eive-tmtc/eive_tmtc/tmtc/payload/ploc_supervisor.py

# -*- coding: utf-8 -*-
"""
@file   ploc_supervisor.py
@brief  Tests for commanding the supervisor of the PLOC.
        The supervisor is programmed by Thales.
@author J. Meier
@date   10.07.2021
"""
from datetime import datetime
import enum
import logging
import struct

from eive_tmtc.config.object_ids import PLOC_SUPV_ID, get_object_ids
from eive_tmtc.pus_tm.defs import PrintWrapper
from spacepackets.ecss.tc import PusTelecommand
from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid
from tmtccmd.config.tmtc import CmdTreeNode
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
from tmtccmd.pus.s8_fsfw_action import create_action_cmd
from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
from eive_tmtc.utility.input_helper import InputHelper

_LOGGER = logging.getLogger(__name__)

LATCHUP_ID_DICT = {
    "0": "0.85V",
    "1": "1.8V",
    "2": "MISC",
    "3": "3.3V",
    "4": "NVM_4XO",
    "5": "MISSION",
    "6": "SAFECOTS",
}

HARDCODED = "0"
MANUAL_INPUT = "1"
HARDCODED_FILE = "/home/rmueller/EIVE/mpsoc_boot.bin"

UPDATE_FILE_DICT = {
    HARDCODED: ("hardcoded", ""),
    MANUAL_INPUT: ("manual input", ""),
    "2": ("/mnt/sd0/ploc/mpsoc/image.bin", "/mnt/sd0/ploc/mpsoc/image.bin"),
}

EVENT_BUFFER_PATH_DICT = {
    MANUAL_INPUT: ("manual input", ""),
    "2": ("/mnt/sd0/ploc/supervisor", "/mnt/sd0/ploc/supervisor"),
}


FACTORY_RESET_OPS = {
    0x00: "CLEAR_MRAM_EVENT_BUF",
    0x01: "CLEAR_MRAM_ADC_BUF",
    0x02: "FACTORY_DEFAULT_MRAM_SYS_CFG",
    0x03: "FACTORY_DEFAULT_MRAM_DBG_CFG",
    0x04: "FACTORY_DEFAULT_BOOTMAN_CFG",
    0x05: "FACTORY_DEFAULT_DATA_LOGGER",
    0x06: "DATA_LOGGER_OP_DATA_TO_ZERO",
    0x07: "FACTORY_DEFAULT_MRAM_LATCHUP_MON",
    0x08: "FACTORY_DEFAULT_ADC_MON_CFG",
    0x09: "FACTORY_DEFAULT_WATCHDOG_MON_CFG",
    0x0A: "FACTORY_DEFAULT_HK_CFG",
    0x0B: "FACTORY_DEFAULT_MEM_MAN_CFG",
    0x10: "REDWIRE_TASK_1",
    0x11: "REDWIRE_TASK_2",
    0x12: "REDWIRE_TASK_3",
}


class SupvActionId(enum.IntEnum):
    REQUEST_HK_REPORT = 1
    START_MPSOC = 3
    SHUTWOWN_MPSOC = 4
    SEL_MPSOC_BOOT_IMAGE = 5
    SET_BOOT_TIMEOUT = 6
    SET_MAX_RESTART_TRIES = 7
    RESET_MPSOC = 8
    SET_TIME_REF = 9
    DISABLE_HK = 10
    GET_BOOT_STATUS_REPORT = 11
    UPDATE_AVAILABLE = 12
    ENABLE_LATCHUP_ALERT = 15
    DISABLE_LATCHUP_ALERT = 16
    SET_ALERT_LIMIT = 18
    SET_ADC_SWEEP_PERIOD = 20
    SET_ADC_ENABLED_CHANNELS = 21
    SET_ADC_WINDOW_AND_STRIDE = 22
    SET_ADC_THRESHOLD = 23
    GET_LATCHUP_STATUS_REPORT = 24
    COPY_ADC_DATA_TO_MRAM = 25
    SELECT_NVM = 27
    RUN_AUTO_EM_TESTS = 28
    WIPE_MRAM = 29
    DUMP_MRAM = 30
    SET_GPIO = 34
    READ_GPIO = 35
    RESTART_SUPERVISOR = 36
    REQUEST_LOGGING_COUNTERS = 38
    FACTORY_RESET = 39
    START_MPSOC_QUIET = 45
    SET_SHUTDOWN_TIMEOUT = 46
    FACTORY_FLASH = 47
    PERFORM_UPDATE = 48
    TERMINATE_SUPV_HELPER = 49
    ENABLE_AUTO_TM = 50
    DISABLE_AUTO_TM = 51
    LOGGING_REQUEST_EVENT_BUFFERS = 54
    LOGGING_CLEAR_COUNTERS = 55
    LOGGING_SET_TOPIC = 56
    REQUEST_ADC_REPORT = 57
    RESET_PL = 58
    ENABLE_NVMS = 59
    CONTINUE_UPDATE = 60
    MEM_CHECK = 61


