CHANGELOG.md

@@ -19,11 +19,19 @@ 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.
+- Added `PTME_LOCKED` boolean lock which is used to lock the PTME so it is not used by the VC tasks
+  anymore. This lock will be controlled by the CCSDS IP core handler and is locked when the PTME
+  needs to be reset. Examples for this are datarate changes.
 
 ## Fixed
 
 - Bugfix for side lane transitions of the dual lane assemblies, which only worked when the
   assembly was directly commanded
+- Syrlinks Handler: Bugfix so transition command is only sent once.
 
 ## Added
 

CMakeLists.txt

@@ -486,7 +486,8 @@ endif()
 target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
                                                  ${LIB_OS_NAME})
 
-target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
+target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_EIVE_MISSION}
+                                            ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
 
 target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})
 

bsp_hosted/ObjectFactory.cpp

@@ -29,7 +29,7 @@
 #include <dummies/AcuDummy.h>
 #include <dummies/CoreControllerDummy.h>
 
-#include "dummies/helpers.h"
+#include "dummies/helperFactory.h"
 
 #ifdef PLATFORM_UNIX
 #include <fsfw_hal/linux/serial/SerialComIF.h>

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>
 
@@ -125,6 +125,7 @@ using gpio::Levels;
 
 ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
+std::atomic_bool PTME_LOCKED = false;
 std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
 
 void Factory::setStaticFrameworkObjectIds() {
@@ -754,10 +755,8 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
-  // Initialise to low and then pull high to do a PTME reset, which puts the PTME in reset
-  // state. It will be put out of reset in the CCSDS handler initialize function.
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
-                                    gpio::Direction::OUT, gpio::Levels::LOW);
+                                    gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
@@ -791,34 +790,42 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
 
   *args.ipCoreHandler =
       new CcsdsIpCoreHandler(objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig,
-                             LINK_STATE, &args.gpioComIF, gpios);
+                             LINK_STATE, &args.gpioComIF, gpios, PTME_LOCKED);
   // This VC will receive all live TM
   auto* vcWithQueue =
       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, args.pusFunnel, args.cfdpFunnel, *vcWithQueue);
+  auto* liveTask = new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel,
+                                  *vcWithQueue, PTME_LOCKED);
+  liveTask->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 
   // Set up log store.
   auto* vc = new VirtualChannel(objects::PTME_VC1_LOG_TM, ccsds::VC1, "PTME VC1 LOG TM", *ptme,
                                 LINK_STATE);
   LogStores logStores(args.stores);
   // Core task which handles the LOG store and takes care of dumping it as TM using a VC directly
+  auto* logStore =
       new PersistentLogTmStoreTask(objects::LOG_STORE_AND_TM_TASK, args.ipcStore, logStores, *vc,
-                               *SdCardManager::instance());
+                                   *SdCardManager::instance(), PTME_LOCKED);
+  logStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 
   vc = new VirtualChannel(objects::PTME_VC2_HK_TM, ccsds::VC2, "PTME VC2 HK TM", *ptme, LINK_STATE);
   // Core task which handles the HK store and takes care of dumping it as TM using a VC directly
-  new PersistentSingleTmStoreTask(objects::HK_STORE_AND_TM_TASK, args.ipcStore,
+  auto* hkStore = new PersistentSingleTmStoreTask(
-                                  *args.stores.hkStore, *vc, persTmStore::DUMP_HK_STORE_DONE,
+      objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
-                                  persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance());
+      persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance(),
+      PTME_LOCKED);
+  hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 
   vc = new VirtualChannel(objects::PTME_VC3_CFDP_TM, ccsds::VC3, "PTME VC3 CFDP TM", *ptme,
                           LINK_STATE);
   // Core task which handles the CFDP store and takes care of dumping it as TM using a VC directly
-  new PersistentSingleTmStoreTask(objects::CFDP_STORE_AND_TM_TASK, args.ipcStore,
+  auto* cfdpTask = new PersistentSingleTmStoreTask(
-                                  *args.stores.cfdpStore, *vc, persTmStore::DUMP_CFDP_STORE_DONE,
+      objects::CFDP_STORE_AND_TM_TASK, args.ipcStore, *args.stores.cfdpStore, *vc,
-                                  persTmStore::DUMP_CFDP_CANCELLED, *SdCardManager::instance());
+      persTmStore::DUMP_CFDP_STORE_DONE, persTmStore::DUMP_CFDP_CANCELLED,
+      *SdCardManager::instance(), PTME_LOCKED);
+  cfdpTask->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 
   ReturnValue_t result = (*args.ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   if (result != returnvalue::OK) {

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>
@@ -24,6 +24,7 @@ class AcsBoardAssembly;
 class GpioIF;
 
 extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+extern std::atomic_bool PTME_LOCKED;
 
 namespace ObjectFactory {
 

bsp_q7s/em/emObjectFactory.cpp

@@ -13,7 +13,7 @@
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
-#include "dummies/helpers.h"
+#include "dummies/helperFactory.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"

dummies/CMakeLists.txt

@@ -26,6 +26,6 @@ target_sources(
          CoreControllerDummy.cpp
          PlocMpsocDummy.cpp
          PlocSupervisorDummy.cpp
-         helpers.cpp
+         helperFactory.cpp
          MgmRm3100Dummy.cpp
          Tmp1075Dummy.cpp)

dummies/helperFactory.cpp

@@ -1,4 +1,4 @@
-#include "helpers.h"
+#include "helperFactory.h"
 
