Move EDU program queue to FRAM (#336)

Sts1CobcSw/CobcSoftware/CommandParser.cpp

@@ -2,9 +2,14 @@
 #include <Sts1CobcSw/CobcSoftware/EduProgramQueueThread.hpp>
 #include <Sts1CobcSw/Edu/Edu.hpp>
 #include <Sts1CobcSw/Edu/ProgramQueue.hpp>
+#include <Sts1CobcSw/FramSections/FramLayout.hpp>
+#include <Sts1CobcSw/FramSections/FramVector.hpp>
+#include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Serial/Serial.hpp>
 #include <Sts1CobcSw/Utility/DebugPrint.hpp>
 
+#include <strong_type/type.hpp>
+
 #include <cinttypes>  // IWYU pragma: keep
 
 
@@ -59,14 +64,11 @@ auto DispatchCommand(etl::vector<Byte, commandSize> const & command) -> void
 auto BuildEduQueue(std::span<Byte const> commandData) -> void
 {
     DEBUG_PRINT("Entering build queue command parsing\n");
-
-    edu::programQueue.clear();
+    edu::programQueue.Clear();
+    persistentVariables.Store<"eduProgramQueueIndex">(0);
     ParseAndAddQueueEntries(commandData);
-    edu::queueIndex = 0;
-
     DEBUG_PRINT("Queue index reset. Current size of EDU program queue is %d.\n",
-                static_cast<int>(edu::programQueue.size()));
-
+                static_cast<int>(edu::programQueue.Size()));
     ResumeEduProgramQueueThread();
 }
 
@@ -80,7 +82,7 @@ auto ParseAndAddQueueEntries(std::span<Byte const> queueEntries) -> void
     DEBUG_PRINT("Printing and parsing\n");
 
     while(queueEntries.size() >= totalSerialSize<edu::ProgramQueueEntry>
-          and (not edu::programQueue.full()))
+          and (not edu::programQueue.IsFull()))
     {
         auto entry = Deserialize<edu::ProgramQueueEntry>(
             queueEntries.first<totalSerialSize<edu::ProgramQueueEntry>>());
@@ -89,7 +91,7 @@ auto ParseAndAddQueueEntries(std::span<Byte const> queueEntries) -> void
         DEBUG_PRINT("Start Time   : %" PRIi32 "\n", value_of(entry.startTime));
         DEBUG_PRINT("Timeout      : %" PRIi16 "\n", entry.timeout);
 
-        edu::programQueue.push_back(entry);
+        edu::programQueue.PushBack(entry);
         queueEntries = queueEntries.subspan<totalSerialSize<edu::ProgramQueueEntry>>();
     }
 }

Sts1CobcSw/CobcSoftware/EduCommunicationErrorThread.cpp

@@ -39,7 +39,7 @@ class EduCommunicationErrorThread : public RODOS::StaticThread<stackSize>
         {
             SuspendUntil(endOfTime);
 
-            persistentVariables.template Increment<"eduCommunicationErrorCounter">();
+            persistentVariables.template Increment<"nEduCommunicationErrors">();
 
             DEBUG_PRINT("[EduCommunicationErrorThread] Resetting the Edu\n");
             // Reset EDU

Sts1CobcSw/CobcSoftware/EduHeartbeatThread.cpp

@@ -152,7 +152,7 @@ auto EduIsAlive() -> bool
         }
     }
 
-    auto executionTime = CurrentRodosTime() - begin;
+    [[maybe_unused]] auto executionTime = CurrentRodosTime() - begin;
     DEBUG_PRINT("Execution Time of EduIsAlive: %" PRIi64 " ns\n", executionTime / ns);
     DEBUG_PRINT("Execution Time of EduIsAlive: %" PRIi64 " ms\n", executionTime / ms);
     return false;