class SetId(enum.IntEnum):
    HK_REPORT = 102
    BOOT_STATUS_REPORT = 103
    LATCHUP_REPORT = 104
    COUNTERS_REPORT = 105
    ADC_REPORT = 106
    UPDATE_STATUS_REPORT = 107


class OpCode:
    OFF = "off"
    ON = "on"
    NORMAL = "nml"
    HK_TO_OBC = "hk_to_obc"
    REQUEST_GENERIC_HK_SET = "req_generic_hk"
    START_MPSOC = "start_mpsoc"
    SHUTDOWN_MPSOC = "stop_mpsoc"
    SEL_NVM = "sel_nvm"
    SET_TIME_REF = "set_time_ref"
    FACTORY_FLASH = "factory_flash"
    START_UPDATE = "start_update"
    PERFORM_UPDATE = "update"
    FACTORY_RESET = "factory_reset"
    MEM_CHECK = "mem_check"
    RESET_MPSOC = "reset_mpsoc"
    SET_GPIO = "set_gpio"
    READ_GPIO = "read_gpio"
    READ_STATUS_REPORT = "read_status_report"


class Info(str, enum.Enum):
    OFF = "Switch Off"
    ON = "Switch On"
    NORMAL = "Switch Normal"
    HK_TO_OBC = "Request  HK from PLOC SUPV"
    REQUEST_GENERIC_HK_SET = "Request prompted HK set from PLOC Handler"
    START_MPSOC = "Start MPSoC"
    SHUTDOWN_MPSOC = "Shutdown MPSoC"
    SET_TIME_REF = "Set time reference"
    FACTORY_FLASH = "Factory Flash Mode"
    PERFORM_UPDATE = "Start or continue MPSoC SW update at starting bytes"
    START_UPDATE = "Start new MPSoC SW update"
    FACTORY_RESET = "Factory Reset of loggers"
    MEM_CHECK = "Memory Check"
    SEL_NVM = "Select NVM"
    RESET_MPSOC = "Reset MPSoC"
    SET_GPIO = "Set GPIO"
    READ_GPIO = "Read GPIO"
    READ_STATUS_REPORT = "Read HK status report"


def create_ploc_supv_node() -> CmdTreeNode:
    op_code_strs = [
        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
    ]
    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
    combined_dict = dict(zip(op_code_strs, info_strs))
    node = CmdTreeNode("ploc_supv", "PLOC Supervisor", hide_children_for_print=True)
    for op_code, info in combined_dict.items():
        node.add_child(CmdTreeNode(op_code, info))
    return node


