eive-obsw/mission/com/LiveTmTask.cpp

#include "LiveTmTask.h"

#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/subsystem/helper.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>

#include "mission/sysDefs.h"

static constexpr bool DEBUG_TM_QUEUE_SPEED = false;
std::atomic_bool signals::CFDP_CHANNEL_THROTTLE_SIGNAL = false;
std::atomic_uint32_t signals::CFDP_MSG_COUNTER = 0;

LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
                       VirtualChannel& channel, const std::atomic_bool& ptmeLocked,
                       uint32_t regularTmQueueDepth, uint32_t cfdpQueueDepth)
    : SystemObject(objectId),
      modeHelper(this),
      pusFunnel(pusFunnel),
      cfdpFunnel(cfdpFunnel),
      channel(channel),
      ptmeLocked(ptmeLocked) {
  requestQueue = QueueFactory::instance()->createMessageQueue();
  cfdpTmQueue = QueueFactory::instance()->createMessageQueue(cfdpQueueDepth);
  regularTmQueue = QueueFactory::instance()->createMessageQueue(regularTmQueueDepth);
}

ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
  readCommandQueue();
  bool handledTm;
  ReturnValue_t result;
  uint32_t consecutiveRegularCounter = 0;
  uint32_t consecutiveCfdpCounter = 0;
  bool isCfdp = false;
  while (true) {
    isCfdp = false;
    // TODO: Must read CFDP TM queue and regular TM queue and forward them. Handle regular queue
    //       first.
    handledTm = false;
    updateBusyFlag();
    if (!channelIsBusy) {
      result = handleRegularTmQueue();
      if (result == MessageQueueIF::EMPTY) {
        result = handleCfdpTmQueue();
        isCfdp = true;
      }
      if (result == returnvalue::OK) {
        handledTm = true;
        if (DEBUG_TM_QUEUE_SPEED) {
          if (isCfdp) {
            consecutiveCfdpCounter++;
          } else {
            consecutiveRegularCounter++;
          }
        }
      }
    }
    if (channelIsBusy) {
      sif::debug << "busy" << std::endl;
    }
    if (channelIsBusy and !throttlePeriodOngoing) {
      // Throttle CFDP packet creator. It is by far the most relevant data creator, so throttling
      // it is the easiest way to handle back pressure for now in a sensible way.
      throttleCfdp();
    } else if (!channelIsBusy and throttlePeriodOngoing) {
      // Half full/empty flow control: Release the CFDP is the queue is empty enough.
      if (signals::CFDP_MSG_COUNTER <= config::LIVE_CHANNEL_CFDP_QUEUE_SIZE / 2) {
        releaseCfdp();
      }
    }
    if (!handledTm) {
      if (tmFunnelCd.hasTimedOut()) {
        pusFunnel.performOperation(0);
        cfdpFunnel.performOperation(0);
        tmFunnelCd.resetTimer();
      }
      // Read command queue during idle times.
      readCommandQueue();
      if (DEBUG_TM_QUEUE_SPEED) {
        if (consecutiveCfdpCounter > 0) {
          sif::debug << "Consecutive CFDP TM handled: " << consecutiveCfdpCounter << std::endl;
        }
        if (consecutiveRegularCounter > 0) {
          sif::debug << "Consecutive regular TM handled: " << consecutiveRegularCounter
                     << std::endl;
        }
        consecutiveRegularCounter = 0;
        consecutiveCfdpCounter = 0;
      }
      // 40 ms IDLE delay. Might tweak this in the future.
      TaskFactory::delayTask(40);
    }
  }
}

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;
  }
}

ReturnValue_t LiveTmTask::handleRegularTmQueue() {
  return handleGenericTmQueue(*regularTmQueue, false);
}

ReturnValue_t LiveTmTask::handleCfdpTmQueue() { return handleGenericTmQueue(*cfdpTmQueue, true); }

ReturnValue_t LiveTmTask::handleGenericTmQueue(MessageQueueIF& queue, bool isCfdp) {
  TmTcMessage message;
  ReturnValue_t result = queue.receiveMessage(&message);
  if (result == MessageQueueIF::EMPTY) {
    return result;
  }
  if (signals::CFDP_MSG_COUNTER > 0) {
    signals::CFDP_MSG_COUNTER--;
  }
  store_address_t storeId = message.getStorageId();
  const uint8_t* data = nullptr;
  size_t size = 0;
  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);
    return result;
  }

  if (!ptmeLocked) {
    size_t partiallyWrittenSize = 0;
    result = channel.write(data, size, partiallyWrittenSize);
    if (result == DirectTmSinkIF::PARTIALLY_WRITTEN) {
      // Already throttle CFDP.
      throttleCfdp();
      result = channel.handleLastWriteSynchronously(data, size, partiallyWrittenSize, 200);
      if (result != returnvalue::OK) {
        // TODO: Event? Might lead to dangerous spam though..
        sif::warning << "LiveTmTask: Synchronous write of last segment failed with code 0x"
                     << std::setw(4) << std::hex << result << std::dec << std::endl;
      }
      // This is a bit of a hack: If a partial write was performed and synchronously finished, we
      // treat this like a busy channel.
      channelIsBusy = true;
    }
  }
  // Try delete in any case, ignore failures (which should not happen), it is more important to
  // propagate write errors.
  tmStore->deleteData(storeId);
  return result;
}

void LiveTmTask::throttleCfdp() {
  throttlePeriodOngoing = true;
  signals::CFDP_CHANNEL_THROTTLE_SIGNAL = true;
  sif::debug << "throttling CFDP" << std::endl;
}

void LiveTmTask::releaseCfdp() {
  throttlePeriodOngoing = false;
  signals::CFDP_CHANNEL_THROTTLE_SIGNAL = false;
  sif::debug << "releasing CFDP" << std::endl;
}

void LiveTmTask::updateBusyFlag() {
  // We cache this as a member, because the busy bit can toggle very quickly..
  channelIsBusy = channel.isBusy();
}

ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }

ReturnValue_t LiveTmTask::initialize() {
  modeHelper.initialize();
  tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
  if (tmStore == nullptr) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  return returnvalue::OK;
}

MessageQueueId_t LiveTmTask::getNormalLiveQueueId() const { return regularTmQueue->getId(); }

MessageQueueId_t LiveTmTask::getCfdpLiveQueueId() const { return cfdpTmQueue->getId(); }