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perf(comdelay): DIVIDER=0 passes comStatus straight through (TX-done-paced downlink) #475

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perf(comdelay): DIVIDER=0 passes comStatus straight through (TX-done-paced downlink) #475

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33 changes: 31 additions & 2 deletions PROVESFlightControllerReference/Components/ComDelay/ComDelay.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,38 @@ void ComDelay ::parameterUpdated(FwPrmIdType id) {
// Handler implementations for typed input ports
// ----------------------------------------------------------------------

// Image-currency marker: grep-able via `strings zephyr.elf` to verify the flashed
// binary actually contains the divider-0 passthrough change (never trust "Verified OK").
static volatile const char COMDELAY_DIV0_PASSTHROUGH_MARKER[] = "comdelay-div0-passthrough-20260723";

void ComDelay ::comStatusIn_handler(FwIndexType portNum, Fw::Success& condition) {
this->m_last_status = condition;
this->m_last_status_valid = true;
// Read the divider; on invalid/uninit fall back to the default (matches run_handler).
Fw::ParamValid is_valid;
U16 current_divisor = this->paramGet_DIVIDER(is_valid);
if ((is_valid == Fw::ParamValid::INVALID) || (is_valid == Fw::ParamValid::UNINIT)) {
current_divisor = Components::DEFAULT_DIVIDER;
}

if (current_divisor == 0) {
// DIVIDER == 0 means "no delay": forward the status immediately instead of
// latching it for the next rate tick. This removes the rate-group quantization
// (one status per tick) so downlink is paced purely by radio TX-done.
//
// Threading note: ComDelay is passive, so this executes on the CALLER's thread
// (the radio-side comStatus source). That is safe because comStatusOut feeds an
// async input (ComQueue), which only enqueues a message here.
//
// Coherence with run_handler: in passthrough mode we never set
// m_last_status_valid, so this status cannot ALSO be emitted by run_handler
// (no duplication). A status latched earlier under DIVIDER > 0 is still
// consumed by run_handler's compare_exchange as before (no loss) if the
// divider is changed to 0 at runtime.
static_cast<void>(COMDELAY_DIV0_PASSTHROUGH_MARKER[0]); // volatile read keeps the marker in the image
this->comStatusOut_out(0, condition);
} else {
this->m_last_status = condition;
this->m_last_status_valid = true;
}
}

void ComDelay ::run_handler(FwIndexType portNum, U32 context) {
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