def pack_ploc_supv_commands(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
    object_id = get_object_ids().get(PLOC_SUPV_ID)
    assert object_id is not None
    q.add_log_cmd(f"Testing PLOC Supervisor with object id: {object_id.as_hex_string}")
    obyt = object_id.as_bytes
    prefix = "PLOC Supervisor"
    if cmd_str == OpCode.OFF:
        q.add_log_cmd(f"{prefix}: {Info.OFF}")
        command = pack_mode_data(object_id.as_bytes, Mode.OFF, 0)
        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
    if cmd_str == OpCode.ON:
        q.add_log_cmd(f"{prefix}: {Info.ON}")
        command = pack_mode_data(object_id.as_bytes, Mode.ON, 0)
        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
    if cmd_str == OpCode.NORMAL:
        q.add_log_cmd(f"{prefix}: {Info.NORMAL}")
        command = pack_mode_data(object_id.as_bytes, Mode.NORMAL, 0)
        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
    if cmd_str == OpCode.HK_TO_OBC:
        q.add_log_cmd(f"{prefix}: {Info.HK_TO_OBC}")
        command = obyt + struct.pack("!I", SupvActionId.REQUEST_HK_REPORT)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.START_MPSOC:
        q.add_log_cmd("PLOC Supervisor: Start MPSoC")
        command = obyt + struct.pack("!I", SupvActionId.START_MPSOC)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.SHUTDOWN_MPSOC:
        q.add_log_cmd("PLOC Supervisor: Shutdown MPSoC")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.SHUTWOWN_MPSOC)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.READ_STATUS_REPORT:
        q.add_log_cmd(f"{prefix}: {Info.READ_STATUS_REPORT}")
        set_id = prompt_set_id()
        action_cmd = None
        # First read the set from the device.
        if set_id == SetId.HK_REPORT:
            action_cmd = create_action_cmd(PLOC_SUPV_ID, SupvActionId.REQUEST_HK_REPORT)
        if set_id == SetId.ADC_REPORT:
            action_cmd = create_action_cmd(
                PLOC_SUPV_ID, SupvActionId.REQUEST_ADC_REPORT
            )
        if set_id == SetId.COUNTERS_REPORT:
            action_cmd = create_action_cmd(
                PLOC_SUPV_ID, SupvActionId.REQUEST_LOGGING_COUNTERS
            )
        if set_id == SetId.LATCHUP_REPORT:
            action_cmd = create_action_cmd(
                PLOC_SUPV_ID, SupvActionId.GET_LATCHUP_STATUS_REPORT
            )
        if set_id == SetId.BOOT_STATUS_REPORT:
            action_cmd = create_action_cmd(
                PLOC_SUPV_ID, SupvActionId.GET_BOOT_STATUS_REPORT
            )
        if action_cmd is None:
            _LOGGER.warning(f"invalid set ID {set_id!r} for PLOC SUPV")
            return
        # Now dump the HK set.
        sid = make_sid(object_id.as_bytes, set_id)
        req_hk = generate_one_hk_command(sid)
        q.add_pus_tc(action_cmd)
        q.add_wait_seconds(2.0)
        q.add_pus_tc(req_hk)
        assert action_cmd is not None
    elif cmd_str == OpCode.START_MPSOC:
        q.add_log_cmd("PLOC Supervisor: Start MPSoC")
        command = obyt + struct.pack("!I", SupvActionId.START_MPSOC)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.SHUTDOWN_MPSOC:
        q.add_log_cmd("PLOC Supervisor: Shutdown MPSoC")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.SHUTWOWN_MPSOC)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.SEL_NVM:
        q.add_log_cmd("PLOC Supervisor: Select MPSoC boot image")
        mem = int(input("MEM (NVM0 - 0 or NVM1 - 1): "))
        bp0 = int(input("BP0 (0 or 1): "))
        bp1 = int(input("BP1 (0 or 1): "))
        bp2 = int(input("BP2 (0 or 1): "))
        command = pack_sel_boot_image_cmd(object_id.as_bytes, mem, bp0, bp1, bp2)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.FACTORY_RESET:
        q.add_log_cmd(f"{prefix}: {Info.FACTORY_RESET}")
        while True:
            print("Please select the key for a factory reset operation")
            for key, val in FACTORY_RESET_OPS.items():
                print(f"{key}: {val}")
            key = int(input("Key Select: "))
            if key not in FACTORY_RESET_OPS:
                print("Key invalid!")
            break
        q.add_pus_tc(
            create_action_cmd(
                object_id=PLOC_SUPV_ID,
                action_id=SupvActionId.FACTORY_RESET,
                user_data=bytes([key]),
            )
        )
    if cmd_str == "8":
        q.add_log_cmd("PLOC Supervisor: Set max restart tries")
        restart_tries = int(input("Specify maximum restart tries: "))
        command = (
            object_id.as_bytes
            + struct.pack("!I", SupvActionId.SET_MAX_RESTART_TRIES)
            + struct.pack("!B", restart_tries)
        )
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.RESET_MPSOC:
