eive-tmtc/eive_tmtc/tmtc/acs/acs_ctrl.py

import datetime
import enum
import logging
import math
import socket
import struct
from socket import AF_INET
from typing import Tuple

from tmtccmd.config.tmtc import (
    OpCodeEntry,
    TmtcDefinitionWrapper,
    tmtc_definitions_provider,
)
from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
from tmtccmd.pus.s8_fsfw_action import create_action_cmd
from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd
from tmtccmd.pus.s20_fsfw_param_defs import (
    create_matrix_double_parameter,
    create_matrix_float_parameter,
    create_scalar_double_parameter,
    create_scalar_float_parameter,
    create_scalar_i32_parameter,
    create_scalar_u8_parameter,
    create_scalar_u16_parameter,
    create_vector_double_parameter,
    create_vector_float_parameter,
)
from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_command
from tmtccmd.pus.tc.s3_fsfw_hk import (
    create_request_one_diag_command,
    create_request_one_hk_command,
    disable_periodic_hk_command,
    enable_periodic_hk_command_with_interval,
    make_sid,
)
from tmtccmd.tmtc import service_provider
from tmtccmd.tmtc.decorator import ServiceProviderParams
from tmtccmd.tmtc.queue import DefaultPusQueueHelper

from eive_tmtc.config.definitions import CustomServiceList
from eive_tmtc.config.object_ids import ACS_CONTROLLER
from eive_tmtc.pus_tm.defs import PrintWrapper
from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode

_LOGGER = logging.getLogger(__name__)


class SetId(enum.IntEnum):
    MGM_RAW_SET = 0
    MGM_PROC_SET = 1
    SUS_RAW_SET = 2
    SUS_PROC_SET = 3
    GYR_RAW_SET = 4
    GYR_PROC_SET = 5
    GPS_PROC_SET = 6
    ATTITUDE_ESTIMATION_DATA = 7
    CTRL_VAL_DATA = 8
    ACTUATOR_CMD_DATA = 9
    FUSED_ROT_RATE_DATA = 10
    FUSED_ROT_RATE_SOURCE_DATA = 11


class DataSetRequest(enum.IntEnum):
    ONESHOT = 0
    ENABLE = 1
    DISABLE = 2


class ActionId(enum.IntEnum):
    SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0
    RESET_MEKF = 1
    RESTORE_MEKF_NONFINITE_RECOVERY = 2
    UPDATE_TLE = 3
    READ_TLE = 4


CTRL_STRAT_DICT = {
    0: "OFF",
    1: "NO_MAG_FIELD_FOR_CONTROL",
    2: "NO_SENSORS_FOR_CONTROL",
    # OBSW <= v6.1.0
    10: "LEGACY_SAFE_MEKF",
    11: "LEGACY_WITHOUT_MEKF",
    12: "LEGACY_ECLIPSE_DAMPING",
    13: "LEGACY_ECLIPSE_IDELING",
    # Added in OBSW v6.2.0
    14: "SAFE_MEKF",
    15: "SAFE_GYR",
    16: "SAFE_SUSMGM",
    17: "SAFE_ECLIPSE_DAMPING_GYR",
    18: "SAFE_ECLIPSE_DAMPING_SUSMGM",
    19: "SAFE_ECLIPSE_IDELING",
    20: "DETUMBLE_FULL",
    21: "DETUMBLE_DETERIORATED",
    30: "PTG_MEKF",
    31: "PTG_RAW",
}

GPS_COURCE_DICT = {
    0: "NONE",
    1: "GPS",
    2: "GPS_EXTRAPOLATED",
    3: "SGP4",
}


class OpCodes:
    OFF = "off"
    SAFE = "safe"
    DTBL = "safe_detumble"
    IDLE = "ptg_idle"
    NADIR = "ptg_nadir"
    TARGET = "ptg_target"
    GS = "ptg_target_gs"
    INERTIAL = "ptg_inertial"
    SAFE_PTG = "confirm_deployment"
    RESET_MEKF = "reset_mekf"
    RESTORE_MEKF_NONFINITE_RECOVERY = "restore_mekf_nonfinite_recovery"
    UPDATE_TLE = "update_tle"
    READ_TLE = "read_tle"
    SET_PARAMETER_SCALAR = "set_scalar_param"
    SET_PARAMETER_VECTOR = "set_vector_param"
    SET_PARAMETER_MATRIX = "set_matrix_param"
    ONE_SHOOT_HK = "one_shot_hk"
    ENABLE_HK = "enable_hk"
    DISABLE_HK = "disable_hk"


