eive-tmtc/eive_tmtc/tmtc/power/tm.py

import struct
from typing import List, Tuple

from eive_tmtc.tmtc.power.acu import acu_config_table_handler
from eive_tmtc.tmtc.power.common_power import (
    SetId,
    unpack_array_in_data,
    OBC_ENDIANNESS,
)
from eive_tmtc.tmtc.power.power import PcduSetIds
from tmtccmd.util import ObjectIdBase
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
from eive_tmtc.pus_tm.defs import PrintWrapper
from eive_tmtc.gomspace.gomspace_common import GomspaceDeviceActionId
from eive_tmtc.config.object_ids import (
    PDU_1_HANDLER_ID,
    PDU_2_HANDLER_ID,
    P60_DOCK_HANDLER,
    ACU_HANDLER_ID,
)

P60_INDEX_LIST = [
    "ACU VCC",
    "PDU1 VCC",
    "X3 IDLE VCC",
    "PDU2 VCC",
    "ACU VBAT",
    "PDU1 VBAT",
    "X3 IDLE VBAT",
    "PDU2 VBAT",
    "STACK VBAT",
    "STACK 3V3",
    "STACK 5V",
    "GS3V3",
    "GS5V",
]

WDT_LIST = ["GND", "I2C", "CAN", "CSP0", "CSP1"]

PDU1_CHANNELS_NAMES = [
    "TCS Board",
    "Syrlinks",
    "Startracker",
    "MGT",
    "SUS Nominal",
    "SCEX",
    "PLOC",
    "ACS A Side",
    "Unused Channel 8",
]

PDU2_CHANNELS_NAMES = [
    "Q7S",
    "Payload PCDU CH1",
    "RW",
    "TCS Heater In",
    "SUS Redundant",
    "Deployment Mechanism",
    "Payload PCDU CH6",
    "ACS B Side",
    "Payload Camera",
]

PDU_CHANNEL_NAMES = [PDU1_CHANNELS_NAMES, PDU2_CHANNELS_NAMES]


class WdtInfo:
    def __init__(self, pw: PrintWrapper):
        self.wdt_reboots_list = []
        self.time_pings_left_list = []
        self.pw = pw

    def print(self):
        wdt_info = "WDT Type | Reboots | Time or Pings left (CSP only)"
        self.pw.dlog(wdt_info)
        for idx in range(len(self.wdt_reboots_list)):
            self.pw.dlog(
                f"{WDT_LIST[idx].ljust(5)} | "
                f"{self.wdt_reboots_list[idx]:010} | {self.time_pings_left_list[idx]:010}",
            )

    def parse(self, wdt_data: bytes, current_idx: int) -> int:
        priv_idx = 0
        self.wdt_reboots_list = []
        self.time_pings_left_list = []
        for idx in range(5):
            self.wdt_reboots_list.append(
                struct.unpack("!I", wdt_data[priv_idx : priv_idx + 4])[0]
            )
            priv_idx += 4
            current_idx += 4
        for idx in range(3):
            self.time_pings_left_list.append(
                struct.unpack("!I", wdt_data[priv_idx : priv_idx + 4])[0]
            )
            priv_idx += 4
            current_idx += 4
        for idx in range(2):
            self.time_pings_left_list.append(wdt_data[priv_idx])
            current_idx += 1
            priv_idx += 1
        return current_idx


class DevicesInfoParser:
    def __init__(self):
        self.dev_types = None
        self.dev_statuses = None

    def parse(self, hk_data: bytes, current_idx: int) -> int:
        self.dev_types = []
        self.dev_statuses = []
        for idx in range(8):
            self.dev_types.append(hk_data[current_idx])
            current_idx += 1
        for idx in range(8):
            self.dev_statuses.append(hk_data[current_idx])
            current_idx += 1
        return current_idx

    def print(self, pw: PrintWrapper):
        pw.dlog(f"Device Type | Device State (0:None | 1:OK | 3:ERROR | 4:NOT FOUND)")
        for i in range(len(self.dev_types)):
            pw.dlog(
                f"{self.map_idx_to_type(self.dev_types[i])} | {self.dev_statuses[i]}"
            )