Sts1CobcSw/CobcSoftware/EduProgramQueueThread.cpp

@@ -5,8 +5,10 @@
 #include <Sts1CobcSw/Edu/Edu.hpp>
 #include <Sts1CobcSw/Edu/ProgramQueue.hpp>
 #include <Sts1CobcSw/Edu/ProgramStatusHistory.hpp>
-#include <Sts1CobcSw/Edu/Types.hpp>
-#include <Sts1CobcSw/FramSections/RingArray.hpp>
+#include <Sts1CobcSw/FramSections/FramLayout.hpp>
+#include <Sts1CobcSw/FramSections/FramRingArray.hpp>
+#include <Sts1CobcSw/FramSections/FramVector.hpp>
+#include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/ProgramId/ProgramId.hpp>  // IWYU pragma: keep
 #include <Sts1CobcSw/Utility/DebugPrint.hpp>
 #include <Sts1CobcSw/Utility/RealTime.hpp>
@@ -19,14 +21,12 @@
 
 #include <rodos_no_using_namespace.h>
 
-#include <etl/vector.h>
-
 #include <cinttypes>  // IWYU pragma: keep
 
 
 namespace sts1cobcsw
 {
-[[nodiscard]] auto ComputeStartDelay() -> Duration;
+[[nodiscard]] auto ComputeStartDelay(RealTime startTime) -> Duration;
 
 
 // TODO: Get a better estimation for the required stack size. We only have 128 kB of RAM.
@@ -56,32 +56,33 @@ class EduProgramQueueThread : public RODOS::StaticThread<stackSize>
         // eduProgramQueue.push_back(queueEntry1);
         // eduProgramQueue.push_back(queueEntry2);
 
-        DEBUG_PRINT("Size of EduProgramQueue : %zu\n", edu::programQueue.size());
+        DEBUG_PRINT("Size of EDU program queue = %" PRIu32 "\n", edu::programQueue.Size());
     }
 
     void run() override
     {
-        // TODO: Define some DebugPrint() or something in a separate file that can be turned on/off
         DEBUG_PRINT("Entering EduProgramQueueThread\n");
         DEBUG_PRINT_REAL_TIME();
         while(true)
         {
-            if(edu::programQueue.empty())
+            if(edu::programQueue.IsEmpty())
             {
                 DEBUG_PRINT("Edu Program Queue is empty, thread set to sleep until end of time\n");
                 SuspendUntil(endOfTime);
             }
-            else if(edu::queueIndex >= edu::programQueue.size())
+            else if(persistentVariables.Load<"eduProgramQueueIndex">() >= edu::programQueue.Size())
             {
                 DEBUG_PRINT("End of queue is reached, thread set to sleep until end of time\n");
                 SuspendUntil(endOfTime);
             }
 
-            auto startDelay = ComputeStartDelay();
+            auto queueIndex = persistentVariables.Load<"eduProgramQueueIndex">();
+            auto queueEntry = edu::programQueue.Get(queueIndex);
+            auto startDelay = ComputeStartDelay(queueEntry.startTime);
             nextProgramStartDelayTopic.publish(startDelay);
 
             DEBUG_PRINT("Program at queue index %d will start in : %" PRIi64 " s\n",
-                        edu::queueIndex,
+                        queueIndex,
                         startDelay / s);
 
             // Suspend until delay time - 2 seconds
@@ -92,8 +93,7 @@ class EduProgramQueueThread : public RODOS::StaticThread<stackSize>
             DEBUG_PRINT("Resuming here after first wait.\n");
             DEBUG_PRINT_REAL_TIME();
 
-            auto updateTimeResult =
-                edu::UpdateTime(edu::UpdateTimeData{.currentTime = CurrentRealTime()});
+            auto updateTimeResult = edu::UpdateTime({CurrentRealTime()});
             if(updateTimeResult.has_error())
             {
                 DEBUG_PRINT("UpdateTime error code : %d\n",
@@ -103,11 +103,15 @@ class EduProgramQueueThread : public RODOS::StaticThread<stackSize>
                 ResumeEduCommunicationErrorThread();
             }
 
