eive-tmtc/eive_tmtc/tmtc/core.py

import enum
import logging
import os
import struct
from pathlib import Path

from eive_tmtc.pus_tm.defs import PrintWrapper

from eive_tmtc.config.definitions import CustomServiceList
from spacepackets.ecss import PusTelecommand
from tmtccmd.config import TmtcDefinitionWrapper

from tmtccmd.tc import DefaultPusQueueHelper
from tmtccmd.pus.s8_fsfw_funccmd import create_action_cmd
from tmtccmd.tc.pus_3_fsfw_hk import make_sid, generate_one_hk_command
from tmtccmd.tc.pus_20_fsfw_param import (
    create_scalar_u8_parameter,
    create_load_param_cmd,
)
from tmtccmd.config.tmtc import OpCodeEntry, tmtc_definitions_provider
from eive_tmtc.config.object_ids import CORE_CONTROLLER_ID
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter

_LOGGER = logging.getLogger(__name__)


class ActionId(enum.IntEnum):
    ANNOUNCE_VERSION = 1
    ANNOUNCE_CURRENT_IMAGE = 2
    ANNOUNCE_BOOT_COUNTS = 3
    SWITCH_REBOOT_FILE_HANDLING = 5
    RESET_REBOOT_COUNTER = 6
    SWITCH_IMG_LOCK = 7
    SET_MAX_REBOOT_CNT = 8
    UPDATE_OBSW_FROM_SD_0 = 10
    UPDATE_OBSW_FROM_SD_1 = 11
    UPDATE_OBSW_FROM_TMP = 12
    SWITCH_TO_SD_0 = 16
    SWITCH_TO_SD_1 = 17
    SWITCH_TO_BOTH_SD_CARDS = 18
    XSC_REBOOT = 32
    FULL_REBOOT = 34
    EXECUTE_SHELL_CMD_BLOCKING = 40
    EXECUTE_SHELL_CMD_NON_BLOCKING = 41
    SYSTEMCTL_CMD_EXECUTOR = 42
    LIST_DIR_INTO_FILE = 50
    LIST_DIR_DUMP_DIRECTLY = 51
    CP_HELPER = 52
    MV_HELPER = 53
    RM_HELPER = 54
    MKDIR_HELPER = 55


class ParamId(enum.IntEnum):
    PREF_SD = 0


class SetId(enum.IntEnum):
    HK = 5


class OpCode:
    ANNOUNCE_VERSION = "announce_version"
    ANNOUNCE_CURRENT_IMAGE = "announce_current_image"
    ANNOUNCE_BOOT_COUNTS = "announce_boot_counts"
    EXECUTE_SHELL_CMD_BLOCKING = "exec_cmd_blocking"
    EXECUTE_SHELL_CMD_NON_BLOCKING = "exec_cmd_non_blocking"
    SYSTEMCTL_CMD_EXECUTOR = "systemctl_cmd"
    LIST_DIR_INTO_FILE = "list_dir_into_file"
    LIST_DIR_DUMP_DIRECTLY = "list_dir_dump_directly"
    CP_HELPER = "cp_helper"
    MV_HELPER = "mv_helper"
    RM_HELPER = "rm_helper"
    MKDIR_HELPER = "mkdir_helper"
    SET_PREF_SD = "set_pref_sd"
    REBOOT_XSC = ["reboot_xsc"]
    XSC_REBOOT_SELF = ["reboot_self"]
    XSC_REBOOT_0_0 = ["reboot_00"]
    XSC_REBOOT_0_1 = ["reboot_01"]
    XSC_REBOOT_1_0 = ["reboot_10"]
    XSC_REBOOT_1_1 = ["reboot_11"]
    REBOOT_FULL = ["reboot_regular"]
    GET_HK = ["get_hk"]
    OBSW_UPDATE_FROM_SD_0 = ["obsw_update_sd0"]
    OBSW_UPDATE_FROM_SD_1 = ["obsw_update_sd1"]
    OBSW_UPDATE_FROM_TMP = ["obsw_update_tmp"]
    SWITCH_TO_SD_0 = ["switch_to_sd_0"]
    SWITCH_TO_SD_1 = ["switch_to_sd_1"]
    SWITCH_TO_BOTH_SD_CARDS = ["switch_to_both_sd_cards"]
    ENABLE_REBOOT_FILE_HANDLING = ["rbh_off"]
    DISABLE_REBOOT_FILE_HANDLING = ["rbh_on"]
    RESET_ALL_REBOOT_COUNTERS = ["rbh_reset_a"]
    RESET_REBOOT_COUNTER_00 = ["rbh_reset_00"]
    RESET_REBOOT_COUNTER_01 = ["rbh_reset_01"]
    RESET_REBOOT_COUNTER_10 = ["rbh_reset_10"]
    RESET_REBOOT_COUNTER_11 = ["rbh_reset_11"]
    SET_MAX_REBOOT_CNT = ["rbh_max_cnt"]