        q.add_log_cmd(Info.RESET_MPSOC)
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.RESET_MPSOC)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.SET_TIME_REF:
        q.add_log_cmd("PLOC Supervisor: Set time reference")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.SET_TIME_REF)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "11":
        q.add_log_cmd("PLOC Supervisor: Set boot timeout")
        boot_timeout = int(input("Specify boot timeout [ms]: "))
        command = (
            object_id.as_bytes
            + struct.pack("!I", SupvActionId.SET_BOOT_TIMEOUT)
            + struct.pack("!I", boot_timeout)
        )
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "23":
        q.add_log_cmd("PLOC Supervisor: Set ADC enabled channels")
        command = pack_set_adc_enabled_channels_cmd(object_id.as_bytes)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "24":
        q.add_log_cmd("PLOC Supervisor: Set ADC window and stride")
        command = pack_set_adc_window_and_stride_cmd(object_id.as_bytes)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "25":
        q.add_log_cmd("PLOC Supervisor: Set ADC threshold")
        command = pack_set_adc_threshold_cmd(object_id.as_bytes)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.SET_GPIO:
        q.add_log_cmd("PLOC Supervisor: Set GPIO command")
        command = pack_set_gpio_cmd(object_id.as_bytes)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.READ_GPIO:
        q.add_log_cmd("PLOC Supervisor: Read GPIO command")
        command = pack_read_gpio_cmd(object_id.as_bytes)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "37":
        q.add_log_cmd("PLOC Supervisor: Restart supervisor")
        command = object_id.as_bytes + struct.pack(
            "!I", SupvActionId.RESTART_SUPERVISOR
        )
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str in OpCode.START_UPDATE:
        q.add_log_cmd("PLOC Supversior: Start new MPSoC SW update")
        command = pack_update_command(object_id.as_bytes, True)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str in OpCode.PERFORM_UPDATE:
        q.add_log_cmd("PLOC Supervisor: Perform MPSoC SW update")
        command = pack_update_command(object_id.as_bytes, False)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "43":
        q.add_log_cmd("PLOC Supervisor: Terminate supervisor process")
        command = object_id.as_bytes + struct.pack(
            "!I", SupvActionId.TERMINATE_SUPV_HELPER
        )
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "44":
        q.add_log_cmd("PLOC Supervisor: Start MPSoC quiet")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.START_MPSOC_QUIET)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "45":
        q.add_log_cmd("PLOC Supervisor: Set shutdown timeout")
        command = pack_set_shutdown_timeout_command(object_id.as_bytes)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str in OpCode.FACTORY_FLASH:
        q.add_log_cmd(f"{prefix}: {Info.FACTORY_FLASH}")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.FACTORY_FLASH)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "56":
        q.add_log_cmd("PLOC Supervisor: Reset PL")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.RESET_PL)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "57":
        q.add_log_cmd("PLOC Supervisor: Enable NVMs")
        nvm01 = int(input("Enable (1) or disable(0) NVM 0 and 1: "))
        nvm3 = int(input("Enable (1) or disable(0) NVM 3: "))
        command = (
            object_id.as_bytes
            + struct.pack("!I", SupvActionId.ENABLE_NVMS)
            + struct.pack("B", nvm01)
            + struct.pack("B", nvm3)
        )
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == "58":
        q.add_log_cmd("PLOC Supervisor: Continue update")
        command = object_id.as_bytes + struct.pack("!I", SupvActionId.CONTINUE_UPDATE)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
    if cmd_str == OpCode.MEM_CHECK:
        custom_data = bytearray()
        update_file = get_update_file()
        memory_id = int(input("Specify memory ID: "))
        start_address = int(input("Specify start address: 0x"), 16)
        custom_data.extend(update_file.encode("utf-8"))
        custom_data.append(0)
        custom_data.extend(struct.pack("!B", memory_id))
        custom_data.extend(struct.pack("!I", start_address))
        q.add_log_cmd(
            f"{prefix}: {Info.MEM_CHECK} for file {update_file} at memory ID"
            f" {memory_id} at start address {start_address}"
        )
        command = create_action_cmd(
            object_id.as_bytes, SupvActionId.MEM_CHECK, custom_data
        )
        q.add_pus_tc(command)