 #include <dummies/AcuDummy.h>
 #include <dummies/BpxDummy.h>
@@ -24,6 +24,7 @@
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <mission/power/gsDefs.h>
 #include <mission/system/acs/ImtqAssembly.h>
@@ -98,6 +99,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     assemblyDhbs[7] =
         new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
+    new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
     auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
     ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
   }

linux/ipcore/PapbVcInterface.cpp

@@ -18,29 +18,28 @@ PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
-  uint32_t* baseReg;
+  ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
-  ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY);
+                                                   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(0) == returnvalue::OK) {
+  if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
     startPacketTransfer();
   } else {
     return DirectTmSinkIF::IS_BUSY;
   }
   for (size_t idx = 0; idx < size; idx++) {
     // This delay is super-important, DO NOT REMOVE!
-    // Polling the GPIO too often can mess up the scheduler.
+    // Polling the GPIO or the config register too often messes up the scheduler.
     // 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);
-    if (pollPapbBusySignal(2) == returnvalue::OK) {
+    if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
       *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
     } else {
       abortPacketTransfer();
@@ -48,7 +47,7 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
     }
   }
   nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-  if (pollPapbBusySignal(2) == returnvalue::OK) {
+  if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
     completePacketTransfer();
   } else {
     abortPacketTransfer();
@@ -61,23 +60,23 @@ void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
 
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries) const {
+ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
-  gpio::Levels papbBusyState = gpio::Levels::LOW;
+                                                      bool checkReadyState) const {
-  ReturnValue_t result;
   uint32_t busyIdx = 0;
-  nextDelay.tv_nsec = 0;
+  nextDelay.tv_nsec = FIRST_NON_NULL_DELAY_NS;
 
   while (true) {
-    /** Check if PAPB interface is ready to receive data */
+    // Check if PAPB interface is ready to receive data. Use the configuration register for this.
-    result = gpioComIF->readGpio(papbBusyId, papbBusyState);
+    // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
-    if (result != returnvalue::OK) {
+    uint32_t reg = *vcBaseReg;
-      sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
+    bool busy = (reg >> 5) & 0b1;
-                   << std::endl;
+    bool ready = (reg >> 6) & 0b1;
-      return returnvalue::FAILED;
+    if (not busy) {
-    }
-    if (papbBusyState == gpio::Levels::HIGH) {
       return returnvalue::OK;
     }
+    if (checkReadyState and not ready) {
+      return PAPB_BUSY;
+    }
 
     busyIdx++;
     if (busyIdx >= maxPollRetries) {
@@ -87,9 +86,7 @@ ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries) const
     // Ignore signal handling here for now.
     nanosleep(&nextDelay, &remDelay);
     // Adaptive delay.
-    if (nextDelay.tv_nsec == 0) {
+    if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
-      nextDelay.tv_nsec = FIRST_NON_NULL_DELAY_NS;
-    } else if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
       nextDelay.tv_nsec *= 2;
     }
   }
@@ -116,7 +113,7 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
   return;
 }
 
-bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0) == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
 
 void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 

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"
 
@@ -89,7 +91,7 @@ class PapbVcInterface : public VirtualChannelIF {
   std::string uioFile;
   int mapNum = 0;
   mutable struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 0};
-  const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 5};
+  const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 10};
   mutable struct timespec remDelay;
 
   volatile uint32_t* vcBaseReg = nullptr;
@@ -117,7 +119,7 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  inline ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries) const;
+  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in

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.cpp

@@ -15,9 +15,11 @@
 
 CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
                                        PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
-                                       GpioIF* gpioIF, PtmeGpios gpioIds)
+                                       GpioIF* gpioIF, PtmeGpios gpioIds,
+                                       std::atomic_bool& ptmeLocked)
     : SystemObject(objectId),
       linkState(linkState),
+      ptmeLocked(ptmeLocked),
       tcDestination(tcDestination),
       parameterHelper(this),
       actionHelper(this, nullptr),
@@ -29,12 +31,14 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDesti
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   eventQueue =
       QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  ptmeLocked = true;
 }
 
 CcsdsIpCoreHandler::~CcsdsIpCoreHandler() = default;
 
 ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
   readCommandQueue();
+  performPtmeUpdateWhenApplicable();
   return returnvalue::OK;
 }
 
@@ -76,6 +80,8 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
   } else {
     enablePrioritySelectMode();
   }
+  resetPtme();
+  ptmeLocked = false;
 
 #if OBSW_SYRLINKS_SIMULATED == 1
   // Update data on rising edge
@@ -127,10 +133,15 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
       return HasParametersIF::INVALID_VALUE;
     }
     parameterWrapper->set(batPriorityParam);
-    if (mode == MODE_ON) {
+    if (newVal != batPriorityParam) {
-      updateBatPriorityOnTxOff = true;
+      // This ensures that the BAT priority is updated at some point when an update of the PTME is
-    } else if (mode == MODE_OFF) {
+      // allowed
-      updateBatPriorityFromParam();
+      updateContext.updateBatPrio = true;
+      // If we are off, we can do the update after X cycles. Otherwise, wait until the transmitter
+      // goes off.
+      if (mode == MODE_OFF) {
+        initPtmeUpdateAfterXCycles();
+      }
     }
     return returnvalue::OK;
   }
@@ -148,36 +159,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
                                                 const uint8_t* data, size_t size) {
   ReturnValue_t result = returnvalue::OK;
   switch (actionId) {
-    case SET_LOW_RATE: {
-      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
-      result = ptmeConfig.setRate(RATE_100KBPS);
-      break;
-    }
-    case SET_HIGH_RATE: {
-      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
-      result = ptmeConfig.setRate(RATE_500KBPS);
-      break;
-    }
     case ARBITRARY_RATE: {
       uint32_t bitrate = 0;
       SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
       result = ptmeConfig.setRate(bitrate);
       break;
     }
-    case EN_TRANSMITTER: {
-      enableTransmit();
-      if (mode == HasModesIF::MODE_OFF) {
-        mode = HasModesIF::MODE_ON;
-      }
-      return EXECUTION_FINISHED;
-    }
-    case DISABLE_TRANSMITTER: {
-      disableTransmit();
-      if (mode == HasModesIF::MODE_ON) {
-        mode = HasModesIF::MODE_OFF;
-      }
-      return EXECUTION_FINISHED;
-    }
     case ENABLE_TX_CLK_MANIPULATOR: {
       result = ptmeConfig.configTxManipulator(true);
       break;
@@ -206,12 +193,8 @@ 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);
-#endif
   linkState = LINK_UP;
 }
 