    @staticmethod
    def map_idx_to_type(devtype: int) -> str:
        if devtype == 0:
            return "Reserved"
        if devtype == 1:
            return "ADC"
        if devtype == 2:
            return "ADC"
        if devtype == 3:
            return "DAC"
        if devtype == 4:
            return "Temperature Sensor"
        if devtype == 5:
            return "Temperature Sensor (Bat Pack)"
        if devtype == 6:
            return "RTC"
        if devtype == 7:
            return "FRAM"
        return "Unknown Type"


def handle_pdu_data(pw: PrintWrapper, pdu_idx: int, set_id: int, hk_data: bytes):
    current_idx = 0
    priv_idx = pdu_idx - 1
    if set_id == SetId.AUX or set_id == SetId.AUX:
        fmt_str = "!hhBBBIIH"
        inc_len = struct.calcsize(fmt_str)
        (
            vcc,
            vbat,
            conv_enb_0,
            conv_enb_1,
            conv_enb_2,
            boot_cause,
            uptime,
            reset_cause,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        pw.dlog(f"VCC {vcc} mV | VBAT {vbat} mV")
        pw.dlog(f"Converter Enables [{conv_enb_0},{conv_enb_1},{conv_enb_2}]")
        pw.dlog(
            f"Boot Cause {boot_cause} | Uptime {uptime} | Reset Cause {reset_cause}",
        )
        current_idx += inc_len
        latchup_list = []
        pw.dlog("Latchups")
        for idx in range(len(PDU1_CHANNELS_NAMES)):
            latchup_list.append(
                struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
            )
            content_line = (
                f"{PDU_CHANNEL_NAMES[priv_idx][idx].ljust(24)} | {latchup_list[idx]}"
            )
            pw.dlog(content_line)
            current_idx += 2
        dev_parser = DevicesInfoParser()
        current_idx = dev_parser.parse(hk_data=hk_data, current_idx=current_idx)
        wdt = WdtInfo(pw=pw)
        current_idx = wdt.parse(wdt_data=hk_data[current_idx:], current_idx=current_idx)
        wdt.print()
        pw.dlog(f"PDU Device Types: 0:FRAM|1:ADC|2:ADC|3:TempSens|4,5,6,7:Reserved")
        dev_parser.print(pw=pw)
    if set_id == SetId.CORE or set_id == SetId.CORE:
        pw.dlog(f"Received PDU HK from PDU {pdu_idx}")
        current_list = []
        for idx in range(len(PDU1_CHANNELS_NAMES)):
            current_list.append(
                struct.unpack("!h", hk_data[current_idx : current_idx + 2])[0]
            )
            current_idx += 2
        voltage_list = []
        for idx in range(len(PDU1_CHANNELS_NAMES)):
            voltage_list.append(
                struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
            )
            current_idx += 2
        output_enb_list = []
        for idx in range(len(PDU1_CHANNELS_NAMES)):
            output_enb_list.append(hk_data[current_idx])
            current_idx += 1
        header_str = f"{'Name'.ljust(24)} | OutEnb | U [mV] | I [mA]"
        pw.dlog(header_str)
        for idx in range(len(PDU1_CHANNELS_NAMES)):
            out_enb = f"{output_enb_list[idx]}".ljust(6)
            content_line = (
                f"{PDU_CHANNEL_NAMES[priv_idx][idx].ljust(24)} | {out_enb} | "
                f"{voltage_list[idx]:05} | {current_list[idx]:04}"
            )
            pw.dlog(content_line)
        fmt_str = "!IBf"
        inc_len = struct.calcsize(fmt_str)
        (boot_count, batt_mode, temperature) = struct.unpack(
            fmt_str, hk_data[current_idx : current_idx + inc_len]
        )
        info = (
            f"Boot Count {boot_count} | Battery Mode {batt_mode} | "
            f"Temperature {temperature}"
        )
        pw.dlog(info)