class Info:
    ANNOUNCE_VERSION = "Announce version"
    ANNOUNCE_CURRENT_IMAGE = "Announce current image"
    ANNOUNCE_BOOT_COUNTS = "Announce boot counts"
    SYSTEMCTL_CMD_EXECUTOR = "Perform systemctl command"
    EXECUTE_SHELL_CMD_BLOCKING = "Execute shell command blocking"
    EXECUTE_SHELL_CMD_NON_BLOCKING = "Execute shell command non-blocking"
    SET_PREF_SD = "Set preferred SD card"
    REBOOT_XSC = "XSC reboot with prompt"
    REBOOT_FULL = "Full regular reboot"
    OBSW_UPDATE_FROM_SD_0 = "Update OBSW from SD Card 0"
    OBSW_UPDATE_FROM_SD_1 = "Update OBSW from SD Card 1"
    OBSW_UPDATE_FROM_TMP = "Update OBSW from tmp folder"
    SWITCH_TO_SD_0 = "Switch to SD card 0"
    SWITCH_TO_SD_1 = "Switch to SD card 1"
    SWITCH_TO_BOTH_SD_CARDS = "Switch to both SD cards with specified active card"
    LIST_DIR_INTO_FILE = "List directory, dump output into file"
    LIST_DIR_DUMP_DIRECTLY = "List directory, dump content directly"
    CP_HELPER = "Filesystem Copy Helper"
    MV_HELPER = "Filesystem Move Helper"
    RM_HELPER = "Filesystem Removal Helper"
    MKDIR_HELPER = "Filesystem Directory Creation Helper"


