28 lines
956 B
C++
28 lines
956 B
C++
#include "LiveTmTask.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)
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: SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel), channel(channel) {}
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ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
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while (true) {
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// The funnel tasks are scheduled here directly as well.
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ReturnValue_t result = channel.sendNextTm();
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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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// 40 ms IDLE delay. Might tweak this in the future.
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TaskFactory::delayTask(40);
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}
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}
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}
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