def prompt_set_id() -> SetId:
    for set_id in SetId:
        print(f"{set_id}: {set_id.name}")
    while True:
        set_id = int(input("Please select the set ID to request: "))
        try:
            set_id_typed = SetId(set_id)
        except ValueError:
            _LOGGER.warning("invalid set ID, try again")
            continue
        break
    return set_id_typed


def pack_sel_boot_image_cmd(
    object_id: bytes, mem: int, bp0: int, bp1: int, bp2: int
) -> bytearray:
    """This function can be used to generate the command to select the image from which the MPSoC
    will boot.

    @param object_id    The object id of the PLOC supervisor handler.
    @param mem  The memory from which the MPSoC shall boot (NVM0 - 0, NVM1 - 1)
    @param bp0  Partition pin 0
    @param bp1  Partition pin 1
    @param bp2  Partition pin 2
    """
    command = object_id + struct.pack("!I", SupvActionId.SEL_MPSOC_BOOT_IMAGE)
    command = command + struct.pack("!B", mem)
    command = command + struct.pack("!B", bp0)
    command = command + struct.pack("!B", bp1)
    command = command + struct.pack("!B", bp2)
    return bytearray(command)


def pack_update_available_cmd(object_id: bytes) -> bytearray:
    """
    @brief  This function packs the udpate availabe command.
    @param object_id    The object id of the PLOC supervisor handler.
    """
    image_select = 1
    image_partition = 0
    image_size = 222
    image_crc = 0x0
    number_of_packets = 150
    command = object_id + struct.pack("!I", SupvActionId.UPDATE_AVAILABLE)
    command = command + struct.pack("!B", image_select)
    command = command + struct.pack("!B", image_partition)
    command = command + struct.pack("!I", image_size)
    command = command + struct.pack("!I", image_crc)
    command = command + struct.pack("!I", number_of_packets)
    return bytearray(command)


def pack_lachtup_alert_cmd(object_id: bytes, state: bool) -> bytearray:
    """
    @brief  This function packs the command to enable or disable a certain latchup alerts.
    @param object_id    The object id of the PLOC supervisor handler.
    @param state    True - enable latchup alert, False - disable latchup alert
    """
    latchup_id = get_latchup_id()
    command = bytearray()
    if state:
        command = object_id + struct.pack("!I", SupvActionId.ENABLE_LATCHUP_ALERT)
    else:
        command = object_id + struct.pack("!I", SupvActionId.DISABLE_LATCHUP_ALERT)
    command = command + struct.pack("!B", latchup_id)
    return bytearray(command)


def get_latchup_id() -> int:
    key_column_width = 10
    description_column_width = 50
    separator_width = key_column_width + description_column_width + 3
    separator_string = separator_width * "-"
    key_string = "Latchup ID".ljust(key_column_width)
    description_string = "Description".ljust(description_column_width)
    print(f"{key_string} | {description_string}")
    print(separator_string)
    for key in LATCHUP_ID_DICT:
        key_string = key.ljust(key_column_width)
        description_string = LATCHUP_ID_DICT[key].ljust(description_column_width)
        print(f"{key_string} | {description_string}")
    return int(input("Specify latchup ID: "))


def pack_set_alert_limit_cmd(object_id: bytes) -> bytearray:
    """
    @brief  This function packs the command to set the limit of a latchup alert.
    @param object_id    The object id of the PLOC supervisor handler.
    """
    latchup_id = get_latchup_id()
    dutycycle = int(input("Specify dutycycle: "))
    command = bytearray()
    command = object_id + struct.pack("!I", SupvActionId.SET_ALERT_LIMIT)
    command = command + struct.pack("!B", latchup_id)
    command = command + struct.pack("!I", dutycycle)
    return bytearray(command)


def pack_set_adc_enabled_channels_cmd(object_id: bytes) -> bytearray:
    """
    @brief  This function packs the command to enable or disable channels of the ADC.
    @param object_id    The object id of the PLOC supervisor handler.
    """
    ch = int(input("Specify ch: 0x"), 16)
    cmd = object_id + struct.pack("!I", SupvActionId.SET_ADC_ENABLED_CHANNELS)
    cmd = cmd + struct.pack("!H", ch)
    return bytearray(cmd)


def pack_set_adc_window_and_stride_cmd(object_id: bytes) -> bytearray:
    window_size = int(input("Specify window size: "))
    striding_step_size = int(input("Specify striding step size: "))
    command = object_id + struct.pack("!I", SupvActionId.SET_ADC_WINDOW_AND_STRIDE)
    command = command + struct.pack("!H", window_size)
    command = command + struct.pack("!H", striding_step_size)
    return bytearray(command)


def pack_set_adc_threshold_cmd(object_id: bytes) -> bytearray:
    threshold = int(input("Specify threshold: "))
    command = object_id + struct.pack("!I", SupvActionId.SET_ADC_THRESHOLD)
    command = command + struct.pack("!I", threshold)
    return bytearray(command)