class Chip(enum.IntEnum):
    CHIP_0 = 0
    CHIP_1 = 1
    NONE = 2


class Copy(enum.IntEnum):
    COPY_0_NOM = 0
    COPY_1_GOLD = 1
    NONE = 2


class SystemctlCmd(enum.IntEnum):
    START = 0
    STOP = 1
    RESTART = 2


@tmtc_definitions_provider
def add_core_controller_definitions(defs: TmtcDefinitionWrapper):
    oce = OpCodeEntry()
    oce.add(keys=OpCode.ANNOUNCE_VERSION, info=Info.ANNOUNCE_VERSION)
    oce.add(keys=OpCode.ANNOUNCE_CURRENT_IMAGE, info=Info.ANNOUNCE_CURRENT_IMAGE)
    oce.add(keys=OpCode.ANNOUNCE_BOOT_COUNTS, info=Info.ANNOUNCE_BOOT_COUNTS)
    oce.add(keys=OpCode.REBOOT_XSC, info=Info.REBOOT_XSC)
    oce.add(keys=OpCode.REBOOT_XSC, info=Info.REBOOT_XSC)
    oce.add(keys=OpCode.REBOOT_FULL, info=Info.REBOOT_FULL)
    oce.add(keys=OpCode.XSC_REBOOT_SELF, info="Reboot Self")
    oce.add(keys=OpCode.XSC_REBOOT_0_0, info="Reboot 0 0")
    oce.add(keys=OpCode.XSC_REBOOT_0_1, info="Reboot 0 1")
    oce.add(keys=OpCode.XSC_REBOOT_1_0, info="Reboot 1 0")
    oce.add(keys=OpCode.XSC_REBOOT_1_1, info="Reboot 1 1")
    oce.add(keys=OpCode.SET_PREF_SD, info=Info.SET_PREF_SD)
    oce.add(keys=OpCode.OBSW_UPDATE_FROM_TMP, info=Info.OBSW_UPDATE_FROM_TMP)
    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_0, info=Info.OBSW_UPDATE_FROM_SD_0)
    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_1, info=Info.OBSW_UPDATE_FROM_SD_1)
    oce.add(keys=OpCode.SYSTEMCTL_CMD_EXECUTOR, info=Info.SYSTEMCTL_CMD_EXECUTOR)
    oce.add(
        keys=OpCode.EXECUTE_SHELL_CMD_BLOCKING, info=Info.EXECUTE_SHELL_CMD_BLOCKING
    )
    oce.add(
        keys=OpCode.EXECUTE_SHELL_CMD_NON_BLOCKING,
        info=Info.EXECUTE_SHELL_CMD_NON_BLOCKING,
    )
    oce.add(
        keys=OpCode.GET_HK,
        info="Request housekeeping set",
    )
    oce.add(
        keys=OpCode.ENABLE_REBOOT_FILE_HANDLING,
        info="Enable reboot file handling",
    )
    oce.add(
        keys=OpCode.DISABLE_REBOOT_FILE_HANDLING,
        info="Disable reboot file handling",
    )
    oce.add(
        keys=OpCode.RESET_ALL_REBOOT_COUNTERS,
        info="Reset all reboot counters",
    )
    oce.add(
        keys=OpCode.RESET_REBOOT_COUNTER_00,
        info="Reset reboot counter 0 0",
    )
    oce.add(
        keys=OpCode.RESET_REBOOT_COUNTER_01,
        info="Reset reboot counter 0 1",
    )
    oce.add(
        keys=OpCode.RESET_REBOOT_COUNTER_10,
        info="Reset reboot counter 1 0",
    )
    oce.add(
        keys=OpCode.RESET_REBOOT_COUNTER_11,
        info="Reset reboot counter 1 1",
    )
    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_0, info=Info.OBSW_UPDATE_FROM_SD_0)
    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_1, info=Info.OBSW_UPDATE_FROM_SD_1)
    oce.add(keys=OpCode.OBSW_UPDATE_FROM_TMP, info=Info.OBSW_UPDATE_FROM_TMP)
    oce.add(keys=OpCode.SWITCH_TO_SD_0, info=Info.SWITCH_TO_SD_0)
    oce.add(keys=OpCode.SWITCH_TO_SD_1, info=Info.SWITCH_TO_SD_1)
    oce.add(keys=OpCode.SWITCH_TO_BOTH_SD_CARDS, info=Info.SWITCH_TO_BOTH_SD_CARDS)
    oce.add(keys=OpCode.LIST_DIR_INTO_FILE, info=Info.LIST_DIR_INTO_FILE)
    oce.add(keys=OpCode.LIST_DIR_DUMP_DIRECTLY, info=Info.LIST_DIR_DUMP_DIRECTLY)
    oce.add(keys=OpCode.MV_HELPER, info=Info.MV_HELPER)
    oce.add(keys=OpCode.CP_HELPER, info=Info.CP_HELPER)
    oce.add(keys=OpCode.RM_HELPER, info=Info.RM_HELPER)
    oce.add(keys=OpCode.MKDIR_HELPER, info=Info.MKDIR_HELPER)
    defs.add_service(CustomServiceList.CORE.value, "Core Controller", oce)


