transform tm stores into quasi background threads

bsp_q7s/core/scheduling.cpp

@@ -186,19 +186,19 @@ void scheduling::initTasks() {
     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_STORE_AND_TM", 15, 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_STORE_AND_TM", 15, 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_STORE_AND_TM", 15, 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);
@@ -326,7 +326,7 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+      "PLOC_SUPV_HELPER", 20, 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);

mission/tmtc/PersistentLogTmStoreTask.cpp

@@ -13,26 +13,29 @@ 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;
+    someFileWasSwapped = false;
-    bool busy = false;
+    bool busy = handleOneStore(stores.okStore, okStoreContext);
-    busy = handleOneStore(stores.okStore, okStoreContext);
+    stateHandlingForStore(busy);
-    if (busy) {
+    stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext));
-      someonesBusy = true;
+    stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext));
-    }
-    busy = handleOneStore(stores.notOkStore, notOkStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
-    busy = handleOneStore(stores.miscStore, miscStoreContext);
-    if (busy) {
-      someonesBusy = true;
-    }
     if (not someonesBusy) {
       TaskFactory::delayTask(40);
+    } else if (someFileWasSwapped and graceDelayDuringDumping.hasTimedOut()) {
+      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

@@ -18,6 +18,11 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     bool busy = handleOneStore(storeWithQueue, dumpContext);
     if (not busy) {
       TaskFactory::delayTask(40);
+    } else {
+      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/TmStoreTaskBase.cpp

@@ -25,7 +25,6 @@ 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);

mission/tmtc/TmStoreTaskBase.h

@@ -45,6 +45,7 @@ class TmStoreTaskBase : public SystemObject {
   Countdown tmSinkBusyCd = Countdown(60 * 1000);
   VirtualChannel& channel;
   bool storesInitialized = false;
+  bool fileHasSwapped = false;
   SdCardMountedIF& sdcMan;
 };