@@ -236,34 +219,23 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 }
 
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
-  auto rateSet = [&](uint32_t rate) {
+  triggerEvent(CHANGING_MODE, mode, submode);
-    ReturnValue_t result = ptmeConfig.setRate(rate);
-    if (result == returnvalue::OK) {
-      this->mode = HasModesIF::MODE_ON;
-    }
-  };
   if (mode == HasModesIF::MODE_ON) {
+    if (this->submode != submode) {
+      initPtmeUpdateAfterXCycles();
+      updateContext.enableTransmitAfterPtmeUpdate = true;
+      updateContext.updateClockRate = true;
+      this->submode = submode;
+      this->mode = mode;
+      updateContext.setModeAfterUpdate = true;
+      return;
+    }
+    // No rate change, so enable transmitter right away.
     enableTransmit();
-    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
-      com::Datarate currentDatarate = com::getCurrentDatarate();
-      if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
-        rateSet(RATE_100KBPS);
-      } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
-        rateSet(RATE_500KBPS);
-      }
-    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
-      rateSet(RATE_500KBPS);
-    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
-      rateSet(RATE_100KBPS);
-    }
-
   } else if (mode == HasModesIF::MODE_OFF) {
     disableTransmit();
-    this->mode = HasModesIF::MODE_OFF;
   }
-  this->submode = submode;
+  setMode(mode, submode);
-  modeHelper.modeChanged(mode, submode);
-  announceMode(false);
 }
 
 void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
@@ -274,9 +246,9 @@ void CcsdsIpCoreHandler::disableTransmit() {
   gpioIF->pullLow(ptmeGpios.enableTxData);
 #endif
   linkState = LINK_DOWN;
-  if (updateBatPriorityOnTxOff) {
+  // Some parameters need update and transmitter is off now.
-    updateBatPriorityFromParam();
+  if (updateContext.updateBatPrio or updateContext.updateClockRate) {
-    updateBatPriorityOnTxOff = false;
+    initPtmeUpdateAfterXCycles();
   }
 }
 
@@ -294,21 +266,9 @@ ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
 
 object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
 
-void CcsdsIpCoreHandler::enablePrioritySelectMode() {
+void CcsdsIpCoreHandler::enablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(true); }
-  ptmeConfig.enableBatPriorityBit(true);
-  // Reset the PTME
-  gpioIF->pullLow(ptmeGpios.ptmeResetn);
-  usleep(10);
-  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
-}
 
-void CcsdsIpCoreHandler::disablePrioritySelectMode() {
+void CcsdsIpCoreHandler::disablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(false); }
-  ptmeConfig.enableBatPriorityBit(false);
-  // Reset the PTME
-  gpioIF->pullLow(ptmeGpios.ptmeResetn);
-  usleep(10);
-  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
-}
 
 void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
   if (batPriorityParam == 0) {
@@ -317,3 +277,79 @@ void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
     enablePrioritySelectMode();
   }
 }
+
+void CcsdsIpCoreHandler::setMode(Mode_t mode, Submode_t submode) {
+  this->submode = submode;
+  this->mode = mode;
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}
+
+void CcsdsIpCoreHandler::performPtmeUpdateWhenApplicable() {
+  if (not updateContext.performPtmeUpdateAfterXCycles) {
+    return;
+  }
+  if (updateContext.ptmeUpdateCycleCount >= 2) {
+    if (updateContext.updateBatPrio) {
+      updateBatPriorityFromParam();
+      updateContext.updateBatPrio = false;
+    }
+    ReturnValue_t result = returnvalue::OK;
+    if (updateContext.updateClockRate) {
+      if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
+        com::Datarate currentDatarate = com::getCurrentDatarate();
+        if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
+          result = ptmeConfig.setRate(RATE_100KBPS);
+        } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
+          result = ptmeConfig.setRate(RATE_500KBPS);
+        }
+      } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
+        result = ptmeConfig.setRate(RATE_500KBPS);
+      } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
+        result = ptmeConfig.setRate(RATE_100KBPS);
+      }
+      if (result != returnvalue::OK) {
+        sif::error << "CcsdsIpCoreHandler: Setting datarate failed" << std::endl;
+      }
+      updateContext.updateClockRate = false;
+    }
+    bool doResetPtme = true;
+    if (not updateContext.updateBatPrio and not updateContext.updateClockRate) {
+      doResetPtme = false;
+    }
+    finishPtmeUpdateAfterXCycles(doResetPtme);
+    return;
+  }
+  updateContext.ptmeUpdateCycleCount++;
+}
+
+void CcsdsIpCoreHandler::resetPtme() {
+  gpioIF->pullLow(ptmeGpios.ptmeResetn);
+  usleep(10);
+  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
+}
+
+void CcsdsIpCoreHandler::initPtmeUpdateAfterXCycles() {
+  if (not updateContext.performPtmeUpdateAfterXCycles) {
+    updateContext.performPtmeUpdateAfterXCycles = true;
+    updateContext.ptmeUpdateCycleCount = 0;
+    ptmeLocked = true;
+  }
+}
+
+void CcsdsIpCoreHandler::finishPtmeUpdateAfterXCycles(bool doResetPtme) {
+  if (doResetPtme) {
+    resetPtme();
+  }
+  ptmeLocked = false;
+  updateContext.performPtmeUpdateAfterXCycles = false;
+  updateContext.ptmeUpdateCycleCount = 0;
+  if (updateContext.enableTransmitAfterPtmeUpdate) {
+    enableTransmit();
+    updateContext.enableTransmitAfterPtmeUpdate = false;
+  }
+  if (updateContext.setModeAfterUpdate) {
+    setMode(mode, submode);
+    updateContext.setModeAfterUpdate = false;
+  }
+}