def pack_core_commands(q: DefaultPusQueueHelper, op_code: str):
    if op_code == OpCode.ANNOUNCE_VERSION:
        q.add_log_cmd(f"{Info.ANNOUNCE_VERSION}")
        q.add_pus_tc(create_action_cmd(CORE_CONTROLLER_ID, ActionId.ANNOUNCE_VERSION))
    elif op_code == OpCode.ANNOUNCE_CURRENT_IMAGE:
        q.add_log_cmd(f"{Info.ANNOUNCE_CURRENT_IMAGE}")
        q.add_pus_tc(
            create_action_cmd(CORE_CONTROLLER_ID, ActionId.ANNOUNCE_CURRENT_IMAGE)
        )
    elif op_code == OpCode.ANNOUNCE_BOOT_COUNTS:
        q.add_log_cmd(f"{Info.ANNOUNCE_BOOT_COUNTS}")
        q.add_pus_tc(
            create_action_cmd(CORE_CONTROLLER_ID, ActionId.ANNOUNCE_BOOT_COUNTS)
        )
    elif op_code in OpCode.REBOOT_XSC:
        reboot_self, chip_select, copy_select = determine_reboot_params()
        add_xsc_reboot_cmd(
            q=q,
            reboot_self=reboot_self,
            chip=chip_select,
            copy=copy_select,
        )
    elif op_code in OpCode.REBOOT_FULL:
        q.add_log_cmd(f"Core Command: {Info.REBOOT_FULL}")
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID, action_id=ActionId.FULL_REBOOT
            )
        )
    elif op_code in OpCode.XSC_REBOOT_SELF:
        add_xsc_reboot_cmd(q=q, reboot_self=True)
    elif op_code == OpCode.SYSTEMCTL_CMD_EXECUTOR:
        print("systemctl command types: ")
        for entry in SystemctlCmd:
            print(f"{entry}: {entry.name}")
        systemctl_cmd = SystemctlCmd(
            int(input("Specify systemctl command type by key: "))
        )
        unit_name = input("Specify unit name: ")
        q.add_pus_tc(create_systemctl_cmd(systemctl_cmd, unit_name))
    elif op_code == OpCode.EXECUTE_SHELL_CMD_BLOCKING:
        custom_cmd = input("Please specify command to execute: ")
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID,
                action_id=ActionId.EXECUTE_SHELL_CMD_BLOCKING,
                user_data=custom_cmd.encode(),
            )
        )
    elif op_code == OpCode.EXECUTE_SHELL_CMD_NON_BLOCKING:
        custom_cmd = input("Please specify command to execute: ")
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID,
                action_id=ActionId.EXECUTE_SHELL_CMD_NON_BLOCKING,
                user_data=custom_cmd.encode(),
            )
        )
    elif op_code in OpCode.XSC_REBOOT_0_0:
        add_xsc_reboot_cmd(
            q=q, reboot_self=False, chip=Chip.CHIP_0, copy=Copy.COPY_0_NOM
        )
    elif op_code in OpCode.XSC_REBOOT_0_1:
        add_xsc_reboot_cmd(
            q=q,
            reboot_self=False,
            chip=Chip.CHIP_0,
            copy=Copy.COPY_1_GOLD,
        )
    elif op_code in OpCode.XSC_REBOOT_1_0:
        add_xsc_reboot_cmd(
            q=q, reboot_self=False, chip=Chip.CHIP_1, copy=Copy.COPY_0_NOM
        )
    elif op_code in OpCode.XSC_REBOOT_1_1:
        add_xsc_reboot_cmd(
            q=q,
            reboot_self=False,
            chip=Chip.CHIP_1,
            copy=Copy.COPY_1_GOLD,
        )
    elif op_code in OpCode.DISABLE_REBOOT_FILE_HANDLING:
        q.add_log_cmd("Disabling reboot file handling")
        user_data = bytearray([0])
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID,
                action_id=ActionId.SWITCH_REBOOT_FILE_HANDLING,
                user_data=user_data,
            )
        )
    elif op_code in OpCode.ENABLE_REBOOT_FILE_HANDLING:
        q.add_log_cmd("Enabling reboot file handling")
        user_data = bytearray([1])
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID,
                action_id=ActionId.SWITCH_REBOOT_FILE_HANDLING,
                user_data=user_data,
            )
        )
    elif op_code in OpCode.RESET_ALL_REBOOT_COUNTERS:
        q.add_log_cmd("Resetting all reboot counters")
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID,
                action_id=ActionId.RESET_REBOOT_COUNTER,
            )
        )
    elif op_code in OpCode.RESET_REBOOT_COUNTER_00:
        reset_specific_boot_counter(q, 0, 0)
    elif op_code in OpCode.RESET_REBOOT_COUNTER_01:
        reset_specific_boot_counter(q, 0, 1)
    elif op_code in OpCode.RESET_REBOOT_COUNTER_10:
        reset_specific_boot_counter(q, 1, 0)
    elif op_code in OpCode.RESET_REBOOT_COUNTER_11:
        reset_specific_boot_counter(q, 1, 1)
    elif op_code in OpCode.OBSW_UPDATE_FROM_SD_0:
        q.add_log_cmd(Info.OBSW_UPDATE_FROM_SD_0)
        q.add_pus_tc(pack_obsw_update_cmd(ActionId.UPDATE_OBSW_FROM_SD_0))
    elif op_code in OpCode.OBSW_UPDATE_FROM_SD_1:
        q.add_log_cmd(Info.OBSW_UPDATE_FROM_SD_1)
        q.add_pus_tc(pack_obsw_update_cmd(ActionId.UPDATE_OBSW_FROM_SD_1))