def handle_p60_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
    if set_id == SetId.CORE:
        pw.dlog("Received P60 Core HK. Voltages in mV, currents in mA")
        current_idx = 0
        current_list = []
        for idx in range(13):
            current_list.append(
                struct.unpack("!h", hk_data[current_idx : current_idx + 2])[0]
            )
            current_idx += 2
        voltage_list = []
        for idx in range(13):
            voltage_list.append(
                struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
            )
            current_idx += 2
        out_enb_list = []
        for idx in range(13):
            out_enb_list.append(hk_data[current_idx])
            current_idx += 1
        header_str = f"{'Name'.ljust(24)} | OutEnb | U [mV] | I [mA]"
        pw.dlog(header_str)
        for idx in range(13):
            out_enb = f"{out_enb_list[idx]}".ljust(6)
            content_line = (
                f"{P60_INDEX_LIST[idx].ljust(24)} | {out_enb} | "
                f"{voltage_list[idx]:05} | {current_list[idx]:04}"
            )
            pw.dlog(content_line)
        fmt_str = "!IBhHff"
        inc_len = struct.calcsize(fmt_str)
        (
            boot_count,
            batt_mode,
            batt_current,
            batt_voltage,
            temp_0,
            temp_1,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        current_idx += inc_len
        batt_info = (
            f"Batt: Mode {batt_mode} | Boot Count {boot_count} | "
            f"Charge current {batt_current} | Voltage {batt_voltage}"
        )
        temps = f"In C: Temp 0 {temp_0} | Temp 1 {temp_1} | "
        pw.dlog(temps)
        pw.dlog(batt_info)
        FsfwTmTcPrinter.get_validity_buffer(
            validity_buffer=hk_data[current_idx:], num_vars=9
        )
    if set_id == SetId.AUX:
        pw.dlog("Received P60 AUX HK. Voltages in mV, currents in mA")
        current_idx = 0
        latchup_list = []
        pw.dlog("P60 Dock Latchups")
        for idx in range(0, 13):
            latchup_list.append(
                struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
            )
            content_line = f"{P60_INDEX_LIST[idx].ljust(24)} | {latchup_list[idx]}"
            pw.dlog(content_line)
            current_idx += 2
        fmt_str = "!IIHBBHHhhB"
        inc_len = struct.calcsize(fmt_str)
        (
            boot_cause,
            uptime,
            reset_cause,
            heater_on,
            conv_5v_on,
            dock_vbat,
            dock_vcc_c,
            batt_temp_0,
            batt_temp_1,
            dearm_status,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        current_idx += inc_len
        wdt = WdtInfo(pw=pw)
        current_idx = wdt.parse(wdt_data=hk_data[current_idx:], current_idx=current_idx)
        fmt_str = "!hhbb"
        inc_len = struct.calcsize(fmt_str)
        (
            batt_charge_current,
            batt_discharge_current,
            ant6_depl,
            ar6_depl,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        current_idx += inc_len
        dev_parser = DevicesInfoParser()
        current_idx = dev_parser.parse(hk_data=hk_data, current_idx=current_idx)
        util_info = (
            f"Reset Cause {reset_cause} | Boot Cause {boot_cause} | Uptime {uptime}"
        )
        util_info_2 = (
            f"Conv 5V on {conv_5v_on} |  Heater On {heater_on} | "
            f"Dock VBAT {dock_vbat} | DOCK VCC Current {dock_vcc_c}"
        )
        pw.dlog(util_info)
        pw.dlog(util_info_2)
        wdt.print()
        misc_info = (
            f"Dearm {dearm_status} | ANT6 Depl {ant6_depl} | AR6 Deply {ar6_depl}"
        )
        pw.dlog(misc_info)
        batt_info = (
            f"Batt Temp 0 {batt_temp_0 / 10.0} | Batt Temp 1 {batt_temp_1 / 10.0} | "
            f"Charge Current {batt_charge_current} | Discharge Current {batt_discharge_current}"
        )
        pw.dlog(batt_info)
        pw.dlog(
            "P60 Dock Dev Types: 0:FRAM|1:ADC|2:ADC|3:ADC|4:TempSens|5:RTC|"
            "6:TempSens(BatPack)|7:TempSens(BatPack)"
        )
        dev_parser.print(pw=pw)
        FsfwTmTcPrinter.get_validity_buffer(
            validity_buffer=hk_data[current_idx:], num_vars=27
        )


def gen_six_entry_u16_list(hk_data: bytes, current_idx: int) -> Tuple[int, List[int]]:
    u16_list = []
    for idx in range(6):
        u16_list.append(struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0])
        current_idx += 2
    return current_idx, u16_list