class Info:
    OFF = "Switch ACS CTRL off"
    SAFE = "Switch ACS CTRL - safe"
    DTBL = "Switch ACS CTRL - safe with detumble submode"
    IDLE = "Switch ACS CTRL - pointing idle"
    NADIR = "Switch ACS CTRL normal - pointing nadir"
    TARGET = "Switch ACS CTRL normal - pointing target"
    GS = "Switch ACS CTRL normal - pointing target groundstation"
    INERTIAL = "Switch ACS CTRL normal - pointing inertial"
    SAFE_PTG = "Confirm deployment of both solar arrays"
    RESET_MEKF = "Reset the MEKF"
    RESTORE_MEKF_NONFINITE_RECOVERY = "Restore MEKF non-finite recovery"
    UPDATE_TLE = "Update TLE"
    READ_TLE = "Read the currently stored TLE"
    SET_PARAMETER_SCALAR = "Set Scalar Parameter"
    SET_PARAMETER_VECTOR = "Set Vector Parameter"
    SET_PARAMETER_MATRIX = "Set Matrix Parameter"
    ONE_SHOOT_HK = "One shoot HK Set"
    ENABLE_HK = "Enable Periodic HK"
    DISABLE_HK = "Disable Periodic HK"


PERFORM_MGM_CALIBRATION = False
CALIBRATION_SOCKET_HOST = "localhost"
CALIBRATION_SOCKET_PORT = 6677
CALIBRATION_ADDR = (CALIBRATION_SOCKET_HOST, CALIBRATION_SOCKET_PORT)

if PERFORM_MGM_CALIBRATION:
    CALIBR_SOCKET = socket.socket(AF_INET, socket.SOCK_STREAM)
    CALIBR_SOCKET.setblocking(False)
    CALIBR_SOCKET.settimeout(0.2)
    CALIBR_SOCKET.connect(CALIBRATION_ADDR)


@tmtc_definitions_provider
def acs_cmd_defs(defs: TmtcDefinitionWrapper):
    oce = OpCodeEntry()
    oce.add(keys=OpCodes.OFF, info=Info.OFF)
    oce.add(keys=OpCodes.SAFE, info=Info.SAFE)
    oce.add(keys=OpCodes.DTBL, info=Info.DTBL)
    oce.add(keys=OpCodes.IDLE, info=Info.IDLE)
    oce.add(keys=OpCodes.NADIR, info=Info.NADIR)
    oce.add(keys=OpCodes.TARGET, info=Info.TARGET)
    oce.add(keys=OpCodes.GS, info=Info.GS)
    oce.add(keys=OpCodes.INERTIAL, info=Info.INERTIAL)
    oce.add(keys=OpCodes.SAFE_PTG, info=Info.SAFE_PTG)
    oce.add(keys=OpCodes.RESET_MEKF, info=Info.RESET_MEKF)
    oce.add(
        keys=OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY,
        info=Info.RESTORE_MEKF_NONFINITE_RECOVERY,
    )
    oce.add(keys=OpCodes.UPDATE_TLE, info=Info.UPDATE_TLE)
    oce.add(keys=OpCodes.READ_TLE, info=Info.READ_TLE)
    oce.add(keys=OpCodes.SET_PARAMETER_SCALAR, info=Info.SET_PARAMETER_SCALAR)
    oce.add(keys=OpCodes.SET_PARAMETER_VECTOR, info=Info.SET_PARAMETER_VECTOR)
    oce.add(keys=OpCodes.SET_PARAMETER_MATRIX, info=Info.SET_PARAMETER_MATRIX)
    oce.add(keys=OpCodes.ONE_SHOOT_HK, info=Info.ONE_SHOOT_HK)
    oce.add(keys=OpCodes.ENABLE_HK, info=Info.ENABLE_HK)
    oce.add(keys=OpCodes.DISABLE_HK, info=Info.DISABLE_HK)
    defs.add_service(
        name=CustomServiceList.ACS_CTRL.value, info="ACS Controller", op_code_entry=oce
    )


