask(object_id_t objectId, VirtualChannelWithQueue& channel)
+LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
-    : SystemObject(objectId), channel(channel) {}
+                       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 == MessageQueueIF::EMPTY) {
-      // 5 ms IDLE delay. Might tweak this in the future.
+      if (tmFunnelCd.hasTimedOut()) {
-      TaskFactory::delayTask(5);
+        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

@@ -3,15 +3,22 @@
 
 #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, VirtualChannelWithQueue& channel);
+  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;
 };
 

mission/tmtc/PersistentLogTmStoreTask.cpp

@@ -1,6 +1,7 @@
 #include "PersistentLogTmStoreTask.h"
 
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
 
 PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
                                                    LogStores stores, VirtualChannel& channel,
@@ -14,30 +15,30 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     }
     bool someonesBusy = false;
     bool busy = false;
-    busy = handleOneStore(stores.okStore);
+    busy = handleOneStore(stores.okStore, tcHandlingCd);
     if (busy) {
       someonesBusy = true;
     }
-    busy = handleOneStore(stores.notOkStore);
+    busy = handleOneStore(stores.notOkStore, tcHandlingCd);
     if (busy) {
       someonesBusy = true;
     }
-
+    busy = handleOneStore(stores.miscStore, tcHandlingCd);
-    busy = handleOneStore(stores.miscStore);
     if (busy) {
       someonesBusy = true;
     }
     if (not someonesBusy) {
-      TaskFactory::delayTask(10);
+      TaskFactory::delayTask(40);
     }
   }
 }
 
-void PersistentLogTmStoreTask::initStoresIfPossible() {
+bool PersistentLogTmStoreTask::initStoresIfPossible() {
   if (sdcMan.isSdCardUsable(std::nullopt)) {
     stores.okStore.initializeTmStore();
     stores.miscStore.initializeTmStore();
     stores.notOkStore.initializeTmStore();
-    storesInitialized = true;
+    return true;
   }
+  return false;
 }

mission/tmtc/PersistentLogTmStoreTask.h

@@ -28,8 +28,9 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject
 
  private:
   LogStores stores;
+  Countdown tcHandlingCd = Countdown(400);
 
-  void initStoresIfPossible();
+  bool initStoresIfPossible();
 };
 
 #endif /* MISSION_TMTC_PERSISTENTLOGTMSTORETASK_H_ */

mission/tmtc/PersistentSingleTmStoreTask.cpp

@@ -1,4 +1,5 @@
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
 #include <mission/tmtc/PersistentSingleTmStoreTask.h>
 
 PersistentSingleTmStoreTask::PersistentSingleTmStoreTask(object_id_t objectId,
@@ -10,14 +11,21 @@ PersistentSingleTmStoreTask::PersistentSingleTmStoreTask(object_id_t objectId,
 
 ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
   while (true) {
+    // Delay done by the check
     if (not cyclicStoreCheck()) {
       continue;
     }
-    bool busy = handleOneStore(storeWithQueue);
+    bool busy = handleOneStore(storeWithQueue, tcHandlingCd);
     if (not busy) {
-      TaskFactory::delayTask(10);
+      TaskFactory::delayTask(40);
     }
   }
 }
 
-void PersistentSingleTmStoreTask::initStoresIfPossible() {}
+bool PersistentSingleTmStoreTask::initStoresIfPossible() {
+  if (sdcMan.isSdCardUsable(std::nullopt)) {
+    storeWithQueue.initializeTmStore();
+    return true;
+  }
+  return false;
+}

mission/tmtc/PersistentSingleTmStoreTask.h

@@ -17,8 +17,9 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
 
  private:
   PersistentTmStoreWithTmQueue& storeWithQueue;
+  Countdown tcHandlingCd = Countdown(400);
 
-  void initStoresIfPossible();
+  bool initStoresIfPossible();
 };
 
 #endif /* MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_ */

mission/tmtc/PusTmFunnel.cpp

@@ -66,8 +66,8 @@ ReturnValue_t PusTmFunnel::handleTmPacket(TmTcMessage &message) {
   MessageQueueId_t destination;
   if (persistentTmMap.packetMatches(packet, destination)) {
     store_address_t storageId;
-    TmTcMessage msg(storageId);
     result = tmStore.addData(&storageId, packetData, size);
+    TmTcMessage msg(storageId);
     if (result != returnvalue::OK) {
       sif::error << "PusLiveDemux::handlePacket: Store too full to create data copy" << std::endl;
     } else {

mission/tmtc/TmStoreTaskBase.cpp

@@ -1,25 +1,22 @@
 #include "TmStoreTaskBase.h"
 