    elif op_code in OpCode.OBSW_UPDATE_FROM_TMP:
        q.add_log_cmd(Info.OBSW_UPDATE_FROM_TMP)
        q.add_pus_tc(pack_obsw_update_cmd(ActionId.UPDATE_OBSW_FROM_TMP))
    elif op_code in OpCode.SWITCH_TO_SD_0:
        q.add_log_cmd(Info.SWITCH_TO_SD_0)
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID, action_id=ActionId.SWITCH_TO_SD_0
            )
        )
    elif op_code in OpCode.SWITCH_TO_SD_1:
        q.add_log_cmd(Info.SWITCH_TO_SD_1)
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID, action_id=ActionId.SWITCH_TO_SD_1
            )
        )
    elif op_code in OpCode.SWITCH_TO_BOTH_SD_CARDS:
        while True:
            active_sd_card = int(input("Please specify active SD card [0/1]: "))
            if active_sd_card not in [0, 1]:
                _LOGGER.warning("Invalid SD card specified. Try again")
            break
        q.add_log_cmd(Info.SWITCH_TO_BOTH_SD_CARDS)
        q.add_pus_tc(
            create_action_cmd(
                object_id=CORE_CONTROLLER_ID,
                action_id=ActionId.SWITCH_TO_BOTH_SD_CARDS,
                user_data=bytes([active_sd_card]),
            )
        )
    elif op_code in OpCode.GET_HK:
        q.add_log_cmd("Requesting housekeeping set")
        sid = make_sid(object_id=CORE_CONTROLLER_ID, set_id=SetId.HK)
        q.add_pus_tc(generate_one_hk_command(sid))
    elif op_code in OpCode.SET_PREF_SD:
        q.add_log_cmd("Set preferred SD card")
        pref_sd = int(
            input("Specify which SD card to set as the preferred one (0/1): ")
        )
        if pref_sd not in [0, 1]:
            raise ValueError("Only 0 or 1 allowed for preferred SD card")
        q.add_pus_tc(
            create_load_param_cmd(
                create_scalar_u8_parameter(
                    object_id=CORE_CONTROLLER_ID,
                    domain_id=0,
                    unique_id=ParamId.PREF_SD,
                    parameter=pref_sd,
                ).pack()
            )
        )
    elif op_code == OpCode.CP_HELPER:
        cp_recursive = int(input("Copy recursively (0/1) ?: "))
        if cp_recursive not in [0, 1]:
            raise ValueError("Invalid value, only 0 or 1 allowed")
        user_data = bytearray([cp_recursive])
        user_data.extend(packet_source_dest_path("Copy"))
        q.add_log_cmd(Info.CP_HELPER)
        q.add_pus_tc(
            create_action_cmd(CORE_CONTROLLER_ID, ActionId.CP_HELPER, user_data)
        )
    elif op_code == OpCode.MV_HELPER:
        user_data = packet_source_dest_path("Move")
        q.add_log_cmd(Info.MV_HELPER)
        q.add_pus_tc(
            create_action_cmd(CORE_CONTROLLER_ID, ActionId.MV_HELPER, user_data)
        )
    elif op_code == OpCode.RM_HELPER:
        rm_recursive = int(input("Remove with recursive (-r) option (0/1) ?: "))
        if rm_recursive not in [0, 1]:
            raise ValueError("Invalid value, only 0 or 1 allowed")
        rm_force = int(input("Remove with force (-f) option (0/1) ?: "))
        if rm_force not in [0, 1]:
            raise ValueError("Invalid value, only 0 or 1 allowed")
        user_data = bytearray([rm_recursive, rm_force])
        removed_file_or_dir = input("Specify absolute path to be removed: ")
        user_data.extend(removed_file_or_dir.encode())
        user_data.append(0)
        q.add_log_cmd(Info.RM_HELPER)
        q.add_pus_tc(
            create_action_cmd(CORE_CONTROLLER_ID, ActionId.RM_HELPER, user_data)
        )
    elif op_code == OpCode.LIST_DIR_INTO_FILE:
        q.add_log_cmd(Info.LIST_DIR_INTO_FILE)
        user_data = list_directory_base_user_data()
        dest_file_path = input("Destination file path: ")
        user_data.extend(dest_file_path.encode())
        user_data.append(0)
        q.add_pus_tc(
            create_action_cmd(
                CORE_CONTROLLER_ID, ActionId.LIST_DIR_INTO_FILE, user_data
            )
        )
    elif op_code == OpCode.LIST_DIR_DUMP_DIRECTLY:
        q.add_log_cmd(Info.LIST_DIR_DUMP_DIRECTLY)
        user_data = list_directory_base_user_data()
        q.add_pus_tc(
            create_action_cmd(
                CORE_CONTROLLER_ID, ActionId.LIST_DIR_DUMP_DIRECTLY, user_data
            )
        )
    elif op_code == OpCode.MKDIR_HELPER:
        q.add_log_cmd(Info.MKDIR_HELPER)
        user_data = input("Specify absolute path of newly created directory: ")
        user_data = bytearray(user_data.encode())
        user_data.append(0)
        q.add_pus_tc(
            create_action_cmd(CORE_CONTROLLER_ID, ActionId.MKDIR_HELPER, user_data)
        )
    else:
        _LOGGER.warning(
            f"Unknown operation code {op_code} for core controller commands"
        )