def pack_select_nvm_cmd(object_id: bytes) -> bytearray:
    mem = int(input("Specify NVM (0 - NVM0, 1 - MVM1): "))
    command = object_id + struct.pack("!I", SupvActionId.SELECT_NVM)
    command = command + struct.pack("!B", mem)
    return bytearray(command)


def pack_auto_em_tests_cmd(object_id: bytes) -> bytearray:
    test = int(input("Specify test (1 - complete, 2 - short): "))
    command = object_id + struct.pack("!I", SupvActionId.RUN_AUTO_EM_TESTS)
    command = command + struct.pack("!B", test)
    return bytearray(command)


def pack_mram_wipe_cmd(object_id: bytes) -> bytearray:
    start = int(input("Start address: 0x"), 16)
    stop = int(input("Stop address: 0x"), 16)
    command = object_id + struct.pack("!I", SupvActionId.WIPE_MRAM)
    command = command + struct.pack("!I", start)
    command = command + struct.pack("!I", stop)
    return bytearray(command)


def pack_update_command(object_id: bytes, new_update: bool) -> bytearray:
    command = bytearray()
    memory_id = int(input("Specify memory ID: "))
    start_address = int(input("Specify start address: 0x"), 16)
    update_file = get_update_file()
    if new_update:
        init_bytes_written = 0
        init_seq_count = 1
        del_mem = True
    else:
        init_bytes_written = input("Specify bytes to start from [0 default]: ")
        if init_bytes_written == "":
            init_bytes_written = 0
        init_bytes_written = int(init_bytes_written)
        init_seq_count = input("Specify initial sequence count [1 default]: ")
        if init_seq_count == "":
            init_seq_count = 1
        init_seq_count = int(init_seq_count)
        del_mem = input("Delete memory? [y/n, y default]: ")
        if del_mem.lower() in ["y", "1"]:
            del_mem = 1
        elif del_mem.lower() in ["n", "0"]:
            del_mem = 0
        else:
            raise ValueError("Invalid input, use y or n")
    command += object_id
    command += struct.pack("!I", SupvActionId.PERFORM_UPDATE)
    command += bytearray(update_file, "utf-8")
    # Adding null terminator
    command += struct.pack("!B", 0)
    command += struct.pack("!B", memory_id)
    command += struct.pack("!I", start_address)
    command.extend(struct.pack("!I", init_bytes_written))
    command.extend(struct.pack("!H", init_seq_count))
    command.append(del_mem)
    return bytearray(command)


def pack_set_shutdown_timeout_command(object_id: bytes) -> bytearray:
    command = bytearray()
    command += object_id
    command += struct.pack("!I", SupvActionId.SET_SHUTDOWN_TIMEOUT)
    timeout = int(input("Specify shutdown timeout (ms): "))
    command += struct.pack("!I", timeout)
    return command


def pack_logging_buffer_request(object_id: bytes) -> bytearray:
    command = bytearray()
    command += object_id
    command += struct.pack("!I", SupvActionId.LOGGING_REQUEST_EVENT_BUFFERS)
    path = get_event_buffer_path()
    command += bytearray(path, "utf-8")
    return command


def pack_set_gpio_cmd(object_id: bytes) -> bytearray:
    port = int(input("Specify port: 0x"), 16)
    pin = int(input("Specify pin: 0x"), 16)
    val = int(input("Specify val: 0x"), 16)
    command = bytearray(object_id + struct.pack("!I", SupvActionId.SET_GPIO))
    command.append(port)
    command.append(pin)
    command.append(val)
    return bytearray(command)


def pack_read_gpio_cmd(object_id: bytes) -> bytearray:
    port = int(input("Specify port: 0x"), 16)
    pin = int(input("Specify pin: 0x"), 16)
    command = object_id + struct.pack("!I", SupvActionId.READ_GPIO)
    command = command + struct.pack("!B", port)
    command = command + struct.pack("!B", pin)
    return bytearray(command)


def pack_logging_set_topic(object_id: bytes) -> bytearray:
    command = object_id + struct.pack("!I", SupvActionId.LOGGING_SET_TOPIC)
    tpc = int(input("Specify logging topic: "))
    command += struct.pack("!B", tpc)
    return bytearray(command)


