Robin Mueller
55a22c840c
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108 lines
3.2 KiB
C++
108 lines
3.2 KiB
C++
#include "LiveTmTask.h"
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/subsystem/helper.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
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VirtualChannelWithQueue& channel, const std::atomic_bool& ptmeLocked)
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: SystemObject(objectId),
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modeHelper(this),
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pusFunnel(pusFunnel),
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cfdpFunnel(cfdpFunnel),
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channel(channel),
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ptmeLocked(ptmeLocked) {
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requestQueue = QueueFactory::instance()->createMessageQueue();
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}
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ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
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readCommandQueue();
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while (true) {
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bool performWriteOp = true;
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if (mode == MODE_OFF or ptmeLocked) {
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performWriteOp = false;
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}
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// The funnel tasks are scheduled here directly as well.
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ReturnValue_t result = channel.handleNextTm(performWriteOp);
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if (result == DirectTmSinkIF::IS_BUSY) {
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sif::error << "Lost live TM, PAPB busy" << std::endl;
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}
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if (result == MessageQueueIF::EMPTY) {
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if (tmFunnelCd.hasTimedOut()) {
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pusFunnel.performOperation(0);
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cfdpFunnel.performOperation(0);
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tmFunnelCd.resetTimer();
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}
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// Read command queue during idle times.
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readCommandQueue();
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// 40 ms IDLE delay. Might tweak this in the future.
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TaskFactory::delayTask(40);
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} else {
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packetCounter++;
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}
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}
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}
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MessageQueueId_t LiveTmTask::getCommandQueue() const { return requestQueue->getId(); }
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void LiveTmTask::getMode(Mode_t* mode, Submode_t* submode) {
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if (mode != nullptr) {
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*mode = this->mode;
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}
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if (submode != nullptr) {
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*submode = SUBMODE_NONE;
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}
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}
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ReturnValue_t LiveTmTask::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) {
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if (mode == MODE_ON or mode == MODE_OFF) {
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return returnvalue::OK;
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}
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return returnvalue::FAILED;
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}
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void LiveTmTask::startTransition(Mode_t mode, Submode_t submode) {
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this->mode = mode;
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modeHelper.modeChanged(mode, submode);
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announceMode(false);
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}
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void LiveTmTask::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
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object_id_t LiveTmTask::getObjectId() const { return SystemObject::getObjectId(); }
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const HasHealthIF* LiveTmTask::getOptHealthIF() const { return nullptr; }
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const HasModesIF& LiveTmTask::getModeIF() const { return *this; }
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ReturnValue_t LiveTmTask::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
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return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
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}
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void LiveTmTask::readCommandQueue(void) {
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CommandMessage commandMessage;
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ReturnValue_t result = returnvalue::FAILED;
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result = requestQueue->receiveMessage(&commandMessage);
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if (result == returnvalue::OK) {
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result = modeHelper.handleModeCommand(&commandMessage);
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if (result == returnvalue::OK) {
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return;
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}
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CommandMessage reply;
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reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
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requestQueue->reply(&reply);
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return;
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}
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}
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ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }
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ReturnValue_t LiveTmTask::initialize() {
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modeHelper.initialize();
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return returnvalue::OK;
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}
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