-            auto startDelay2 = ComputeStartDelay();
+            // Reload queue index and entry because the start delay might be very long and the
+            // variables might have been corrupted in the meantime
+            queueIndex = persistentVariables.Load<"eduProgramQueueIndex">();
+            queueEntry = edu::programQueue.Get(queueIndex);
+            auto startDelay2 = ComputeStartDelay(queueEntry.startTime);
             nextProgramStartDelayTopic.publish(startDelay2);
 
             DEBUG_PRINT("Program at queue index %d will start in : %" PRIi64 " s\n",
-                        edu::queueIndex,
+                        queueIndex,
                         startDelay2 / s);
 
             // Suspend for delay a second time
@@ -118,14 +122,10 @@ class EduProgramQueueThread : public RODOS::StaticThread<stackSize>
             // Never reached
             DEBUG_PRINT("Done suspending for the second time\n");
 
-            auto startTime = edu::programQueue[edu::queueIndex].startTime;
-            auto programId = edu::programQueue[edu::queueIndex].programId;
-            auto timeout = edu::programQueue[edu::queueIndex].timeout;
-
-            DEBUG_PRINT("Executing program %" PRIu16 "\n", value_of(programId));
+            DEBUG_PRINT("Executing EDU program %" PRIu16 "\n", value_of(queueEntry.programId));
             // Start Process
-            auto executeProgramResult = edu::ExecuteProgram(edu::ExecuteProgramData{
-                .programId = programId, .startTime = startTime, .timeout = timeout});
+            auto executeProgramResult = edu::ExecuteProgram(
+                {queueEntry.programId, queueEntry.startTime, queueEntry.timeout});
             // errorCode = edu::ErrorCode::success;
 
             if(executeProgramResult.has_error())
@@ -137,20 +137,19 @@ class EduProgramQueueThread : public RODOS::StaticThread<stackSize>
             }
             else
             {
-                edu::programStatusHistory.PushBack(
-                    edu::ProgramStatusHistoryEntry{.programId = programId,
-                                                   .startTime = startTime,
-                                                   .status = edu::ProgramStatus::programRunning});
+                edu::programStatusHistory.PushBack({queueEntry.programId,
+                                                    queueEntry.startTime,
+                                                    edu::ProgramStatus::programRunning});
 
                 // Suspend Self for execution time
-                auto const executionTime = timeout * s + eduCommunicationDelay;
+                auto const executionTime = queueEntry.timeout * s + eduCommunicationDelay;
                 DEBUG_PRINT("Suspending for execution time\n");
                 SuspendFor(executionTime);
                 DEBUG_PRINT("Resuming from execution time\n");
                 DEBUG_PRINT_REAL_TIME();
 
-                // Set current Queue ID to next
-                edu::queueIndex++;
+                // Set current queue ID to next
+                persistentVariables.Increment<"eduProgramQueueIndex">();
             }
         }
     }
@@ -160,9 +159,9 @@ class EduProgramQueueThread : public RODOS::StaticThread<stackSize>
 // TODO: We should just use time points instead of delays in the thread. Then we won't need this
 // function.
 //! Compute the delay in nanoseconds before the start of program at current queue index
-auto ComputeStartDelay() -> Duration
+auto ComputeStartDelay(RealTime startTime) -> Duration
 {
-    auto delay = ToRodosTime(edu::programQueue[edu::queueIndex].startTime) - CurrentRodosTime();
+    auto delay = ToRodosTime(startTime) - CurrentRodosTime();
     return delay < Duration(0) ? Duration(0) : delay;
 }
 

Sts1CobcSw/Edu/EduMock.cpp

@@ -2,6 +2,8 @@
 #include <Sts1CobcSw/Edu/Types.hpp>
 #include <Sts1CobcSw/Utility/DebugPrint.hpp>
 
+#include <strong_type/type.hpp>
+
 #include <cinttypes>  // IWYU pragma: keep
 
 