def get_update_file() -> str:
    _LOGGER.info("Specify update file ")
    input_helper = InputHelper(UPDATE_FILE_DICT)
    key = input_helper.get_key()
    if key == HARDCODED:
        file = HARDCODED_FILE
    elif key == MANUAL_INPUT:
        file = input("Ploc Supervisor: Specify absolute name of update file: ")
    else:
        file = UPDATE_FILE_DICT[key][1]
    return file


def get_event_buffer_path() -> str:
    _LOGGER.info("Specify path where to store event buffer file ")
    input_helper = InputHelper(EVENT_BUFFER_PATH_DICT)
    key = input_helper.get_key()
    if key == MANUAL_INPUT:
        file = input("Ploc Supervisor: Specify path: ")
    else:
        file = EVENT_BUFFER_PATH_DICT[key][1]
    return file


class SocState(enum.IntEnum):
    OFF = 0
    BOOTING = 1
    OPERATIONAL = 2
    SHUTDOWN = 3


def handle_supv_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
    if set_id == SetId.HK_REPORT:
        handle_hk_report(hk_data, pw)
    elif set_id == SetId.BOOT_STATUS_REPORT:
        handle_boot_report(hk_data, pw)
    elif set_id == SetId.ADC_REPORT:
        handle_adc_report(hk_data)
    elif set_id == SetId.COUNTERS_REPORT:
        handle_counters_report(hk_data)
    elif set_id == SetId.LATCHUP_REPORT:
        handle_latchup_status_report(hk_data)
    else:
        pw.dlog(f"PLOC SUPV: HK handling not implemented for set ID {set_id}")
        pw.dlog(f"Raw Data: 0x[{hk_data.hex(sep=',')}]")


def handle_hk_report(hk_data: bytes, pw: PrintWrapper):
    fmt_str = "!IIIQIIIIIBBBB"
    inc_len = struct.calcsize(fmt_str)
    (
        temp_ps,
        temp_pl,
        temp_sup,
        uptime,
        cpu_load,
        avail_heap,
        num_tcs,
        num_tms,
        soc_state,
        nvm_0_1_state,
        nvm_3_state,
        mission_io_state,
        fmc_state,
    ) = struct.unpack(fmt_str, hk_data[:inc_len])
    pw.dlog(f"Temp PS {temp_ps} C | Temp PL {temp_pl} C | Temp SUP {temp_sup} C")
    pw.dlog(f"Uptime {uptime} | CPU Load {cpu_load} | Avail Heap {avail_heap}")
    pw.dlog(f"Number TCs {num_tcs} | Number TMs {num_tms}")
    pw.dlog(f"SOC state {SocState(soc_state)}")
    pw.dlog(f"NVM 01 State {nvm_0_1_state}")
    pw.dlog(f"NVM 3 State {nvm_3_state}")
    pw.dlog(f"Mission IO state {mission_io_state}")
    pw.dlog(f"FMC state {fmc_state}")
    pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[inc_len:], 13))


def handle_boot_report(hk_data: bytes, pw: PrintWrapper):
    current_idx = 0
    fmt_str = "!BBIIBBBBBB"
    inc_len = struct.calcsize(fmt_str)
    (
        soc_state,
        power_cycles,
        boot_after_ms,
        boot_timeout_ms,
        active_nvm,
        bp_0_state,
        bp_1_state,
        bp_2_state,
        boot_state,
        boot_cycles,
    ) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
    current_idx += inc_len
    pw.dlog(
        "SoC state (0:off, 1:booting, 2:update, 3:operating, 4:shutdown, 5:reset):"
        f" {soc_state}"
    )
    pw.dlog(f"Power Cycles {power_cycles}")
    pw.dlog(f"Boot after {boot_after_ms} ms | Boot timeout {boot_timeout_ms} ms")
    pw.dlog(f"Active NVM: {active_nvm}")
    pw.dlog(f"BP0 State {bp_0_state} | BP1 State {bp_1_state} | BP2 State {bp_2_state}")
    pw.dlog(f"Boot State {boot_state} | Boot Cycles {boot_cycles}")
    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 10)


def handle_adc_report(hk_data: bytes):
    if len(hk_data) < 64:
        _LOGGER.warning("ADC report smaller than 64 bytes")
    current_idx = 0
    adc_raw = []
    adc_eng = []
    for _ in range(16):
        adc_raw.append(struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0])
        current_idx += 2
    for _ in range(16):
        adc_eng.append(struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0])
        current_idx += 2