def handle_acu_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
    if set_id == SetId.CORE:
        mppt_mode = hk_data[0]
        current_idx = 1
        current_idx, currents = gen_six_entry_u16_list(
            hk_data=hk_data, current_idx=current_idx
        )
        current_idx, voltages = gen_six_entry_u16_list(
            hk_data=hk_data, current_idx=current_idx
        )
        vcc = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
        current_idx += 2
        vbat = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
        current_idx += 2
        current_idx, vboosts = gen_six_entry_u16_list(
            hk_data=hk_data, current_idx=current_idx
        )
        current_idx, powers = gen_six_entry_u16_list(
            hk_data=hk_data, current_idx=current_idx
        )
        fmt_str = "!fffIIHH"
        inc_len = struct.calcsize(fmt_str)
        (tmp0, tmp1, tmp2, bootcnt, uptime, mppt_time, mppt_period) = struct.unpack(
            fmt_str, hk_data[current_idx : current_idx + inc_len]
        )
        current_idx += inc_len
        pw.dlog("Received ACU Core HK. Voltages in mV, currents in mA")
        pw.dlog(f"VCC {vcc} mV | VBAT {vbat} mV | MPPT Mode {mppt_mode}")
        header_str = (
            f"Channel | Input U [mV] | Input I [mA] | U Boost [mV] | Power [mW]"
        )
        pw.dlog(header_str)
        for i in range(6):
            pw.dlog(
                f"{i} | {str(voltages[i]).ljust(4)} | {str(currents[i]).ljust(4)} | "
                f"{str(vboosts[i]).ljust(4)} | {str(powers[i]).ljust(2)}"
            )
        pw.dlog(f"Temperatures in C: Ch0 {tmp0} | Ch1 {tmp1} | Ch2 {tmp2}")
        pw.dlog(
            f"Boot Count {bootcnt} | Uptime {uptime} sec | "
            f"MPPT Time {mppt_time} msec | MPPT Period {mppt_period} msec"
        )
        FsfwTmTcPrinter.get_validity_buffer(
            validity_buffer=hk_data[current_idx:], num_vars=12
        )
    if set_id == SetId.AUX:
        current_idx = 0
        fmt_str = "!BBB"
        inc_len = struct.calcsize(fmt_str)
        enb_tuple = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        (dac_enb0, dac_enb1, dac_enb2) = enb_tuple
        dac_enb_str = ["on" if entry == 1 else "off" for entry in enb_tuple]
        current_idx += inc_len
        current_idx, dac_channels_raw = gen_six_entry_u16_list(
            hk_data=hk_data, current_idx=current_idx
        )
        fmt_str = "!IHII"
        inc_len = struct.calcsize(fmt_str)
        (boot_cause, reset_cause, wdt_cnt_gnd, wdt_gnd_time_left) = struct.unpack(
            fmt_str, hk_data[current_idx : current_idx + inc_len]
        )
        current_idx += inc_len
        dev_parser = DevicesInfoParser()
        current_idx = dev_parser.parse(hk_data=hk_data, current_idx=current_idx)
        pw.dlog("Received ACU Aux HK. Voltages in mV, currents in mA")

        pw.dlog(
            f"DAC Enable States: DAC 0 {dac_enb_str[0]} | DAC 1 {dac_enb_str[1]} | DAC 2 {dac_enb_str[2]}"
        )
        pw.dlog(f"Boot Cause {boot_cause} | Reset Cause {reset_cause}")
        pw.dlog(
            f"Ground WDT: Reboot Count {wdt_cnt_gnd} | Time Left {wdt_gnd_time_left} sec"
        )

        pw.dlog(
            f"ACU Dev Types: 0:FRAM|1:ADC|2:ADC|3:DAC|4:DAC|"
            f"5:DAC|6:TempSens|7:Reserved"
        )
        dev_parser.print(pw=pw)
        FsfwTmTcPrinter.get_validity_buffer(
            validity_buffer=hk_data[current_idx:], num_vars=8
        )