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>
@@ -79,7 +79,8 @@ class CcsdsIpCoreHandler : public SystemObject,
    * @param enTxData  GPIO ID of RS485 tx data enable
    */
   CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
-                     std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds);
+                     std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds,
+                     std::atomic_bool& ptmeLocked);
 
   ~CcsdsIpCoreHandler();
 
@@ -137,9 +138,8 @@ class CcsdsIpCoreHandler : public SystemObject,
   //! [EXPORT] : [COMMENT] Received action message with unknown action id
   static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
 
-  // using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannelWithQueue*>;
-  // VirtualChannelMap virtualChannelMap;
   std::atomic_bool& linkState;
+  std::atomic_bool& ptmeLocked;
 
   object_id_t tcDestination;
 
@@ -158,7 +158,15 @@ class CcsdsIpCoreHandler : public SystemObject,
   PtmeGpios ptmeGpios;
   // BAT priority bit on by default to enable priority selection mode for the PTME.
   uint8_t batPriorityParam = 0;
-  bool updateBatPriorityOnTxOff = false;
+
+  struct UpdateContext {
+    bool updateBatPrio = false;
+    bool updateClockRate = false;
+    bool enableTransmitAfterPtmeUpdate = false;
+    uint8_t ptmeUpdateCycleCount = 0;
+    bool performPtmeUpdateAfterXCycles = false;
+    bool setModeAfterUpdate = false;
+  } updateContext{};
 
   GpioIF* gpioIF = nullptr;
 
@@ -180,6 +188,8 @@ class CcsdsIpCoreHandler : public SystemObject,
    */
   void disableTransmit();
 
+  void performPtmeUpdateWhenApplicable();
+
   /**
    * The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
    * module. This consists of the following 2 steps:
@@ -189,6 +199,11 @@ class CcsdsIpCoreHandler : public SystemObject,
   void enablePrioritySelectMode();
   void disablePrioritySelectMode();
   void updateBatPriorityFromParam();
+
+  void setMode(Mode_t mode, Submode_t submode);
+  void resetPtme();
+  void initPtmeUpdateAfterXCycles();
+  void finishPtmeUpdateAfterXCycles(bool doResetPtme);
 };
 
 #endif /* CCSDSHANDLER_H_ */

mission/com/LiveTmTask.cpp

@@ -0,0 +1,107 @@
+#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, const std::atomic_bool& ptmeLocked)
+    : SystemObject(objectId),
+      modeHelper(this),
+      pusFunnel(pusFunnel),
+      cfdpFunnel(cfdpFunnel),
+      channel(channel),
+      ptmeLocked(ptmeLocked) {
+  requestQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
+  readCommandQueue();
+  while (true) {
+    bool performWriteOp = true;
+    if (mode == MODE_OFF or ptmeLocked) {
+      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; }
+
+ReturnValue_t LiveTmTask::initialize() {
+  modeHelper.initialize();
+  return returnvalue::OK;
+}

mission/com/LiveTmTask.h

@@ -0,0 +1,57 @@
+#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, const std::atomic_bool& ptmeLocked);
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initialize() override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) 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;
+  const std::atomic_bool& ptmeLocked;
+
+  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;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+};
+
+#endif /* MISSION_TMTC_LIVETMTASK_H_ */

mission/com/PersistentLogTmStoreTask.cpp

@@ -5,8 +5,9 @@
 
 PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
                                                    LogStores stores, VirtualChannel& channel,
-                                                   SdCardMountedIF& sdcMan)
+                                                   SdCardMountedIF& sdcMan,
-    : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan),
+                                                   const std::atomic_bool& ptmeLocked)
+    : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan, ptmeLocked),
       stores(stores),
       okStoreContext(persTmStore::DUMP_OK_STORE_DONE, persTmStore::DUMP_OK_CANCELLED),
       notOkStoreContext(persTmStore::DUMP_NOK_STORE_DONE, persTmStore::DUMP_NOK_CANCELLED),
@@ -27,6 +28,8 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     }
   };
   while (true) {
+    readCommandQueue();
+
     if (not cyclicStoreCheck()) {
       continue;
     }
@@ -54,3 +57,17 @@ 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)
@@ -22,7 +22,8 @@ struct LogStores {
 class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObjectIF {
  public:
   PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore, LogStores tmStore,
-                           VirtualChannel& channel, SdCardMountedIF& sdcMan);
+                           VirtualChannel& channel, SdCardMountedIF& sdcMan,
+                           const std::atomic_bool& ptmeLocked);
 
