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")