def handle_get_param_data_reply(
    obj_id: ObjectIdBase, action_id: int, pw: PrintWrapper, custom_data: bytearray
):
    if action_id == GomspaceDeviceActionId.PARAM_GET:
        pw.dlog(f"Parameter Get Request received for object {obj_id}")
        header_list = [
            "Gomspace Request Code",
            "Table ID",
            "Memory Address",
            "Payload length",
            "Payload",
        ]
        fmt_str = "!BBHH"
        (gs_request_code, table_id, address, payload_length) = struct.unpack(
            fmt_str, custom_data[:6]
        )
        content_list = [
            hex(gs_request_code),
            table_id,
            hex(address),
            payload_length,
            f"0x[{custom_data[6:].hex(sep=',')}]",
        ]
        pw.dlog(f"{header_list}")
        pw.dlog(f"{content_list}")
    elif action_id == GomspaceDeviceActionId.REQUEST_CONFIG_TABLE:
        print(f"Received config table with size {len(custom_data)} for object {obj_id}")
        if obj_id.as_bytes == PDU_1_HANDLER_ID or obj_id.as_bytes == PDU_2_HANDLER_ID:
            pdu_config_table_handler(pw, custom_data, obj_id)
        elif obj_id.as_bytes == ACU_HANDLER_ID:
            acu_config_table_handler(pw, custom_data)
        elif obj_id.as_bytes == P60_DOCK_HANDLER:
            p60_dock_config_table_handler(pw, custom_data)


def pdu_config_table_handler(
    pw: PrintWrapper, custom_data: bytes, obj_id: ObjectIdBase
):
    if obj_id.as_bytes == PDU_1_HANDLER_ID:
        pw.dlog("[tcs, syrlinks, str, mgt, sus-n, scex, ploc, acs-a, unused]")
    elif obj_id.as_bytes == PDU_2_HANDLER_ID:
        pw.dlog(
            "[obc, pl-pcdu-bat-nom, rw, heaters, sus-r, sa-depl, pl-pcdu-bat-red, acs-b, pl-cam]"
        )
    out_on_cnt = unpack_array_in_data(custom_data, 0x52, 2, 9, "H")
    out_off_cnt = unpack_array_in_data(custom_data, 0x64, 2, 9, "H")
    init_out_norm = unpack_array_in_data(custom_data, 0x76, 1, 9, "B")
    init_out_safe = unpack_array_in_data(custom_data, 0x80, 1, 9, "B")
    init_on_dly = unpack_array_in_data(custom_data, 0x8A, 2, 9, "H")
    init_off_dly = unpack_array_in_data(custom_data, 0x9C, 2, 9, "H")
    safe_off_dly = unpack_array_in_data(custom_data, 0xAE, 1, 9, "B")
    cur_lu_lim = unpack_array_in_data(custom_data, 0xB8, 2, 9, "H")
    cur_lim = unpack_array_in_data(custom_data, 0xCA, 2, 9, "H")
    cur_ema = unpack_array_in_data(custom_data, 0xDC, 2, 9, "H")
    wdt_can_rst = custom_data[0x127]
    wdt_can = struct.unpack(f"{OBC_ENDIANNESS}I", custom_data[0x12C : 0x12C + 4])[0]
    batt_hwmax = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x11C : 0x11C + 2])[0]
    batt_max = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x11E : 0x11E + 2])[0]
    batt_norm = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x120 : 0x120 + 2])[0]
    batt_safe = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x122 : 0x122 + 2])[0]
    batt_crit = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x124 : 0x124 + 2])[0]
    pw.dlog(f"{'out_on_cnt'.ljust(15)}: {out_on_cnt}")
    pw.dlog(f"{'out_off_cnt'.ljust(15)}: {out_off_cnt}")
    pw.dlog(f"{'init_out_norm'.ljust(15)}: {init_out_norm}")
    pw.dlog(f"{'init_out_safe'.ljust(15)}: {init_out_safe}")
    pw.dlog(f"{'init_on_dly'.ljust(15)}: {init_on_dly}")
    pw.dlog(f"{'init_off_dly'.ljust(15)}: {init_off_dly}")
    pw.dlog(f"{'safe_off_dly'.ljust(15)}: {safe_off_dly}")
    pw.dlog(f"{'cur_lu_lim'.ljust(15)}: {cur_lu_lim}")
    pw.dlog(f"{'cur_lim'.ljust(15)}: {cur_lim}")
    pw.dlog(f"{'cur_ema'.ljust(15)}: {cur_ema}")
    pw.dlog(f"{'batt_hwmax'.ljust(15)}: {batt_hwmax}")
    pw.dlog(f"{'batt_max'.ljust(15)}: {batt_max}")
    pw.dlog(f"{'batt_norm'.ljust(15)}: {batt_norm}")
    pw.dlog(f"{'batt_safe'.ljust(15)}: {batt_safe}")
    pw.dlog(f"{'batt_crit'.ljust(15)}: {batt_crit}")
    pw.dlog(f"{'wdt_can_rst'.ljust(15)}: {wdt_can_rst}")
    pw.dlog(f"{'wdt_can'.ljust(15)}: {wdt_can}")