   ReturnValue_t performOperation(uint8_t opCode) override;
 
@@ -36,6 +37,7 @@ 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)
+    VirtualChannel& channel, Event eventIfDumpDone, Event eventIfCancelled, SdCardMountedIF& sdcMan,
-    : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan),
+    const std::atomic_bool& ptmeLocked)
+    : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan, ptmeLocked),
       storeWithQueue(tmStore),
       dumpContext(eventIfDumpDone, eventIfCancelled) {}
 
 ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
   while (true) {
+    readCommandQueue();
+
     // Delay done by the check
     if (not cyclicStoreCheck()) {
       continue;
@@ -22,6 +26,9 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     } else if (dumpContext.vcBusyDuringDump) {
       // TODO: Might not be necessary
       TaskFactory::delayTask(10);
+    } else {
+      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      TaskFactory::delayTask(10);
     }
   }
 }
@@ -33,3 +40,14 @@ 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

@@ -3,16 +3,16 @@
 
 #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:
   PersistentSingleTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
                               PersistentTmStoreWithTmQueue& storeWithQueue, VirtualChannel& channel,
                               Event eventIfDumpDone, Event eventIfCancelled,
-                              SdCardMountedIF& sdcMan);
+                              SdCardMountedIF& sdcMan, const std::atomic_bool& ptmeLocked);
 
   ReturnValue_t performOperation(uint8_t opCode) override;
 
@@ -23,6 +23,8 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj
   Countdown graceDelayDuringDumping = Countdown(100);
 
   bool initStoresIfPossible() override;
+
+  void startTransition(Mode_t mode, Submode_t submode) override;
 };
 
 #endif /* MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_ */

mission/com/SyrlinksHandler.cpp

@@ -21,6 +21,7 @@ SyrlinksHandler::~SyrlinksHandler() = default;
 
 void SyrlinksHandler::doStartUp() {
   if (internalState == InternalState::OFF) {
+    transitionCommandPending = false;
     internalState = InternalState::ENABLE_TEMPERATURE_PROTECTION;
     commandExecuted = false;
   }
@@ -38,6 +39,7 @@ void SyrlinksHandler::doShutDown() {
   // In any case, always disable TX first.
   if (internalState != InternalState::SET_TX_STANDBY) {
     internalState = InternalState::SET_TX_STANDBY;
+    transitionCommandPending = false;
     commandExecuted = false;
   }
   if (internalState == InternalState::SET_TX_STANDBY) {
@@ -122,9 +124,10 @@ ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* i
       *id = syrlinks::SET_TX_MODE_STANDBY;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    default:
+    default: {
       break;
     }
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -442,7 +445,6 @@ ReturnValue_t SyrlinksHandler::interpretDeviceReply(DeviceCommandId_t id, const
       return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
   }
-
   return returnvalue::OK;
 }
 
@@ -682,6 +684,9 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
       }
       break;
     }
+    default: {
+      sif::error << "Syrlinks: Unexpected ACK reply" << std::endl;
+    }
   }
   switch (rememberCommandId) {
     case (syrlinks::SET_TX_MODE_STANDBY): {
@@ -728,16 +733,19 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   Mode_t tgtMode = getBaseMode(getMode());
   auto commandDone = [&]() {
     setMode(tgtMode);
+    transitionCommandPending = false;
     internalState = InternalState::IDLE;
   };
   auto txOnHandler = [&](InternalState selMod) {
     if (internalState == InternalState::IDLE) {
+      transitionCommandPending = false;
       commandExecuted = false;
       internalState = selMod;
     }
     // Select modulation first (BPSK or 0QPSK).
     if (internalState == selMod) {
       if (commandExecuted) {
+        transitionCommandPending = false;
         internalState = InternalState::SET_TX_MODULATION;
         commandExecuted = false;
       }
@@ -753,6 +761,7 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   };
   auto txStandbyHandler = [&]() {
     if (internalState == InternalState::IDLE) {
+      transitionCommandPending = false;
       internalState = InternalState::SET_TX_STANDBY;
       commandExecuted = false;
     }

mission/com/SyrlinksHandler.h

@@ -112,6 +112,7 @@ class SyrlinksHandler : public DeviceHandlerBase {
   float tempPowerAmplifier = 0;
   float tempBasebandBoard = 0;
   bool commandExecuted = false;
+  bool transitionCommandPending = false;
 
   uint8_t commandBuffer[syrlinks::MAX_COMMAND_SIZE];
 