@service_provider(CustomServiceList.ACS_CTRL.value)
def pack_acs_ctrl_command(p: ServiceProviderParams):  # noqa C901
    op_code = p.op_code
    q = p.queue_helper
    if op_code == OpCodes.OFF:
        q.add_log_cmd(f"{Info.OFF}")
        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
    elif op_code == OpCodes.SAFE:
        q.add_log_cmd(f"{Info.SAFE}")
        q.add_pus_tc(
            pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT)
        )
    elif op_code == OpCodes.DTBL:
        q.add_log_cmd(f"{Info.DTBL}")
        q.add_pus_tc(
            pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE)
        )
    elif op_code == OpCodes.IDLE:
        q.add_log_cmd(f"{Info.IDLE}")
        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0))
    elif op_code == OpCodes.NADIR:
        q.add_log_cmd(f"{Info.NADIR}")
        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0))
    elif op_code == OpCodes.TARGET:
        q.add_log_cmd(f"{Info.TARGET}")
        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0))
    elif op_code == OpCodes.GS:
        q.add_log_cmd(f"{Info.GS}")
        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0))
    elif op_code == OpCodes.INERTIAL:
        q.add_log_cmd(f"{Info.INERTIAL}")
        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0))
    elif op_code == OpCodes.SAFE_PTG:
        q.add_log_cmd(f"{Info.SAFE_PTG}")
        q.add_pus_tc(
            create_action_cmd(
                ACS_CONTROLLER, ActionId.SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL
            )
        )
    elif op_code == OpCodes.RESET_MEKF:
        q.add_log_cmd(f"{Info.RESET_MEKF}")
        q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.RESET_MEKF))
    elif op_code == OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY:
        q.add_log_cmd(f"{Info.RESTORE_MEKF_NONFINITE_RECOVERY}")
        q.add_pus_tc(
            create_action_cmd(ACS_CONTROLLER, ActionId.RESTORE_MEKF_NONFINITE_RECOVERY)
        )
    elif op_code == OpCodes.UPDATE_TLE:
        q.add_log_cmd(f"{Info.UPDATE_TLE}")
        while True:
            line1 = input("Please input the first line of the TLE: ")
            if len(line1) == 69:
                break
            else:
                print("The line does not have the required length of 69 characters")
        while True:
            line2 = input("Please input the second line of the TLE: ")
            if len(line2) == 69:
                break
            else:
                print("The line does not have the required length of 69 characters")
        tle = line1.encode() + line2.encode()
        q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.UPDATE_TLE, tle))
    elif op_code == OpCodes.READ_TLE:
        q.add_log_cmd(f"{Info.READ_TLE}")
        q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.READ_TLE))
    elif op_code == OpCodes.SET_PARAMETER_SCALAR:
        q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}")
        set_acs_ctrl_param_scalar(q)
    elif op_code == OpCodes.SET_PARAMETER_VECTOR:
        q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}")
        set_acs_ctrl_param_vector(q)
    elif op_code == OpCodes.SET_PARAMETER_MATRIX:
        q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}")
        set_acs_ctrl_param_matrix(q)
    elif op_code == OpCodes.ONE_SHOOT_HK:
        q.add_log_cmd(Info.ONE_SHOOT_HK)
        request_dataset(q, DataSetRequest.ONESHOT)
    elif op_code == OpCodes.ENABLE_HK:
        q.add_log_cmd(Info.ENABLE_HK)
        request_dataset(q, DataSetRequest.ENABLE)
    elif op_code == OpCodes.DISABLE_HK:
        q.add_log_cmd(Info.DISABLE_HK)
        request_dataset(q, DataSetRequest.DISABLE)
    else:
        logging.getLogger(__name__).info(f"Unknown op code {op_code}")


def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest):
    for val in SetId:
        print("{:<2}: {:<20}".format(val, val.name))
    set_id = int(input("Specify the dataset \n" ""))
    if set_id in [
        SetId.GYR_RAW_SET,
        SetId.GPS_PROC_SET,
        SetId.ATTITUDE_ESTIMATION_DATA,
    ]:
        is_diag = True
    else:
        is_diag = False
    match req_type:
        case DataSetRequest.ONESHOT:
            if is_diag:
                q.add_pus_tc(
                    create_request_one_diag_command(make_sid(ACS_CONTROLLER, set_id))
                )
            else:
                q.add_pus_tc(
                    create_request_one_hk_command(make_sid(ACS_CONTROLLER, set_id))
                )
        case DataSetRequest.ENABLE:
            interval = float(
                input("Please specify interval in floating point seconds: ")
            )

            if is_diag:
                cmd_tuple = enable_periodic_hk_command_with_interval(
                    True, make_sid(ACS_CONTROLLER, set_id), interval
                )
            else:
                cmd_tuple = enable_periodic_hk_command_with_interval(
                    False, make_sid(ACS_CONTROLLER, set_id), interval
                )
            q.add_pus_tc(cmd_tuple[0])
            q.add_pus_tc(cmd_tuple[1])
        case DataSetRequest.DISABLE:
            if is_diag:
                q.add_pus_tc(
                    disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, set_id))
                )
            else:
                q.add_pus_tc(
                    disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, set_id))
                )


def set_acs_ctrl_param_scalar(q: DefaultPusQueueHelper):
    pt = int(
        input(
            'Specify parameter type to set {0: "uint8", 1: "uint16", 2: "int32", 3:'
            ' "float", 4: "double"}: '
        )
    )
    sid = int(input("Specify parameter struct ID to set: "))
    pid = int(input("Specify parameter ID to set: "))
    match pt:
        case 0:
            param = int(input("Specify parameter value to set: "))
            q.add_pus_tc(
                create_load_param_cmd(
                    create_scalar_u8_parameter(
                        object_id=ACS_CONTROLLER,
                        domain_id=sid,
                        unique_id=pid,
                        parameter=param,
                    )
                )
            )
        case 1:
            param = int(input("Specify parameter value to set: "))
            q.add_pus_tc(
                create_load_param_cmd(
                    create_scalar_u16_parameter(
                        object_id=ACS_CONTROLLER,
                        domain_id=sid,
                        unique_id=pid,
                        parameter=param,
                    )
                )
            )
        case 2:
            param = int(input("Specify parameter value to set: "))
            q.add_pus_tc(
                create_load_param_cmd(
                    create_scalar_i32_parameter(
                        object_id=ACS_CONTROLLER,
                        domain_id=sid,
                        unique_id=pid,
                        parameter=param,
                    )
                )
            )
        case 3:
            param = float(input("Specify parameter value to set: "))
            q.add_pus_tc(
                create_load_param_cmd(
                    create_scalar_float_parameter(
                        object_id=ACS_CONTROLLER,
                        domain_id=sid,
                        unique_id=pid,
                        parameter=param,
                    )
                )
            )
        case 4:
            param = float(input("Specify parameter value to set: "))
            q.add_pus_tc(
                create_load_param_cmd(
                    create_scalar_double_parameter(
                        object_id=ACS_CONTROLLER,
                        domain_id=sid,
                        unique_id=pid,
                        parameter=param,
                    )
                )
            )