def p60_dock_config_table_handler(pw: PrintWrapper, custom_data: bytes):
    ch_names = parse_name_list(custom_data[0:0x68], 13)
    out_on_cnt = unpack_array_in_data(custom_data, 0x76, 2, 13, "H")
    out_off_cnt = unpack_array_in_data(custom_data, 0x90, 2, 13, "H")
    init_out_norm = unpack_array_in_data(custom_data, 0xAA, 1, 13, "B")
    init_out_safe = unpack_array_in_data(custom_data, 0xB7, 1, 13, "B")
    init_on_dly = unpack_array_in_data(custom_data, 0xC4, 2, 13, "H")
    init_off_dly = unpack_array_in_data(custom_data, 0xDE, 2, 13, "H")
    acu_channel_addrs = unpack_array_in_data(custom_data, 0x180, 1, 2, "B")
    pdu_channel_addrs = unpack_array_in_data(custom_data, 0x186, 1, 4, "B")
    pw.dlog(f"Ch Names: {ch_names}")
    pw.dlog(f"{'out_on_cnt'.ljust(15)}: {out_on_cnt}")
    pw.dlog(f"{'out_off_cnt'.ljust(15)}: {out_off_cnt}")
    pw.dlog(f"{'init_out_norm'.ljust(15)}: {init_out_norm}")
    pw.dlog(f"{'init_out_safe'.ljust(15)}: {init_out_safe}")
    pw.dlog(f"{'init_on_dly'.ljust(15)}: {init_on_dly}")
    pw.dlog(f"{'init_off_dly'.ljust(15)}: {init_off_dly}")
    pw.dlog(f"{'p60acu_addr'.ljust(15)}: {acu_channel_addrs}")
    pw.dlog(f"{'p60pdu_addr'.ljust(15)}: {pdu_channel_addrs}")


def parse_name_list(data: bytes, name_len: int):
    ch_list = []
    idx = 0
    while len(ch_list) < name_len:
        next_byte = data[idx]
        if next_byte != 0:
            string_end_found = False
            string_end_idx = idx
            while not string_end_found:
                string_end_idx += 1
                if data[string_end_idx] == 0:
                    string_end_found = True
            name = data[idx:string_end_idx].decode()
            ch_list.append(name)
            idx += len(name)
        idx += 1
    return ch_list


def handle_pcdu_hk(pw: PrintWrapper, set_id: int, hk_data: bytes):
    pw.dlog("Received PCDU HK")
    if set_id == PcduSetIds.SWITCHER_SET:
        current_idx = 0
        pdu1_vals = [hk_data[i] for i in range(len(PDU1_CHANNELS_NAMES))]
        current_idx += len(PDU1_CHANNELS_NAMES)
        pdu2_vals = [hk_data[i + current_idx] for i in range(len(PDU2_CHANNELS_NAMES))]
        current_idx += len(PDU2_CHANNELS_NAMES)
        p60_stack_5v_val = hk_data[current_idx]
        current_idx += 1
        p60_stack_3v3_val = hk_data[current_idx]
        current_idx += 1
        pw.dlog("PDU1 Switcher States")
        for name, val in zip(PDU1_CHANNELS_NAMES, pdu1_vals):
            pw.dlog(f"{name.ljust(25)}: {val}")
        pw.dlog("PDU2 Switcher States")
        for name, val in zip(PDU2_CHANNELS_NAMES, pdu2_vals):
            pw.dlog(f"{name.ljust(25)}: {val}")
        pw.dlog(f"{'P60 Dock 5V Stack'.ljust(25)}: {p60_stack_5v_val}")
        pw.dlog(f"{'P60 Dock 3V3 Stack'.ljust(25)}: {p60_stack_3v3_val}")
        FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4)