Use ComStub and ComQueue

.github/actions/spelling/expect.txt

@@ -12,6 +12,7 @@ cmake
 cmakelists
 cmp
 commonprefix
+comms
 config
 configparser
 configs
@@ -50,7 +51,7 @@ dirone
 dirs
 distutils
 doctest
-Drv
+drv
 dumpable
 Dxyz
 elif

src/fprime/cookiecutter_templates/cookiecutter-fprime-deployment/{{cookiecutter.deployment_name}}/Top/instances.fpp

@@ -43,17 +43,22 @@ module {{cookiecutter.deployment_name}} {
     stack size Default.STACK_SIZE \
     priority 100
 
-  instance fileDownlink: Svc.FileDownlink base id 0x0700 \
+  instance comQueue: Svc.ComQueue base id 0x0700 \
+      queue size Default.QUEUE_SIZE \
+      stack size Default.STACK_SIZE \
+      priority 100 \
+
+  instance fileDownlink: Svc.FileDownlink base id 0x0800 \
     queue size 30 \
     stack size Default.STACK_SIZE \
     priority 100
 
-  instance fileManager: Svc.FileManager base id 0x0800 \
+  instance fileManager: Svc.FileManager base id 0x0900 \
     queue size 30 \
     stack size Default.STACK_SIZE \
     priority 100
 
-  instance fileUplink: Svc.FileUplink base id 0x0900 \
+  instance fileUplink: Svc.FileUplink base id 0x0A00 \
     queue size 30 \
     stack size Default.STACK_SIZE \
     priority 100
@@ -95,7 +100,7 @@ module {{cookiecutter.deployment_name}} {
 
   @ Communications driver. May be swapped with other comm drivers like UART
   @ Note: Here we have TCP reliable uplink and UDP (low latency) downlink
-  instance comm: Drv.ByteStreamDriverModel base id 0x4000 \
+  instance comDriver: Drv.ByteStreamDriverModel base id 0x4000 \
     type "Drv::TcpClient" \ # type specified to select implementor of ByteStreamDriverModel
     at "../../Drv/TcpClient/TcpClient.hpp" # location of above implementor must also be specified
 
@@ -121,4 +126,6 @@ module {{cookiecutter.deployment_name}} {
 
   instance systemResources: Svc.SystemResources base id 0x4A00
 
+  instance comStub: Svc.ComStub base id 0x4B00
+
 }

src/fprime/cookiecutter_templates/cookiecutter-fprime-deployment/{{cookiecutter.deployment_name}}/Top/topology.fpp

@@ -26,7 +26,9 @@ module {{cookiecutter.deployment_name}} {
     instance tlmSend
     instance cmdDisp
     instance cmdSeq
-    instance comm
+    instance comDriver
+    instance comQueue
+    instance comStub
     instance downlink
     instance eventLogger
     instance fatalAdapter
@@ -70,15 +72,22 @@ module {{cookiecutter.deployment_name}} {
 
     connections Downlink {
 
-      tlmSend.PktSend -> downlink.comIn
-      eventLogger.PktSend -> downlink.comIn
-      fileDownlink.bufferSendOut -> downlink.bufferIn
+      tlmSend.PktSend -> comQueue.comQueueIn[0]
+      eventLogger.PktSend -> comQueue.comQueueIn[1]
+      fileDownlink.bufferSendOut -> comQueue.buffQueueIn[0]
 
       downlink.framedAllocate -> staticMemory.bufferAllocate[Ports_StaticMemory.downlink]
-      downlink.framedOut -> comm.send
+      downlink.framedOut -> comStub.comDataIn
       downlink.bufferDeallocate -> fileDownlink.bufferReturn
 
-      comm.deallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.downlink]
+      comQueue.comQueueSend -> downlink.comIn
+      comQueue.buffQueueSend -> downlink.bufferIn
+
+      comDriver.deallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.downlink]
+      comDriver.ready -> comStub.drvConnected
+
+      comStub.comStatus -> comQueue.comStatusIn
+      comStub.drvDataOut -> comDriver.send
 
