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

import enum
import socket
import struct
from socket import AF_INET
from typing import Tuple

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 tmtccmd import get_console_logger
from tmtccmd.config.tmtc import (
    tmtc_definitions_provider,
    TmtcDefinitionWrapper,
    OpCodeEntry,
)
from tmtccmd.tc import service_provider
from tmtccmd.tc.decorator import ServiceProviderParams
from tmtccmd.tc.pus_3_fsfw_hk import (
    generate_one_hk_command,
    make_sid,
    enable_periodic_hk_command_with_interval,
    disable_periodic_hk_command,
)
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter


LOGGER = get_console_logger()


class SetIds(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
    MEKF_DATA = 7
    CTRL_VAL_DATA = 8
    ACTUATOR_CMD_DATA = 9


class OpCodes:
    REQUEST_MGM_HK = ["0", "mgm_raw_hk"]
    ENABLE_MGM_HK = ["1", "enable_raw_hk"]
    DISABLE_MGM_HK = ["1", "disable_raw_hk"]
    REQUEST_PROC_MGM_HK = ["mgm_proc_hk"]
    REQUEST_RAW_GYRO_HK = ["gyro_raw_hk"]
    REQUEST_PROC_GYRO_HK = ["gyro_proc_hk"]
    REQUEST_RAW_SUS_HK = ["sus_raw_hk"]
    REQUEST_PROC_SUS_HK = ["sus_proc_hk"]


class Info:
    REQUEST_MGM_HK = "Request MGM HK once"
    ENABLE_MGM_HK = "Enable MGM HK data generation"
    DISABLE_MGM_HK = "Disable MGM HK data generation"
    REQUEST_PROC_MGM_HK = "Request Processed MGM HK"
    REQUEST_RAW_GYRO_HK = "Request Raw Gyro HK"
    REQUEST_PROC_GYRO_HK = "Request Processed Gyro HK"
    REQUEST_RAW_SUS_HK = "Request Raw SUS HK"
    REQUEST_PROC_SUS_HK = "Request Processed SUS 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.REQUEST_MGM_HK, info=Info.REQUEST_MGM_HK)
    oce.add(keys=OpCodes.ENABLE_MGM_HK, info=Info.ENABLE_MGM_HK)
    oce.add(keys=OpCodes.DISABLE_MGM_HK, info=Info.DISABLE_MGM_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):
    op_code = p.op_code
    q = p.queue_helper
    sid = make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET)
    if op_code in OpCodes.REQUEST_MGM_HK:
        q.add_log_cmd(Info.REQUEST_MGM_HK)
        q.add_pus_tc(generate_one_hk_command(sid))
    elif op_code in OpCodes.ENABLE_MGM_HK:
        q.add_log_cmd(Info.ENABLE_MGM_HK)
        cmd_tuple = enable_periodic_hk_command_with_interval(False, sid, 2.0)
        q.add_pus_tc(cmd_tuple[0])
        q.add_pus_tc(cmd_tuple[1])
    elif op_code in OpCodes.DISABLE_MGM_HK:
        q.add_log_cmd(Info.DISABLE_MGM_HK)
        q.add_pus_tc(disable_periodic_hk_command(False, sid))
    else:
        LOGGER.info(f"Unknown op code {op_code}")


def handle_acs_ctrl_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
    pw = PrintWrapper(printer)
    if set_id == SetIds.MGM_RAW_SET:
        handle_raw_mgm_data(pw, hk_data)
    elif set_id == SetIds.MGM_PROC_SET:
        handle_mgm_data_processed(pw, hk_data)
    elif set_id == SetIds.GYR_RAW_SET:
        handle_gyr_data_raw(pw, hk_data)
    elif set_id == SetIds.GYR_PROC_SET:
        handle_gyr_data_processed(pw, hk_data)
    elif set_id == SetIds.SUS_RAW_SET:
        handle_acs_ctrl_sus_raw_data(pw, hk_data)
    elif set_id == SetIds.SUS_PROC_SET:
        handle_acs_ctrl_sus_processed_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
    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 = [f"{val:#04x}" for val in sus_list]
        current_idx += length
        pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
        pw.printer.print_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:
        pw.dlog(
            f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
            f" of {3 * 4 * 12} bytes"
        )
        return
    current_idx = 0
    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 = [f"{val:8.3f}" for val in sus_list]
        current_idx += length
        pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
    fmt_str = "!ddd"
    inc_len = struct.calcsize(fmt_str)
    sus_vec_tot = list(
        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    )
    sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}]
    current_idx += inc_len
    pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
    sus_vec_tot_deriv = struct.unpack(
        fmt_str, hk_data[current_idx : current_idx + inc_len]
    )
    sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
    current_idx += inc_len
    pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
    sun_ijk_model = list(
        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    )
    sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}]
    current_idx += inc_len
    pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
    pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12)