    print(f"{'Index'.ljust(10)} | {'ADC RAW'.ljust(10)} | {'ADC ENG'.ljust(10)}")
    for i in range(16):
        print(f"{i: >10} | {adc_raw[i]: >10} | {adc_eng[i]: >10}")


def handle_counters_report(hk_data: bytes):
    current_idx = 0
    signature = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
    current_idx += 4
    latchup_counters = []
    for _ in range(7):
        latchup_counters.append(
            struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
        )
        current_idx += 4
    fmt_str = "!IIIIIIIIIIIIIIIIIIII"
    inc_len = struct.calcsize(fmt_str)
    (
        adc_deviation_triggers_cnt,
        tc_received_cnt,
        tm_available_cnt,
        supervisor_boots,
        mpsoc_boots,
        mpsoc_boot_failed_attempts,
        mpsoc_powerup,
        mpsoc_updates,
        mpsoc_heartbeat_resets,
        cpu_wdt_resets,
        ps_heartbeats_lost,
        pl_heartbeats_lost,
        eb_task_lost,
        bm_task_lost,
        lm_task_lost,
        am_task_lost,
        tctmm_task_lost,
        mm_task_lost,
        hk_task_lost,
        dl_task_lost,
    ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    current_idx += inc_len
    _redwire_tasks_lost = []
    for _ in range(3):
        _redwire_tasks_lost.append(
            struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
        )
    print(f"Signature: {signature}")
    print(f"Latchup Counters: {latchup_counters}")
    print(f"ADC Deviation Triggers Count: {adc_deviation_triggers_cnt}")
    print(f"TCs received: {tc_received_cnt} | TMs Available: {tm_available_cnt}")
    print(f"Supervisor Boots: {supervisor_boots} | MPSoC boots: {mpsoc_boots}")
    print(f"MPSoC boot failed attempts: {mpsoc_boot_failed_attempts}")
    print(f"MPSoC powerup: {mpsoc_powerup}")
    print(f"MPSoC updates: {mpsoc_updates}")
    print(f"MPSoC heartbeat resets: {mpsoc_heartbeat_resets}")
    print(f"CPU WDT resets: {cpu_wdt_resets}")
    print(f"PS heartbeats lost: {ps_heartbeats_lost}")
    print(f"PL heartbeats lost: {pl_heartbeats_lost}")
    print(f"EB task lost: {eb_task_lost}")
    print(f"BM task lost: {bm_task_lost}")
    print(f"LM task lost: {lm_task_lost}")
    print(f"AM task lost: {am_task_lost}")
    print(f"TCTMM task lost: {tctmm_task_lost}")
    print(f"MM task lost: {mm_task_lost}")
    print(f"HK task lost: {hk_task_lost}")
    print(f"DL task lost: {dl_task_lost}")


def handle_latchup_status_report(hk_data: bytes):
    # 1 byte ID, 7 times 2 bytes of counts, and 8 bytes of time and 1 byte sync status.
    if len(hk_data) < 24:
        raise ValueError("Latchup status report smaller than expected")
    current_idx = 0
    id = hk_data[current_idx]
    current_idx += 1
    counts_of_alerts = []
    for _ in range(7):
        counts_of_alerts.append(
            struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
        )
        current_idx += 2
    print(f"ID: {id}")
    print(f"Counts of alerts: {counts_of_alerts}")
    time_ms = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
    current_idx += 2
    time_seconds = hk_data[current_idx]
    current_idx += 1
    time_minutes = hk_data[current_idx]
    current_idx += 1
    time_hour = hk_data[current_idx]
    current_idx += 1
    time_day = hk_data[current_idx]
    current_idx += 1
    time_month = hk_data[current_idx]
    current_idx += 1
    # Is stored as years since 1900.
    time_year = 1900 + hk_data[current_idx]
    current_idx += 1
    is_synced = hk_data[current_idx]
    print(f"Time Sync Status: {is_synced}")
    try:
        dt = datetime(
            year=time_year,
            month=time_month,
            day=time_day,
            hour=time_hour,
            minute=time_minutes,
            second=time_seconds,
            microsecond=time_ms * 1000,
        )
        print(f"Time Now: {dt}")
    except ValueError:
        print(
            f"Time: {time_day}.{time_month}.{time_year}T"
            f"{time_hour}:{time_minutes}:{time_seconds}.{time_ms}"
        )