eive-obsw/mission/com/LiveTmTask.cpp
Robin Mueller 314df7a021
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bugfix for virt channel: clear invalid state
2023-11-23 16:48:40 +01:00

244 lines
8.2 KiB
C++

#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++;
}
}
} else if (result != MessageQueueIF::EMPTY) {
sif::warning << "LiveTmTask: TM queue failure, returncode 0x" << std::hex << std::setw(4)
<< result << std::dec << std::endl;
}
}
cfdpBackpressureHandling();
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 (isCfdp and signals::CFDP_MSG_COUNTER > 0) {
signals::CFDP_MSG_COUNTER--;
}
if (DEBUG_CFDP_TO_LIVE_TM_TASK and signals::CFDP_MSG_COUNTER > 0) {
sif::debug << "LiveTmTask: CFDP message counter: " << signals::CFDP_MSG_COUNTER << std::endl;
}
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 writtenSize = 0;
result = channel.write(data, size, writtenSize);
if (result == DirectTmSinkIF::PARTIALLY_WRITTEN) {
result = channel.handleWriteCompletionSynchronously(writtenSize, 400);
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::setfill('0') << std::setw(4) << std::hex << result << std::dec
<< std::endl;
}
} else if (result != returnvalue::OK) {
sif::error << "LiveTmTask: Channel write failed with code 0x" << std::setfill('0') << std::hex
<< std::setw(4) << result << std::dec << std::endl;
}
}
// 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;
if (DEBUG_CFDP_TO_LIVE_TM_TASK) {
sif::debug << "Throttling CFDP" << std::endl;
}
}
void LiveTmTask::releaseCfdp() {
throttlePeriodOngoing = false;
signals::CFDP_CHANNEL_THROTTLE_SIGNAL = false;
if (DEBUG_CFDP_TO_LIVE_TM_TASK) {
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();
}
void LiveTmTask::cfdpBackpressureHandling() {
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.
if (signals::CFDP_MSG_COUNTER >= (config::LIVE_CHANNEL_CFDP_QUEUE_SIZE / 2)) {
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 / 4)) {
releaseCfdp();
}
}
}
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(); }