def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper):
    pt = int(input('Specify parameter type to set {0: "float", 1: "double"}: '))
    sid = int(input("Specify parameter struct ID to set: "))
    pid = int(input("Specify parameter ID to set: "))
    match pt:
        case 0:
            elms = int(input("Specify number of elements in vector to set: "))
            param = []
            for _ in range(elms):
                param.append(
                    float(input("Specify parameter vector entry value to set: "))
                )
            print(param)
            if input("Confirm selected parameter values (Y/N): ") == "Y":
                q.add_pus_tc(
                    create_load_param_cmd(
                        create_vector_float_parameter(
                            object_id=ACS_CONTROLLER,
                            domain_id=sid,
                            unique_id=pid,
                            parameters=param,
                        ).pack()
                    )
                )
            else:
                q.add_log_cmd("Aborted by user input")
                return
        case 1:
            elms = int(input("Specify number of elements in vector to set: "))
            param = []
            for _ in range(elms):
                param.append(
                    float(input("Specify parameter vector entry value to set: "))
                )
            print(param)
            if input("Confirm selected parameter values (Y/N): ") == "Y":
                q.add_pus_tc(
                    create_load_param_cmd(
                        create_vector_double_parameter(
                            object_id=ACS_CONTROLLER,
                            domain_id=sid,
                            unique_id=pid,
                            parameters=param,
                        )
                    )
                )
            else:
                q.add_log_cmd("Aborted by user input")
                return


def set_acs_ctrl_param_matrix(q: DefaultPusQueueHelper):
    pt = int(input('Specify parameter type to set {0: "float", 1: "double"}: '))
    sid = int(input("Specify parameter struct ID to set: "))
    pid = int(input("Specify parameter ID to set: "))
    match pt:
        case 0:
            rows = int(input("Specify number of rows in matrix to set: "))
            cols = int(input("Specify number of columns in matrix to set: "))
            row = []
            param = []
            for _ in range(rows):
                for _ in range(cols):
                    row.append(
                        float(input("Specify parameter vector entry value to set: "))
                    )
                param.append(row)
            print(param)
            if input("Confirm selected parameter values (Y/N): ") == "Y":
                q.add_pus_tc(
                    create_load_param_cmd(
                        create_matrix_float_parameter(
                            object_id=ACS_CONTROLLER,
                            domain_id=sid,
                            unique_id=pid,
                            parameters=param,
                        )
                    )
                )
            else:
                q.add_log_cmd("Aborted by user input")
                return
        case 1:
            rows = int(input("Specify number of rows in matrix to set: "))
            cols = int(input("Specify number of columns in matrix to set: "))
            row = []
            param = []
            for _ in range(rows):
                for _ in range(cols):
                    row.append(
                        float(input("Specify parameter vector entry value to set: "))
                    )
                param.append(row)
                row = []
            print(param)
            if input("Confirm selected parameter values (Y/N): ") == "Y":
                q.add_pus_tc(
                    create_load_param_cmd(
                        create_matrix_double_parameter(
                            object_id=ACS_CONTROLLER,
                            domain_id=sid,
                            unique_id=pid,
                            parameters=param,
                        )
                    )
                )
            else:
                q.add_log_cmd("Aborted by user input")
                return


def handle_acs_ctrl_hk_data(
    pw: PrintWrapper,
    set_id: int,
    hk_data: bytes,
    packet_time: datetime.datetime,
):
    pw.ilog(_LOGGER, f"Received ACS CTRL HK with packet time {packet_time}")
    match set_id:
        case SetId.MGM_RAW_SET:
            handle_raw_mgm_data(pw, hk_data)
        case SetId.MGM_PROC_SET:
            handle_mgm_data_processed(pw, hk_data)
        case SetId.SUS_RAW_SET:
            handle_acs_ctrl_sus_raw_data(pw, hk_data)
        case SetId.SUS_PROC_SET:
            handle_acs_ctrl_sus_processed_data(pw, hk_data)
        case SetId.GYR_RAW_SET:
            handle_gyr_data_raw(pw, hk_data)
        case SetId.GYR_PROC_SET:
            handle_gyr_data_processed(pw, hk_data)
        case SetId.GPS_PROC_SET:
            handle_gps_data_processed(pw, hk_data)
        case SetId.ATTITUDE_ESTIMATION_DATA:
            handle_mekf_data(pw, hk_data)
        case SetId.CTRL_VAL_DATA:
            handle_ctrl_val_data(pw, hk_data)
        case SetId.ACTUATOR_CMD_DATA:
            handle_act_cmd_data(pw, hk_data)
        case SetId.FUSED_ROT_RATE_DATA:
            handle_fused_rot_rate_data(pw, hk_data)