mission/com/TmStoreTaskBase.cpp

@@ -0,0 +1,228 @@
+#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>
+
+#include "mission/persistentTmStoreDefs.h"
+
+TmStoreTaskBase::TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore,
+                                 VirtualChannel& channel, SdCardMountedIF& sdcMan,
+                                 const std::atomic_bool& ptmeLocked)
+    : SystemObject(objectId),
+      modeHelper(this),
+      ipcStore(ipcStore),
+      tmReader(&timeReader),
+      channel(channel),
+      sdcMan(sdcMan),
+      ptmeLocked(ptmeLocked) {
+  requestQueue = QueueFactory::instance()->createMessageQueue(10);
+}
+
+bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
+                                     DumpContext& dumpContext) {
+  ReturnValue_t result;
+  bool tmToStoreReceived = false;
+  bool tcRequestReceived = false;
+  bool dumpPerformed = false;
+  fileHasSwapped = false;
+  dumpContext.packetWasDumped = false;
+  dumpContext.vcBusyDuringDump = false;
+
+  // Store TM persistently
+  result = store.handleNextTm();
+  if (result == returnvalue::OK) {
+    tmToStoreReceived = true;
+  }
+  // Dump TMs
+  if (store.getState() == PersistentTmStore::State::DUMPING) {
+    if (handleOneDump(store, dumpContext, dumpPerformed) != returnvalue::OK) {
+      return result;
+    }
+  } else {
+    Command_t execCmd;
+    // Handle TC requests, for example deletion or retrieval requests.
+    result = store.handleCommandQueue(ipcStore, execCmd);
+    if (result == returnvalue::OK) {
+      if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
+        cancelDumpCd.resetTimer();
+        tmSinkBusyCd.resetTimer();
+        dumpContext.reset();
+      }
+      tcRequestReceived = true;
+    }
+  }
+  if (tcRequestReceived or tmToStoreReceived or dumpPerformed) {
+    return true;
+  }
+  return false;
+}
+
+bool TmStoreTaskBase::cyclicStoreCheck() {
+  if (not storesInitialized) {
+    storesInitialized = initStoresIfPossible();
+    if (not storesInitialized) {
+      TaskFactory::delayTask(400);
+      return false;
+    }
+  } else if (sdCardCheckCd.hasTimedOut()) {
+    if (not sdcMan.isSdCardUsable(std::nullopt)) {
+      // Might be due to imminent shutdown or SD card switch.
+      storesInitialized = false;
+      TaskFactory::delayTask(100);
+      return false;
+    }
+    sdCardCheckCd.resetTimer();
+  }
+  return true;
+}
+
+void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn) {
+  ctx.reset();
+  if (store.getState() == PersistentTmStore::State::DUMPING) {
+    triggerEvent(ctx.eventIfCancelled, ctx.numberOfDumpedPackets, ctx.dumpedBytes);
+  }
+  store.cancelDump();
+  if (isTxOn) {
+    channel.cancelTransfer();
+  }
+}
+
+ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
+                                             DumpContext& dumpContext, bool& dumpPerformed) {
+  ReturnValue_t result = returnvalue::OK;
+  // The PTME might have been reset an transmitter state change, so there is no point in continuing
+  // the dump.
+  // TODO: Will be solved in a cleaner way, this is kind of a hack.
+  if (not channel.isTxOn()) {
+    cancelDump(dumpContext, store, false);
+    return returnvalue::FAILED;
+  }
+  // It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
+  if (not channel.isBusy() and not ptmeLocked) {
+    performDump(store, dumpContext, dumpPerformed);
+  } else {
+    // The PTME might be at full load, so it might sense to delay for a bit to let it do
+    // its work until some more bandwidth is available. Set a flag here so the upper layer can
+    // do ths.
+    dumpContext.vcBusyDuringDump = true;
+    dumpContext.ptmeBusyCounter++;
+    if (dumpContext.ptmeBusyCounter == 100) {
+      // If this happens, something is probably wrong.
+      sif::warning << "PTME busy for longer period. Cancelling dump" << std::endl;
+      cancelDump(dumpContext, store, channel.isTxOn());
+    }
+  }
+  if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
+    cancelDump(dumpContext, store, channel.isTxOn());
+  }
+  return result;
+}
+
+ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
+                                           DumpContext& dumpContext, bool& dumpPerformed) {
+  size_t dumpedLen = 0;
+
+  auto dumpDoneHandler = [&]() {
+    uint32_t startTime;
+    uint32_t endTime;
+    store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
+    triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
+                 dumpContext.dumpedBytes);
+    dumpContext.reset();
+  };
+  // Dump the next packet into the PTME.
+  dumpContext.ptmeBusyCounter = 0;
+  tmSinkBusyCd.resetTimer();
+  ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
+  if (result != returnvalue::OK) {
+    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
+  } else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
+    // This can happen if a file is corrupted and the next file swap completes the dump.
+    dumpDoneHandler();
+    return returnvalue::OK;
+  }
+  dumpedLen = tmReader.getFullPacketLen();
+  // Only write to VC if mode is on, but always confirm the dump.
+  // If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
+  // (e.g. to confirm a reset or the transmitter is off anyway).
+  if (mode == MODE_ON) {
+    result = channel.write(tmReader.getFullData(), dumpedLen);
+    if (result == DirectTmSinkIF::IS_BUSY) {
+      sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
+    } else if (result != returnvalue::OK) {
+      sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
+    }
+  }
+  result = store.confirmDump(tmReader, fileHasSwapped);
+  if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
+    dumpPerformed = true;
+    if (dumpedLen > 0) {
+      dumpContext.dumpedBytes += dumpedLen;
+      dumpContext.numberOfDumpedPackets += 1;
+      dumpContext.packetWasDumped = true;
+    }
+  }
+  if (result == PersistentTmStore::DUMP_DONE) {
+    dumpDoneHandler();
+  }
+  return returnvalue::OK;
+}
+
+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 +1,22 @@
 #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/CdsShortTimeStamper.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)
@@ -33,19 +40,35 @@ class TmStoreTaskBase : public SystemObject {
   };
 
   TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
-                  SdCardMountedIF& sdcMan);
+                  SdCardMountedIF& sdcMan, const std::atomic_bool& ptmeLocked);
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
 
  protected:
+  ModeHelper modeHelper;
+  MessageQueueIF* requestQueue;
   StorageManagerIF& ipcStore;
+  PusTmReader tmReader;
+  CdsShortTimeStamper timeReader;
+  VirtualChannel& channel;
+  SdCardMountedIF& sdcMan;
+  const std::atomic_bool& ptmeLocked;
+
+  Mode_t mode = HasModesIF::MODE_OFF;
   Countdown sdCardCheckCd = Countdown(800);
   // 20 minutes are allowed as maximum dump time.
   Countdown cancelDumpCd = Countdown(60 * 20 * 1000);
   // If the TM sink is busy for 1 minute for whatever reason, cancel the dump.
   Countdown tmSinkBusyCd = Countdown(60 * 1000);
-  VirtualChannel& channel;
+
   bool storesInitialized = false;
   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);
   /**
@@ -58,6 +81,8 @@ class TmStoreTaskBase : public SystemObject {
 