     }
 
@@ -114,11 +123,13 @@ module {{cookiecutter.deployment_name}} {
 
     connections Uplink {
 
-      comm.allocate -> staticMemory.bufferAllocate[Ports_StaticMemory.uplink]
-      comm.$recv -> uplink.framedIn
-      uplink.framedDeallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.uplink]
+      comDriver.allocate -> staticMemory.bufferAllocate[Ports_StaticMemory.uplink]
+      comDriver.$recv -> comStub.drvDataIn
+      comStub.comDataOut -> uplink.framedIn
 
+      uplink.framedDeallocate -> staticMemory.bufferDeallocate[Ports_StaticMemory.uplink]
       uplink.comOut -> cmdDisp.seqCmdBuff
+
       cmdDisp.seqCmdStatus -> uplink.cmdResponseIn
 
       uplink.bufferAllocate -> fileUplinkBufferManager.bufferGetCallee

src/fprime/cookiecutter_templates/cookiecutter-fprime-deployment/{{cookiecutter.deployment_name}}/Top/{{cookiecutter.deployment_name}}Packets.xml

@@ -41,6 +41,11 @@
         <channel name="blockDrv.BD_Cycles"/>
     </packet>
 
+    <packet name="Comms" id="4" level="1">
+        <channel name="comQueue.comQueueDepth"/>
+        <channel name="comQueue.buffQueueDepth"/>
+    </packet>
+
     <packet name="SystemRes1" id="5" level="2">
         <channel name="systemResources.MEMORY_TOTAL"/>
         <channel name="systemResources.MEMORY_USED"/>

src/fprime/cookiecutter_templates/cookiecutter-fprime-deployment/{{cookiecutter.deployment_name}}/Top/{{cookiecutter.deployment_name}}Topology.cpp

@@ -30,6 +30,8 @@ Fw::MallocAllocator mallocator;
 Svc::FprimeFraming framing;
 Svc::FprimeDeframing deframing;
 
+Svc::ComQueue::QueueConfigurationTable configurationTable;
+
 // The reference topology divides the incoming clock signal (1Hz) into sub-signals: 1Hz, 1/2Hz, and 1/4Hz
 NATIVE_INT_TYPE rateGroupDivisors[Svc::RateGroupDriver::DIVIDER_SIZE] = {1, 2, 4};
 
@@ -112,6 +114,15 @@ void configureTopology() {
 
     // Note: Uncomment when using Svc:TlmPacketizer
     //tlmSend.setPacketList({{cookiecutter.deployment_name}}PacketsPkts, {{cookiecutter.deployment_name}}PacketsIgnore, 1);
+
+    // Configure ComQueue
+    configurationTable.entries[0] = {.depth = 500, .priority = 2};
+    // Events , highest-priority
+    configurationTable.entries[1] = {.depth = 100, .priority = 0};
+    // File Downlink
+    configurationTable.entries[2] = {.depth = 100, .priority = 1};
+    // Allocation identifier is 0 as the MallocAllocator discards it
+    comQueue.configure(configurationTable, 0, mallocator);
 }
 
 // Public functions for use in main program are namespaced with deployment name {{cookiecutter.deployment_name}}
@@ -135,8 +146,8 @@ void setupTopology(const TopologyState& state) {
     if (state.hostname != nullptr && state.port != 0) {
         Os::TaskString name("ReceiveTask");
         // Uplink is configured for receive so a socket task is started
-        comm.configure(state.hostname, state.port);
-        comm.startSocketTask(name, true, COMM_PRIORITY, Default::STACK_SIZE);
+        comDriver.configure(state.hostname, state.port);
+        comDriver.startSocketTask(name, true, COMM_PRIORITY, Default::STACK_SIZE);
     }
 }
 
@@ -172,8 +183,8 @@ void teardownTopology(const TopologyState& state) {
     freeThreads(state);
 
     // Other task clean-up.
-    comm.stopSocketTask();
-    (void)comm.joinSocketTask(nullptr);
+    comDriver.stopSocketTask();
+    (void)comDriver.joinSocketTask(nullptr);
 
     // Resource deallocation
     cmdSeq.deallocateBuffer(mallocator);