def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
    if len(hk_data) < 6 * 2 * 12:
        pw.dlog(
            f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
            f" of {6 * 2 * 12} bytes"
        )
        return
    current_idx = 0
    vec_fmt = "["
    for _ in range(5):
        vec_fmt += "{:#06x}, "
    vec_fmt += "{:#06x}]"
    for idx in range(12):
        fmt_str = "!HHHHHH"
        length = struct.calcsize(fmt_str)
        sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
        sus_list_formatted = vec_fmt.format(*sus_list)
        current_idx += length
        pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=12)


def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
    if len(hk_data) < 3 * 4 * 12 + 3 * 8 * 3:
        pw.dlog(
            f"SUS Processed dataset with size {len(hk_data)} does not have expected"
            f" size of {3 * 4 * 12 + 3 * 8 * 3} bytes"
        )
        return
    current_idx = 0
    vec_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
    for idx in range(12):
        fmt_str = "!fff"
        length = struct.calcsize(fmt_str)
        sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
        sus_list_formatted = vec_fmt.format(*sus_list)
        current_idx += length
        pw.dlog(f"{f'SUS {idx} CALIB'.ljust(25)}: {sus_list_formatted}")
    fmt_str = "!ddd"
    inc_len = struct.calcsize(fmt_str)
    sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])

    sus_vec_tot = vec_fmt.format(*sus_vec_tot)
    current_idx += inc_len
    pw.dlog(f"{'SUS Vector Total'.ljust(25)}: {sus_vec_tot}")
    sus_vec_tot_deriv = struct.unpack(
        fmt_str, hk_data[current_idx : current_idx + inc_len]
    )
    sus_vec_tot_deriv = vec_fmt.format(*sus_vec_tot_deriv)
    current_idx += inc_len
    pw.dlog(f"{'SUS Vector Derivative'.ljust(25)}: {sus_vec_tot_deriv}")
    sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    sun_ijk_model = vec_fmt.format(*sun_ijk_model)
    current_idx += inc_len
    pw.dlog(f"{'SUS ijk Model'.ljust(25)}: {sun_ijk_model}")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=15)


def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
    current_idx = 0

    if len(hk_data) < 61:
        pw.dlog(
            f"ACS CTRL HK: MGM HK data with length {len(hk_data)} shorter than expected"
            " 61 bytes"
        )
        pw.dlog(f"Raw Data: {hk_data.hex(sep=',')}")
        return

    def unpack_float_tuple(idx: int) -> (tuple, int):
        f_tuple = struct.unpack(
            float_tuple_fmt_str,
            hk_data[idx : idx + struct.calcsize(float_tuple_fmt_str)],
        )
        idx += struct.calcsize(float_tuple_fmt_str)
        return f_tuple, idx

    float_tuple_fmt_str = "!fff"
    mgm_0_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx)
    mgm_1_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx)
    mgm_2_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx)
    mgm_3_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx)
    isis_floats_nt, current_idx = unpack_float_tuple(current_idx)
    imtq_mgm_ut = tuple(val / 1000.0 for val in isis_floats_nt)
    pw.dlog("ACS CTRL HK: MGM values [X,Y,Z] in floating point uT: ")
    mgm_lists = [
        mgm_0_lis3_floats_ut,
        mgm_1_rm3100_floats_ut,
        mgm_2_lis3_floats_ut,
        mgm_3_rm3100_floats_ut,
        imtq_mgm_ut,
    ]
    formatted_list = []
    # Reserve 8 decimal digits, use precision 3
    float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
    for mgm_entry in mgm_lists[0:4]:
        formatted_list.append(float_str_fmt.format(*mgm_entry))
    formatted_list.append(float_str_fmt.format(*mgm_lists[4]))
    formatted_list.append(hk_data[current_idx])
    print_str_list = [
        "ACS Board MGM 0 LIS3MDL",
        "ACS Board MGM 1 RM3100",
        "ACS Board MGM 2 LIS3MDL",
        "ACS Board MGM 3 RM3100",
        "IMTQ MGM:",
        "IMTQ Actuation Status:",
    ]
    for entry in zip(print_str_list, formatted_list):
        pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}")
    current_idx += 1
    assert current_idx == 61
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)