Sts1CobcSw/Edu/ProgramQueue.cpp

@@ -1,15 +1,15 @@
 #include <Sts1CobcSw/Edu/ProgramQueue.hpp>
 
 
-// TODO: Change namespace here too, or move it back to Sts1CobSw/
 namespace sts1cobcsw::edu
 {
 using sts1cobcsw::DeserializeFrom;
 using sts1cobcsw::SerializeTo;
 
 
-etl::vector<ProgramQueueEntry, nProgramQueueEntries> programQueue{};
-std::uint16_t queueIndex = 0;
+sts1cobcsw::
+    FramVector<ProgramQueueEntry, framSections.Get<"eduProgramQueue">(), nCachedProgramQueueEntries>
+        programQueue;
 
 
 template<std::endian endianness>
@@ -21,6 +21,7 @@ auto DeserializeFrom(void const * source, ProgramQueueEntry * data) -> void cons
     return source;
 }
 
+
 // Explicit template specializations to keep everything in .cpp file
 template auto DeserializeFrom<std::endian::big>(void const *, ProgramQueueEntry *) -> void const *;
 template auto DeserializeFrom<std::endian::little>(void const *, ProgramQueueEntry *)
@@ -36,6 +37,7 @@ auto SerializeTo(void * destination, ProgramQueueEntry const & data) -> void *
     return destination;
 }
 
+
 // Explicit template specializations to keep everything in .cpp file
 template auto SerializeTo<std::endian::big>(void *, ProgramQueueEntry const &) -> void *;
 template auto SerializeTo<std::endian::little>(void *, ProgramQueueEntry const &) -> void *;

Sts1CobcSw/Edu/ProgramQueue.hpp

@@ -2,16 +2,12 @@
 
 
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
-#include <Sts1CobcSw/FramSections/Section.hpp>
+#include <Sts1CobcSw/FramSections/FramVector.hpp>
 #include <Sts1CobcSw/FramSections/Subsections.hpp>
 #include <Sts1CobcSw/ProgramId/ProgramId.hpp>
 #include <Sts1CobcSw/Serial/Serial.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 
-#include <strong_type/type.hpp>
-
-#include <etl/vector.h>
-
 #include <bit>
 #include <cstddef>
 #include <cstdint>
@@ -39,13 +35,11 @@ inline constexpr std::size_t serialSize<edu::ProgramQueueEntry> =
 
 namespace edu
 {
-inline constexpr auto nProgramQueueEntries =
-    value_of(framSections.template Get<"eduProgramQueue">().size)
-    / totalSerialSize<ProgramQueueEntry>;
-
-
-extern std::uint16_t queueIndex;
-extern etl::vector<ProgramQueueEntry, nProgramQueueEntries> programQueue;
+inline constexpr auto nCachedProgramQueueEntries = 10;
+extern FramVector<ProgramQueueEntry,
+                  framSections.template Get<"eduProgramQueue">(),
+                  nCachedProgramQueueEntries>
+    programQueue;
 
 
 template<std::endian endianness>

Sts1CobcSw/Edu/ProgramStatusHistory.cpp

@@ -1,15 +1,19 @@
 #include <Sts1CobcSw/Edu/ProgramStatusHistory.hpp>
-#include <Sts1CobcSw/FramSections/FramLayout.hpp>
-#include <Sts1CobcSw/FramSections/RingArray.hpp>
 
 #include <strong_type/equality.hpp>
 
+#include <etl/circular_buffer.h>
+
 
 namespace sts1cobcsw::edu
 {
-sts1cobcsw::RingArray<ProgramStatusHistoryEntry,
-                      framSections.Get<"eduProgramStatusHistory">(),
-                      nCachedProgramStatusHistoryEntries>
+using sts1cobcsw::DeserializeFrom;
+using sts1cobcsw::SerializeTo;
+
+
+sts1cobcsw::FramRingArray<ProgramStatusHistoryEntry,
+                          framSections.Get<"eduProgramStatusHistory">(),
+                          nCachedProgramStatusHistoryEntries>
     programStatusHistory;
 