def create_systemctl_cmd(systemctl_cmd: SystemctlCmd, unit_name: str):
    cmd_data = bytearray([systemctl_cmd])
    cmd_data.extend(unit_name.encode())
    return create_action_cmd(
        object_id=CORE_CONTROLLER_ID,
        action_id=ActionId.SYSTEMCTL_CMD_EXECUTOR,
        user_data=cmd_data,
    )


def list_directory_base_user_data() -> bytearray:
    all_opt = int(input("Use all (-a) option (0/1) ?: "))
    if all_opt not in [0, 1]:
        raise ValueError("Invalid value, only 0 or 1 allowed")
    recursive_opt = int(input("Use recursive (-R) option (0/1) ?: "))
    if recursive_opt not in [0, 1]:
        raise ValueError("Invalid value, only 0 or 1 allowed")
    compression_opt = int(input("Compress target file (0/1) ?: "))
    if compression_opt not in [0, 1]:
        raise ValueError("Invalid value, only 0 or 1 allowed")
    listing_path = input("Specify listing path (absolute path): ")
    user_data = bytearray([all_opt, recursive_opt, compression_opt])
    user_data.extend(listing_path.encode())
    user_data.append(0)
    return user_data


def packet_source_dest_path(context: str) -> bytes:
    source = input(f"Specify {context} source file: ")
    dest = input(f"Specify {context} destination file: ")
    raw_src_dest = bytearray(source.encode())
    raw_src_dest.append(0)
    raw_src_dest.extend(dest.encode())
    raw_src_dest.append(0)
    return raw_src_dest


def reset_specific_boot_counter(q: DefaultPusQueueHelper, chip: int, copy: int):
    q.add_log_cmd(f"Resetting boot counter {chip} {copy}")
    q.add_pus_tc(
        create_action_cmd(
            object_id=CORE_CONTROLLER_ID,
            action_id=ActionId.RESET_REBOOT_COUNTER,
            user_data=bytes([chip, copy]),
        )
    )


def create_full_reboot_cmds() -> PusTelecommand:
    return create_action_cmd(
        object_id=CORE_CONTROLLER_ID, action_id=ActionId.FULL_REBOOT
    )


def determine_reboot_params() -> (bool, Chip, Copy):
    chip_select = -1
    copy_select = -1
    reboot_self = input("Reboot self? [y/n]: ")
    if reboot_self in ["y", "yes", "1"]:
        _LOGGER.info("Rebooting currently running image")
        return True, chip_select, copy_select
    _LOGGER.info("Rebooting image specified by chip and copy")
    return False, determine_chip_and_copy()


def determine_chip_and_copy() -> (int, int):
    while True:
        chip_select = input("Chip select [0/1]: ")
        if chip_select in ["0", "1"]:
            if chip_select == "0":
                chip_select = Chip.CHIP_0
            else:
                chip_select = Chip.CHIP_1
            break
        else:
            _LOGGER.warning("Invalid chip select value. Try again")
    while True:
        copy_select = input("Copy select [0/1]: ")
        if copy_select in ["0", "1"]:
            if copy_select == "0":
                copy_select = Copy.COPY_0_NOM
            else:
                copy_select = Copy.COPY_1_GOLD
            break
        else:
            _LOGGER.warning("Invalid copy select value. Try again")
    return chip_select, copy_select