def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received Processed MGM Set")
    fmt_str = "!fffffddd"
    inc_len = struct.calcsize(fmt_str)
    if len(hk_data) < inc_len:
        pw.dlog("Recieved HK set too small")
        return
    current_idx = 0
    fmt_str = "!fff"
    vec_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
    inc_len = struct.calcsize(fmt_str)
    mgm_0 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    mgm_0_str = vec_fmt.format(*mgm_0)
    pw.dlog(f"{'MGM 0 Vec'.ljust(25)}: {mgm_0_str}")
    current_idx += inc_len
    mgm_1 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    mgm_1_str = vec_fmt.format(*mgm_1)
    pw.dlog(f"{'MGM 1 Vec'.ljust(25)}: {mgm_1_str}")
    current_idx += inc_len
    mgm_2 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    mgm_2_str = vec_fmt.format(*mgm_2)
    pw.dlog(f"{'MGM 2 Vec'.ljust(25)}: {mgm_2_str}")
    current_idx += inc_len
    mgm_3 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    mgm_3_str = vec_fmt.format(*mgm_3)
    pw.dlog(f"{'MGM 3 Vec'.ljust(25)}: {mgm_3_str}")
    current_idx += inc_len
    mgm_4 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    mgm_4_str = vec_fmt.format(*mgm_4)
    pw.dlog(f"{'MGM 4 Vec'.ljust(25)}: {mgm_4_str}")
    current_idx += inc_len
    fmt_str = "!ddd"
    inc_len = struct.calcsize(fmt_str)
    mgm_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    mgm_vec_tot = vec_fmt.format(*mgm_vec_tot)
    current_idx += inc_len
    pw.dlog(f"{'MGM Total Vec'.ljust(25)}: {mgm_vec_tot}")
    mgm_vec_tot_deriv = struct.unpack(
        fmt_str, hk_data[current_idx : current_idx + inc_len]
    )
    mgm_vec_tot_deriv = vec_fmt.format(*mgm_vec_tot_deriv)
    pw.dlog(f"{'MGM Total Vec Deriv'.ljust(25)}: {mgm_vec_tot_deriv}")
    current_idx += inc_len
    mag_igrf_model = struct.unpack(
        fmt_str, hk_data[current_idx : current_idx + inc_len]
    )
    mag_igrf_model = vec_fmt.format(*mag_igrf_model)
    pw.dlog(f"{'MAG IGRF Model'.ljust(25)}: {mag_igrf_model}")
    current_idx += inc_len
    if PERFORM_MGM_CALIBRATION:
        perform_mgm_calibration(pw, mgm_3)
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8)


def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received GYR Raw Set with rotation rates in deg per second")
    float_fmt = "!fff"
    double_fmt = "!ddd"
    inc_len_flt = struct.calcsize(float_fmt)
    inc_len_double = struct.calcsize(double_fmt)
    if len(hk_data) < 2 * inc_len_double + 2 * inc_len_flt:
        pw.dlog("HK data too small")
        return
    current_idx = 0
    float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
    gyr_0_adis = struct.unpack(
        double_fmt, hk_data[current_idx : current_idx + inc_len_double]
    )
    current_idx += inc_len_double
    gyr_1_l3 = struct.unpack(
        float_fmt, hk_data[current_idx : current_idx + inc_len_flt]
    )
    current_idx += inc_len_flt
    gyr_2_adis = struct.unpack(
        double_fmt, hk_data[current_idx : current_idx + inc_len_double]
    )
    current_idx += inc_len_double
    gyr_3_l3 = struct.unpack(
        float_fmt, hk_data[current_idx : current_idx + inc_len_flt]
    )
    current_idx += inc_len_flt
    pw.dlog(f"{'GYR 0 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_0_adis)}")
    pw.dlog(f"{'GYR 1 L3'.ljust(15)}: {float_str_fmt.format(*gyr_1_l3)}")
    pw.dlog(f"{'GYR 2 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_2_adis)}")
    pw.dlog(f"{'GYR 3 L3'.ljust(15)}: {float_str_fmt.format(*gyr_3_l3)}")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4)


GYR_NAMES = ["GYR 0 ADIS", "GYR 1 L3", "GYR 2 ADIS", "GYR 3 L3"]


def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received GYR Processed Set with rotation rates in deg per second")
    fmt_str = "!ddd"
    inc_len = struct.calcsize(fmt_str)
    current_idx = 0
    for i in range(4):
        gyr_vec = [
            f"{val*180/math.pi:8.3f}"
            for val in struct.unpack(
                fmt_str, hk_data[current_idx : current_idx + inc_len]
            )
        ]
        pw.dlog(f"{GYR_NAMES[i]}: {gyr_vec}")
        current_idx += inc_len
    gyr_vec_tot = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    ]
    pw.dlog(f"GYR Vec Total: {gyr_vec_tot}")
    current_idx += inc_len
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)