 
@@ -23,10 +27,6 @@ auto UpdateProgramStatusHistory(ProgramId programId, RealTime startTime, Program
 }
 
 
-using sts1cobcsw::DeserializeFrom;
-using sts1cobcsw::SerializeTo;
-
-
 template<std::endian endianness>
 auto DeserializeFrom(void const * source, ProgramStatusHistoryEntry * data) -> void const *
 {

Sts1CobcSw/Edu/ProgramStatusHistory.hpp

@@ -2,7 +2,7 @@
 
 
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
-#include <Sts1CobcSw/FramSections/RingArray.hpp>
+#include <Sts1CobcSw/FramSections/FramRingArray.hpp>
 #include <Sts1CobcSw/FramSections/Subsections.hpp>
 #include <Sts1CobcSw/ProgramId/ProgramId.hpp>
 #include <Sts1CobcSw/Serial/Serial.hpp>
@@ -49,12 +49,12 @@ inline constexpr std::size_t serialSize<edu::ProgramStatusHistoryEntry> =
 namespace edu
 {
 inline constexpr auto nCachedProgramStatusHistoryEntries = 10;
-
-extern RingArray<ProgramStatusHistoryEntry,
-                 framSections.template Get<"eduProgramStatusHistory">(),
-                 nCachedProgramStatusHistoryEntries>
+extern FramRingArray<ProgramStatusHistoryEntry,
+                     framSections.template Get<"eduProgramStatusHistory">(),
+                     nCachedProgramStatusHistoryEntries>
     programStatusHistory;
 
+
 auto UpdateProgramStatusHistory(ProgramId programId, RealTime startTime, ProgramStatus newStatus)
     -> void;
 

Sts1CobcSw/FramSections/FramLayout.hpp

@@ -15,18 +15,22 @@ namespace sts1cobcsw
 inline constexpr auto framMemory = Section<fram::Address(0), fram::memorySize>{};
 inline constexpr auto framSections =
     Subsections<framMemory,
-                SubsectionInfo<"persistentVariables0", fram::Size(300)>,
+                SubsectionInfo<"persistentVariables", fram::Size(300)>,
                 SubsectionInfo<"eduProgramQueue", fram::Size(20 * 8)>,
                 SubsectionInfo<"eduProgramStatusHistory", fram::Size(50 * 7)>,
                 SubsectionInfo<"testMemory", fram::Size(1000)>,
                 SubsectionInfo<"telemetry", fram::Size(26'168 * 40)>>{};
 inline constexpr auto persistentVariables =
-    PersistentVariables<framSections.Get<"persistentVariables0">(),
+    PersistentVariables<framSections.Get<"persistentVariables">(),
+                        // Bootloader
                         PersistentVariableInfo<"nResetsSinceRf", std::uint16_t>,
                         PersistentVariableInfo<"activeSecondaryFwPartition", std::int8_t>,
                         PersistentVariableInfo<"backupSecondaryFwPartition", std::int8_t>,
+                        // COBC state
                         PersistentVariableInfo<"txIsOn", bool>,
                         PersistentVariableInfo<"antennasShouldBeDeployed", bool>,
+                        PersistentVariableInfo<"eduProgramQueueIndex", std::uint8_t>,
+                        // Housekeeping
                         PersistentVariableInfo<"nTotalResets", std::uint32_t>,
                         PersistentVariableInfo<"realTime", RealTime>,
                         PersistentVariableInfo<"realTimeOffset", Duration>,
@@ -37,5 +41,5 @@ inline constexpr auto persistentVariables =
                         PersistentVariableInfo<"nRfErrors", std::uint16_t>,
                         PersistentVariableInfo<"nFileSystemErrors", std::uint16_t>,
                         PersistentVariableInfo<"eduShouldBePowered", bool>,
-                        PersistentVariableInfo<"eduCommunicationErrorCounter", std::uint16_t>>{};
+                        PersistentVariableInfo<"nEduCommunicationErrors", std::uint16_t>>{};
 }