   ReturnValue_t handleOneDump(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext,
                               bool& dumpPerformed);
+  ReturnValue_t performDump(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext,
+                            bool& dumpPerformed);
 
   /**
    * Occasionally check whether SD card is okay to be used. If not, poll whether it is ready to
@@ -65,7 +90,17 @@ 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;
+  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;
   }
 
+  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/pollingSeqTables.cpp

@@ -26,10 +26,12 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4,
+                        DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.75, DeviceHandlerIF::GET_READ);
 
   static_cast<void>(length);
 

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_ */

mission/tmtc/PersistentTmStore.cpp

@@ -251,41 +251,37 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() {
   return DUMP_DONE;
 }
 
-ReturnValue_t PersistentTmStore::dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen,
+ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fileHasSwapped) {
-                                                bool& fileHasSwapped) {
+  if (state == State::IDLE or dumpParams.pendingPacketDump) {
-  if (state == State::IDLE) {
     return returnvalue::FAILED;
   }
-  PusTmReader reader(&timeReader, fileBuf.data() + dumpParams.currentSize,
+  reader.setReadOnlyData(fileBuf.data() + dumpParams.currentSize,
                          fileBuf.size() - dumpParams.currentSize);
   // CRC check to fully ensure this is a valid TM
   ReturnValue_t result = reader.parseDataWithCrcCheck();
-  if (result == returnvalue::OK) {
+  if (result != returnvalue::OK) {
-    result = tmSink.write(fileBuf.data() + dumpParams.currentSize, reader.getFullPacketLen());
-    if (result == DirectTmSinkIF::IS_BUSY) {
-      return result;
-    } else if (result != returnvalue::OK) {
-      // TODO: Event?
-      sif::error << "PersistentTmStore: Writing to TM sink failed" << std::endl;
-      return result;
-    }
-    dumpParams.currentSize += reader.getFullPacketLen();
-    dumpedLen = reader.getFullPacketLen();
-    if (dumpParams.currentSize >= dumpParams.fileSize) {
-      fileHasSwapped = true;
-      return loadNextDumpFile();
-    }
-  } else {
     sif::error << "PersistentTmStore: Parsing of PUS TM failed with code " << result << std::endl;
     triggerEvent(persTmStore::POSSIBLE_FILE_CORRUPTION, result, dumpParams.currentFileUnixStamp);
     // Delete the file and load next. Could use better algorithm to partially
     // restore the file dump, but for now do not trust the file.
-    dumpedLen = 0;
     std::error_code e;
     std::filesystem::remove(dumpParams.dirEntry.path().c_str(), e);
     fileHasSwapped = true;
     return loadNextDumpFile();
   }
+  fileHasSwapped = false;
+  dumpParams.pendingPacketDump = true;
+  return returnvalue::OK;
+}
+
+ReturnValue_t PersistentTmStore::confirmDump(const PusTmReader& reader, bool& fileHasSwapped) {
+  dumpParams.pendingPacketDump = false;
+  dumpParams.currentSize += reader.getFullPacketLen();
+  if (dumpParams.currentSize >= dumpParams.fileSize) {
+    fileHasSwapped = true;
+    return loadNextDumpFile();
+  }
+  fileHasSwapped = false;
   return returnvalue::OK;
 }
 

mission/tmtc/PersistentTmStore.h

@@ -4,12 +4,10 @@
 #include <fsfw/ipc/CommandMessageIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/storagemanager/StorageManagerIF.h>
-#include <fsfw/timemanager/CdsShortTimeStamper.h>
 #include <fsfw/tmstorage/TmStoreFrontendSimpleIF.h>
 #include <fsfw/tmtcpacket/pus/tm/PusTmReader.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <mission/memory/SdCardMountedIF.h>
-#include <mission/tmtc/DirectTmSinkIF.h>
 
 #include <filesystem>
 
@@ -57,13 +55,25 @@ class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
   ReturnValue_t startDumpFromUpTo(uint32_t fromUnixSeconds, uint32_t upToUnixSeconds);
   /**
    *
-   * @param tmSink
+   * @param tmReader: Next packet will be loaded into the PUS TM reader. A CRC check will be
-   * @param dumpedLen
+   *    performed on the packet. If that check fails, the file is considered corrupted and will
-   * @param fileHasSwapped
+   *    be deleted for now.
-   * @return DUMP_DONE if dump is finished, returnvalue::OK if dump of next packet was a success,
+   * @param fileHasSwapped: If the CRC check fails, the file will be deleted and a new one has to
-   *   and DirectTmSinkIF::IS_BUSY is TM sink is busy.
+   *    be loaded. The dump can reach completion during that process. If a file is swapped, this
+   *    boolean is set to true
+   * @return DUMP_DONE if dump is finished, returnvalue::OK if the next packet was loaded into the
+   *    TM reader, and the returnvalue of the file swap operation if the CRC check failed and
+   *    a new file was loaded.
    */
-  ReturnValue_t dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen, bool& fileHasSwapped);
+  ReturnValue_t getNextDumpPacket(PusTmReader& tmReader, bool& fileHasSwapped);
+  /**
+   * Confirm the dump to advance the dump state machine.
+   * @param tmReader
+   * @param fileHasSwapped: If the confirmed dumps completes the current file, a new file will
+   *    be loaded and this parameter will be set to true.
+   * @return If a file is swapped, the retrunvalue of the file swap operation.
+   */
+  ReturnValue_t confirmDump(const PusTmReader& tmReader, bool& fileHasSwapped);
 
   void getStartAndEndTimeCurrentOrLastDump(uint32_t& startTime, uint32_t& endTime) const;
   ReturnValue_t storePacket(PusTmReader& reader);
@@ -83,8 +93,6 @@ class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
 