def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received GPS Processed Set")
    fmt_source = "!B"
    fmt_scalar = "!d"
    fmt_vec = "!ddd"
    inc_len_source = struct.calcsize(fmt_source)
    inc_len_scalar = struct.calcsize(fmt_scalar)
    inc_len_vec = struct.calcsize(fmt_vec)
    if len(hk_data) < 3 * inc_len_scalar + 2 * inc_len_vec + inc_len_source:
        pw.dlog("Received HK set too small")
        return
    current_idx = 0
    lat = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
        )
    ]
    current_idx += inc_len_scalar
    long = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
        )
    ]
    current_idx += inc_len_scalar
    alt = [
        f"{val:8.3f}"
        for val in struct.unpack(
            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
        )
    ]
    current_idx += inc_len_scalar
    pos = [
        f"{val:8.3f}"
        for val in struct.unpack(
            fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
        )
    ]
    current_idx += inc_len_vec
    velo = [
        f"{val:8.3f}"
        for val in struct.unpack(
            fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
        )
    ]
    current_idx += inc_len_vec
    source = struct.unpack(
        fmt_source, hk_data[current_idx : current_idx + inc_len_source]
    )[0]
    current_idx += inc_len_source
    if GPS_COURCE_DICT.get(source) is not None:
        pw.dlog(f"GPS Source: {GPS_COURCE_DICT[source]}")
    else:
        pw.dlog(f"'GPS Source (key unknown)': {source}")
    pw.dlog(f"GPS Latitude: {lat} [deg]")
    pw.dlog(f"GPS Longitude: {long} [deg]")
    pw.dlog(f"GPS Altitude: {alt} [m]")
    pw.dlog(f"GPS Position: {pos} [m]")
    pw.dlog(f"GPS Velocity: {velo} [m/s]")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)


def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
    mekf_status = {
        0: "UNINITIALIZED",
        1: "NO_GYR_DATA",
        2: "NO_MODEL_VECTORS",
        3: "NO_SUS_MGM_STR_DATA",
        4: "COVARIANCE_INVERSION_FAILED",
        5: "NOT_FINITE",
        10: "INITIALIZED",
        11: "RUNNING",
    }
    pw.dlog("Received MEKF Set")
    fmt_quat = "!dddd"
    fmt_str_4 = "[{:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}]"
    fmt_str_3 = "[{:8.3f}, {:8.3f}, {:8.3f}]"
    fmt_vec = "!ddd"
    fmt_sts = "!B"
    inc_len_quat = struct.calcsize(fmt_quat)
    inc_len_vec = struct.calcsize(fmt_vec)
    inc_len_sts = struct.calcsize(fmt_sts)
    if len(hk_data) < inc_len_quat + inc_len_vec + inc_len_sts:
        pw.dlog("Received HK set too small")
        return
    current_idx = 0
    quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])
    current_idx += inc_len_quat
    rates = [
        rate * 180 / math.pi
        for rate in struct.unpack(
            fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
        )
    ]
    current_idx += inc_len_vec
    status = struct.unpack(fmt_sts, hk_data[current_idx : current_idx + inc_len_sts])[0]
    current_idx += inc_len_sts
    if mekf_status.get(status) is not None:
        pw.dlog(f"{'MEKF Status'.ljust(25)}: {mekf_status[status]}")
    else:
        pw.dlog(f"{'MEKF Raw Status (key unknown)'.ljust(25)}: {status}")
    pw.dlog(f"{'MEKF Quaternion'.ljust(25)}: {fmt_str_4.format(*quat)}")
    pw.dlog(f"{'MEKF Rotational Rate'.ljust(25)}: {fmt_str_3.format(*rates)}")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)


def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received CTRL Values Set")
    fmt_strat = "!B"
    fmt_quat = "!dddd"
    fmt_scalar = "!d"
    fmt_vec = "!ddd"
    inc_len_strat = struct.calcsize(fmt_strat)
    inc_len_quat = struct.calcsize(fmt_quat)
    inc_len_scalar = struct.calcsize(fmt_scalar)
    inc_len_vec = struct.calcsize(fmt_vec)
    if len(hk_data) < inc_len_strat + 2 * inc_len_quat + inc_len_scalar + inc_len_vec:
        pw.dlog("Received HK set too small")
        return
    current_idx = 0
    strat = struct.unpack(
        fmt_strat, hk_data[current_idx : current_idx + inc_len_strat]
    )[0]
    current_idx += inc_len_strat
    tgt_quat = [
        f"{val:8.3f}"
        for val in struct.unpack(
            fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
        )
    ]
    current_idx += inc_len_quat
    err_quat = [
        f"{val:8.3f}"
        for val in struct.unpack(
            fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
        )
    ]
    current_idx += inc_len_quat
    err_ang = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
        )
    ]
    current_idx += inc_len_scalar
    tgt_rot = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
        )
    ]
    current_idx += inc_len_vec
    if CTRL_STRAT_DICT.get(strat) is not None:
        pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {CTRL_STRAT_DICT[strat]}")
    else:
        pw.dlog(f"{'Safe Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
    pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
    pw.dlog(f"Control Values Error Quaternion: {err_quat}")
    pw.dlog(f"Control Values Error Angle: {err_ang} [deg]")
    pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [deg/s]")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)