def pack_obsw_update_cmd(action_id: int) -> PusTelecommand:
    chip, copy = determine_chip_and_copy()
    user_data = bytearray([chip, copy])
    custom_file_name = input("Use custom filename [y/n] ?: ")
    if custom_file_name.lower() in ["y", "yes", "1"]:
        custom_file_name = input("Specify custom filename: ")
        user_data.extend(custom_file_name.encode())
    return create_action_cmd(
        object_id=CORE_CONTROLLER_ID, action_id=action_id, user_data=user_data
    )


def add_xsc_reboot_cmd(
    q: DefaultPusQueueHelper,
    reboot_self: bool,
    chip: Chip = Chip.NONE,
    copy: Copy = Copy.NONE,
):
    if reboot_self:
        q.add_log_cmd("Packing reboot command for current image")
    else:
        q.add_log_cmd(f"Packing reboot command for chip {chip} and copy {copy}")
    q.add_pus_tc(create_xsc_reboot_cmds(reboot_self, chip, copy))


def create_xsc_reboot_cmds(
    reboot_self: bool,
    chip: Chip = Chip.NONE,
    copy: Copy = Copy.NONE,
) -> PusTelecommand:
    tc_data = bytearray()
    if reboot_self:
        tc_data.append(True)
    else:
        tc_data.append(False)
        tc_data.append(chip)
        tc_data.append(copy)
    return create_action_cmd(
        object_id=CORE_CONTROLLER_ID, action_id=ActionId.XSC_REBOOT, user_data=tc_data
    )


def handle_core_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
    if set_id == SetId.HK:
        pw = PrintWrapper(printer)
        fmt_str = "!fff"
        inc_len = struct.calcsize(fmt_str)
        (temperature, ps_voltage, pl_voltage) = struct.unpack(
            fmt_str, hk_data[0 : 0 + inc_len]
        )
        printout = (
            f"Chip Temperature [°C] {temperature} | PS Voltage [mV] {ps_voltage} | "
            f"PL Voltage [mV] {pl_voltage}"
        )
        pw.dlog(printout)
        printer.print_validity_buffer(validity_buffer=hk_data[inc_len:], num_vars=3)


def handle_core_ctrl_action_replies(
    action_id: int, printer: FsfwTmTcPrinter, custom_data: bytes
):
    pw = PrintWrapper(printer)
    if action_id == ActionId.LIST_DIR_DUMP_DIRECTLY:
        if len(custom_data) < 4:
            _LOGGER.warning("Data unexpectedly small")
            return
        seq_idx = struct.unpack("!I", custom_data[0:4])[0]
        total_chunks = struct.unpack("!I", custom_data[4:8])[0]
        compressed = custom_data[8]
        ls_cmd = custom_data[9:].split(b"\x00")[0].decode()
        # Include length of NULL termination
        file_data_offset = 9 + len(ls_cmd) + 1
        pw.dlog(
            f"Received directory listing dump for ls command {ls_cmd}. "
            f"Chunk {seq_idx + 1}/{total_chunks}"
        )

        def remove_if_exists_and_new(seq_idx_: int, path_: Path):
            if seq_idx_ == 0 and path_.exists():
                os.remove(path_)

        if compressed:
            path = Path("dir_listing.txt.gz")
            remove_if_exists_and_new(seq_idx, path)
            pw.dlog(
                f"Compression option: {compressed}. Dumping file into dir_listing.txt.gz"
            )
            with open(path, "ab") as listing_file:
                listing_file.write(custom_data[file_data_offset:])
        else:
            path = Path("dir_listing.txt")
            remove_if_exists_and_new(seq_idx, path)
            pw.dlog(
                f"Compression option: {compressed}. Dumping file into dir_listing.txt"
            )
            with open(path, "a") as listing_file:
                listing_file_str = custom_data[file_data_offset:].decode()
                listing_file.write(listing_file_str)
            if seq_idx + 1 == total_chunks:
                pw.dlog("Full directory listing: ")
                with open("dir_listing.txt", "r") as listing_file:
                    print(listing_file.read())