   MessageQueueIF* tcQueue;
   State state = State::IDLE;
-  // PacketFilter filter;
-  CdsShortTimeStamper timeReader;
   bool baseDirUninitialized = true;
   const char* baseDir;
   std::string baseName;
@@ -96,6 +104,7 @@ class PersistentTmStore : public TmStoreFrontendSimpleIF, public SystemObject {
   timeval activeFileTv{};
 
   struct ActiveDumpParams {
+    bool pendingPacketDump = false;
     uint32_t fromUnixTime = 0;
     uint32_t untilUnixTime = 0;
     uint32_t currentFileUnixStamp = 0;

mission/tmtc/TmStoreTaskBase.cpp

@@ -1,131 +0,0 @@
-#include "TmStoreTaskBase.h"
-
-#include <fsfw/ipc/CommandMessageIF.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <fsfw/timemanager/Stopwatch.h>
-#include <fsfw/tmstorage/TmStoreMessage.h>
-
-#include "mission/persistentTmStoreDefs.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,
-                                     DumpContext& dumpContext) {
-  ReturnValue_t result;
-  bool tmToStoreReceived = false;
-  bool tcRequestReceived = false;
-  bool dumpPerformed = false;
-  fileHasSwapped = false;
-  dumpContext.packetWasDumped = false;
-  dumpContext.vcBusyDuringDump = false;
-
-  // Store TM persistently
-  result = store.handleNextTm();
-  if (result == returnvalue::OK) {
-    tmToStoreReceived = true;
-  }
-  // Dump TMs when applicable
-  if (store.getState() == PersistentTmStore::State::DUMPING) {
-    if (handleOneDump(store, dumpContext, dumpPerformed) != returnvalue::OK) {
-      return result;
-    }
-  } else {
-    Command_t execCmd;
-    // Handle TC requests, for example deletion or retrieval requests.
-    result = store.handleCommandQueue(ipcStore, execCmd);
-    if (result == returnvalue::OK) {
-      if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
-        cancelDumpCd.resetTimer();
-        tmSinkBusyCd.resetTimer();
-        dumpContext.reset();
-      }
-      tcRequestReceived = true;
-    }
-  }
-  if (tcRequestReceived or tmToStoreReceived or dumpPerformed) {
-    return true;
-  }
-  return false;
-}
-
-bool TmStoreTaskBase::cyclicStoreCheck() {
-  if (not storesInitialized) {
-    storesInitialized = initStoresIfPossible();
-    if (not storesInitialized) {
-      TaskFactory::delayTask(400);
-      return false;
-    }
-  } else if (sdCardCheckCd.hasTimedOut()) {
-    if (not sdcMan.isSdCardUsable(std::nullopt)) {
-      // Might be due to imminent shutdown or SD card switch.
-      storesInitialized = false;
-      TaskFactory::delayTask(100);
-      return false;
-    }
-    sdCardCheckCd.resetTimer();
-  }
-  return true;
-}
-
-void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn) {
-  triggerEvent(ctx.eventIfCancelled, ctx.numberOfDumpedPackets, ctx.dumpedBytes);
-  ctx.reset();
-  store.cancelDump();
-  if (isTxOn) {
-    channel.cancelTransfer();
-  }
-}
-
-ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
-                                             DumpContext& dumpContext, bool& dumpPerformed) {
-  ReturnValue_t result = returnvalue::OK;
-  // The PTME might have been reset an transmitter state change, so there is no point in continuing
-  // the dump.
-  if (not channel.isTxOn()) {
-    cancelDump(dumpContext, store, false);
-    return returnvalue::FAILED;
-  }
-  size_t dumpedLen = 0;
-  if (not channel.isBusy()) {
-    // Dump the next packet into the PTME.
-    dumpContext.ptmeBusyCounter = 0;
-    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)) {
-      dumpPerformed = true;
-      if (dumpedLen > 0) {
-        dumpContext.dumpedBytes += dumpedLen;
-        dumpContext.numberOfDumpedPackets += 1;
-        dumpContext.packetWasDumped = true;
-      }
-    }
-    if (result == PersistentTmStore::DUMP_DONE) {
-      uint32_t startTime;
-      uint32_t endTime;
-      store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
-      triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
-                   dumpContext.dumpedBytes);
-      dumpContext.reset();
-    }
-  } else {
-    // The PTME might be at full load, so it might sense to delay for a bit to let it do
-    // its work until some more bandwidth is available. Set a flag here so the upper layer can
-    // do ths.
-    dumpContext.vcBusyDuringDump = true;
-    dumpContext.ptmeBusyCounter++;
-    if (dumpContext.ptmeBusyCounter == 100) {
-      // If this happens, something is probably wrong.
-      sif::warning << "PTME busy for longer period. Cancelling dump" << std::endl;
-      cancelDump(dumpContext, store, channel.isTxOn());
-    }
-  }
-  if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
-    cancelDump(dumpContext, store, channel.isTxOn());
-  }
-  return result;
-}