def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received Actuator Command Values Set")
    fmt_vec4_double = "!dddd"
    fmt_vec4_int32 = "!iiii"
    fmt_vec3_int16 = "!hhh"
    inc_len_vec4_double = struct.calcsize(fmt_vec4_double)
    inc_len_vec4_int32 = struct.calcsize(fmt_vec4_int32)
    inc_len_vec3_int16 = struct.calcsize(fmt_vec3_int16)
    if len(hk_data) < inc_len_vec4_double + inc_len_vec4_int32 + inc_len_vec3_int16:
        pw.dlog("Received HK set too small")
        return
    current_idx = 0
    rw_tgt_torque = [
        f"{val:8.3f}"
        for val in struct.unpack(
            fmt_vec4_double, hk_data[current_idx : current_idx + inc_len_vec4_double]
        )
    ]
    current_idx += inc_len_vec4_double
    rw_tgt_speed = [
        f"{val:d}"
        for val in struct.unpack(
            fmt_vec4_int32, hk_data[current_idx : current_idx + inc_len_vec4_int32]
        )
    ]
    current_idx += inc_len_vec4_int32
    mtq_tgt_dipole = [
        f"{val:d}"
        for val in struct.unpack(
            fmt_vec3_int16, hk_data[current_idx : current_idx + inc_len_vec3_int16]
        )
    ]
    current_idx += inc_len_vec3_int16
    pw.dlog(f"Actuator Commands RW Target Torque: {rw_tgt_torque}")
    pw.dlog(f"Actuator Commands RW Target Speed: {rw_tgt_speed}")
    pw.dlog(f"Actuator Commands MTQ Target Dipole: {mtq_tgt_dipole}")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)


def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received Fused Rotation Rates Data Set")
    fmt_vec3_double = "!ddd"
    inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
    if len(hk_data) < 3 * inc_len_vec3_double:
        pw.dlog("Received HK set too small")
        return
    current_idx = 0
    rot_rate_orthogonal = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
        )
    ]
    current_idx += inc_len_vec3_double
    rot_rate_parallel = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
        )
    ]
    current_idx += inc_len_vec3_double
    rot_rate_total = [
        f"{val*180/math.pi:8.3f}"
        for val in struct.unpack(
            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
        )
    ]
    current_idx += inc_len_vec3_double
    pw.dlog(f"Fused Rotational Rate Orthogonal: {rot_rate_orthogonal} [deg/s]")
    pw.dlog(f"Fused Rotational Rate Parallel: {rot_rate_parallel} [deg/s]")
    pw.dlog(f"Fused Rotational Rate Total: {rot_rate_total} [deg/s]")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)


def handle_acs_ctrl_action_replies(
    action_id: int, pw: PrintWrapper, custom_data: bytes
):
    if action_id == ActionId.READ_TLE:
        handle_read_tle(pw, custom_data)


def handle_read_tle(pw: PrintWrapper, custom_data: bytes):
    pw.dlog("Received TLE")
    data_length = 69 * 2
    if len(custom_data) != data_length:
        raise ValueError(f"Received data of unexpected length {len(custom_data)}")
    tle = custom_data.decode()
    pw.dlog(f"{tle[0:69]}\n{tle[69:69*2]}")


def perform_mgm_calibration(  # noqa C901: Complexity okay
    pw: PrintWrapper, mgm_tuple: Tuple
):  # noqa C901: Complexity okay
    global CALIBR_SOCKET, CALIBRATION_ADDR
    try:
        declare_api_cmd = "declare_api_version 2"
        CALIBR_SOCKET.sendall(f"{declare_api_cmd}\n".encode())
        reply = CALIBR_SOCKET.recv(1024)
        if len(reply) != 2:
            pw.dlog(
                f"MGM calibration: Reply received command {declare_api_cmd} has"
                f" invalid length {len(reply)}"
            )
            return
        else:
            if str(reply[0]) == "0":
                pw.dlog("MGM calibration: API version 2 was not accepted")
                return
        if len(mgm_tuple) != 3:
            pw.dlog(f"MGM tuple has invalid length {len(mgm_tuple)}")
        mgm_list = [mgm / 1e6 for mgm in mgm_tuple]
        command = (
            f"magnetometer_field {mgm_list[0]} {mgm_list[1]} {mgm_list[2]}\n".encode()
        )
        CALIBR_SOCKET.sendall(command)
        reply = CALIBR_SOCKET.recv(1024)
        if len(reply) != 2:
            pw.dlog(
                "MGM calibration: Reply received command magnetometer_field has"
                f" invalid length {len(reply)}"
            )
            return
        else:
            if str(reply[0]) == "0":
                pw.dlog("MGM calibration: magnetmeter field format was not accepted")
                return
        pw.dlog(f"Sent data {mgm_list} to Helmholtz Testbench successfully")
    except socket.timeout:
        pw.dlog("Socket timeout")
    except BlockingIOError as e:
        pw.dlog(f"Error {e}")
    except ConnectionResetError as e:
        pw.dlog(f"Socket was closed: {e}")
    except ConnectionRefusedError or OSError:
        pw.dlog("Connecting to Calibration Socket on addrss {} failed")