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(hk_data[current_idx])
    formatted_list.append(float_str_fmt.format(*mgm_lists[4]))
    print_str_list = [
        "ACS Board MGM 0 LIS3MDL",
        "ACS Board MGM 1 RM3100",
        "ACS Board MGM 2 LIS3MDL",
        "ACS Board MGM 3 RM3100",
        "IMTQ Actuation Status:",
        "IMTQ MGM:",
    ]
    for entry in zip(print_str_list, formatted_list):
        pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}")
    current_idx += 1
    if PERFORM_MGM_CALIBRATION:
        perform_mgm_calibration(pw, mgm_0_lis3_floats_ut)
    assert current_idx == 61


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
    for i in range(5):
        fmt_str = "!fff"
        inc_len = struct.calcsize(fmt_str)
        mgm_vec = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        mgm_vec = [f"{val:8.3f}" for val in mgm_vec]
        pw.dlog(f"MGM {i}: {mgm_vec}")
    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 = [f"{val:8.3f}" for val in mgm_vec_tot]
    current_idx += inc_len
    pw.dlog(f"MGM Total Vec: {mgm_vec_tot}")
    mgm_vec_tot_deriv = struct.unpack(
        fmt_str, hk_data[current_idx : current_idx + inc_len]
    )
    mgm_vec_tot_deriv = [f"{val:8.3f}" for val in mgm_vec_tot_deriv]
    pw.dlog(f"MGM Total Vec Deriv: {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 = [f"{val:8.3f}" for val in mag_igrf_model]
    pw.dlog(f"MAG IGRF Model: {mag_igrf_model}")
    current_idx += inc_len
    pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=8)


def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received Gyro 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
    gyr_0_adis = [
        f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
    ]
    current_idx += inc_len_double
    gyr_1_l3 = [
        f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
    ]
    current_idx += inc_len_flt
    gyr_2_adis = [
        f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
    ]
    current_idx += inc_len_flt
    gyr_3_l3 = [
        f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
    ]
    current_idx += inc_len_flt
    pw.dlog(f"Gyro 0 ADIS: {gyr_0_adis}")
    pw.dlog(f"Gyro 1 L3: {gyr_1_l3}")
    pw.dlog(f"Gyro 2 ADIS: {gyr_2_adis}")
    pw.dlog(f"Gyro 3 L3: {gyr_3_l3}")
    pw.printer.print_validity_buffer(hk_data[current_idx:], 4)


GYRO_NAMES = ["Gyro 0 ADIS", "Gyro 1 L3", "Gyro 2 ADIS", "Gyro 3 L3"]


def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
    pw.dlog("Received Gyro 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:8.3f}"
            for val in struct.unpack(
                fmt_str, hk_data[current_idx : current_idx + inc_len]
            )
        ]
        pw.dlog(f"{GYRO_NAMES[i]}: {gyr_vec}")
        current_idx += inc_len
    gyr_vec_tot = [
        f"{val:8.3f}"
        for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
    ]
    pw.dlog(f"Gyro Vec Total: {gyr_vec_tot}")
    current_idx += inc_len


def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
    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(f"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(
                f"MGM calibration: Reply received command magnetometer_field has invalid "
                f"length {len(reply)}"
            )
            return
        else:
            if str(reply[0]) == "0":
                pw.dlog(f"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("Socket was closed")
    except ConnectionRefusedError or OSError:
        pw.dlog("Connecting to Calibration Socket on addrss {} failed")