import enum
import socket
import struct
from socket import AF_INET
from typing import Tuple, Optional
from config.definitions import CustomServiceList
from config.object_ids import ACS_CONTROLLER
from 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_SET = 0
class OpCodes:
REQUEST_MGM_HK = ["0", "req-mgm-hk"]
ENABLE_MGM_HK = ["1", "enable-mgm-hk"]
DISABLE_MGM_HK = ["1", "disable-mgm-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"
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_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_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
current_idx = 0
pw = PrintWrapper(printer)
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 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 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 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")