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
 
 TmStoreTaskBase::TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore,
                                  VirtualChannel& channel, SdCardMountedIF& sdcMan)
     : SystemObject(objectId), ipcStore(ipcStore), channel(channel), sdcMan(sdcMan) {}
 
-bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store) {
+bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store, Countdown& tcHandlingCd) {
+  ReturnValue_t result;
   bool tmToStoreReceived = true;
   bool tcRequestReceived = true;
   bool dumpsPerformed = false;
   // Store TM persistently
-  ReturnValue_t result = store.handleNextTm();
+  result = store.handleNextTm();
-  if (result == MessageQueueIF::NO_QUEUE) {
+  if (result == MessageQueueIF::EMPTY) {
     tmToStoreReceived = false;
   }
-  // Handle TC requests, for example deletion or retrieval requests.
-  result = store.handleCommandQueue(ipcStore);
-  if (result == MessageQueueIF::NO_QUEUE) {
-    tcRequestReceived = false;
-  }
   // Dump TMs when applicable
   if (store.getState() == PersistentTmStore::State::DUMPING) {
     size_t dumpedLen;
@@ -31,6 +28,12 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store) {
     if (result == returnvalue::OK) {
       dumpsPerformed = true;
     }
+  } else {
+    // Handle TC requests, for example deletion or retrieval requests.
+    result = store.handleCommandQueue(ipcStore);
+    if (result == MessageQueueIF::EMPTY) {
+      tcRequestReceived = false;
+    }
   }
   if (tcRequestReceived or tmToStoreReceived or dumpsPerformed) {
     return true;
@@ -40,7 +43,7 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store) {
 
 bool TmStoreTaskBase::cyclicStoreCheck() {
   if (not storesInitialized) {
-    initStoresIfPossible();
+    storesInitialized = initStoresIfPossible();
     if (not storesInitialized) {
       TaskFactory::delayTask(400);
       return false;

mission/tmtc/TmStoreTaskBase.h

@@ -16,7 +16,7 @@ class TmStoreTaskBase : public SystemObject {
    * @param store
    * @return
    */
-  bool handleOneStore(PersistentTmStoreWithTmQueue& store);
+  bool handleOneStore(PersistentTmStoreWithTmQueue& store, Countdown& tcHandlingCd);
 
   /**
    * Occasionally check whether SD card is okay to be used. If not, poll whether it is ready to
@@ -24,7 +24,7 @@ class TmStoreTaskBase : public SystemObject {
    */
   bool cyclicStoreCheck();
 
-  virtual void initStoresIfPossible() = 0;
+  virtual bool initStoresIfPossible() = 0;
 
   StorageManagerIF& ipcStore;
   Countdown sdCardCheckCd = Countdown(800);

mission/tmtc/VirtualChannelWithQueue.cpp

@@ -11,7 +11,7 @@ VirtualChannelWithQueue::VirtualChannelWithQueue(object_id_t objectId, uint8_t v
                                                  const char* vcName, PtmeIF& ptme,
                                                  const std::atomic_bool& linkStateProvider,
                                                  StorageManagerIF& tmStore, uint32_t tmQueueDepth)
-    : VirtualChannel(objectId, vcId, vcName, ptme, linkStateProvider) {
+    : VirtualChannel(objectId, vcId, vcName, ptme, linkStateProvider), tmStore(tmStore) {
   auto mqArgs = MqArgs(getObjectId(), reinterpret_cast<void*>(getVcid()));
   tmQueue = QueueFactory::instance()->createMessageQueue(
       tmQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -28,16 +28,16 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() {
   store_address_t storeId = message.getStorageId();
   const uint8_t* data = nullptr;
   size_t size = 0;
-  result = tmStore->getData(storeId, &data, &size);
+  result = tmStore.getData(storeId, &data, &size);
   if (result != returnvalue::OK) {
     sif::warning << "VirtualChannel::performOperation: Failed to read data from TM store"
                  << std::endl;
-    tmStore->deleteData(storeId);
+    tmStore.deleteData(storeId);
     return result;
   }
 
   write(data, size);
-  tmStore->deleteData(storeId);
+  tmStore.deleteData(storeId);
   if (result != returnvalue::OK) {
     return result;
   }

mission/tmtc/VirtualChannelWithQueue.h

@@ -38,5 +38,5 @@ class VirtualChannelWithQueue : public VirtualChannel, public AcceptsTelemetryIF
 
  private:
   MessageQueueIF* tmQueue = nullptr;
-  StorageManagerIF* tmStore = nullptr;
+  StorageManagerIF& tmStore;
 };