267 lines
8.6 KiB
Python
267 lines
8.6 KiB
Python
import datetime
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import enum
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import logging
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import struct
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from tmtccmd.config import CmdTreeNode
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from tmtccmd.pus.s200_fsfw_mode import create_mode_command, Mode
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from tmtccmd.tmtc import DefaultPusQueueHelper
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from tmtccmd.pus.tc.s3_fsfw_hk import (
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make_sid,
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create_request_one_hk_command,
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create_enable_periodic_hk_command_with_interval_with_diag,
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create_disable_periodic_hk_command_with_diag,
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)
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from tmtccmd.pus.tc.s8_fsfw_action import create_action_cmd
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from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
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_LOGGER = logging.getLogger(__name__)
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class GpsInfo:
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MAX_SATELLITES = 30
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class ActIds:
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RESET_GNSS = 5
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class AcsBoardSides(enum.IntEnum):
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A_SIDE = 0
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B_SIDE = 1
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class OpCode:
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OFF = "off"
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ON = "on"
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REQ_CORE_HK = "core_hk_request"
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ENABLE_CORE_HK = "core_hk_enable"
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DISABLE_CORE_HK = "core_hk_disable"
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REQ_SKYVIEW_HK = "skyview_hk_request"
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ENABLE_SKYVIEW_HK = "skyview_hk_enable"
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DISABLE_SKYVIEW_HK = "skyview_hk_disable"
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RESET_GNSS = "reset_gnss"
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class Info:
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OFF = "Off"
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ON = "On"
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REQ_CORE_HK = "Request Core HK"
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ENABLE_CORE_HK = "Enable Core HK"
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DISABLE_CORE_HK = "Disable Core HK"
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REQ_SKYVIEW_HK = "Request Skyview HK"
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ENABLE_SKYVIEW_HK = "Enable Skyview HK"
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DISABLE_SKYVIEW_HK = "Disable Skyview HK"
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RESET_GNSS = "Reset GNSS using reset pin"
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class SetId(enum.IntEnum):
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CORE_HK = 0
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SKYVIEW_HK = 1
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def create_gnss_node() -> CmdTreeNode:
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op_code_strs = [
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getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
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]
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info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
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combined_dict = dict(zip(op_code_strs, info_strs))
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node = CmdTreeNode("gnss_ctrl", "GNSS Ctrl", hide_children_for_print=True)
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for op_code, info in combined_dict.items():
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node.add_child(CmdTreeNode(op_code, info))
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return node
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def pack_gps_command( # noqa: C901
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object_id: bytes, q: DefaultPusQueueHelper, cmd_str: str
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): # noqa: C901:
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if cmd_str == OpCode.RESET_GNSS:
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for val in AcsBoardSides:
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print("{:<2}: {:<20}".format(val, val.name))
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board_side = int(input("Select Board Side \n" ""))
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q.add_log_cmd(f"GPS: {Info.RESET_GNSS}")
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q.add_pus_tc(
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create_action_cmd(
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object_id=object_id,
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action_id=ActIds.RESET_GNSS,
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user_data=bytearray([board_side]),
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)
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)
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if cmd_str == OpCode.ENABLE_CORE_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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if interval <= 0:
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raise ValueError("invalid interval")
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q.add_log_cmd(f"GPS: {Info.ENABLE_CORE_HK}")
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cmds = create_enable_periodic_hk_command_with_interval_with_diag(
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diag=False,
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sid=make_sid(object_id=object_id, set_id=SetId.CORE_HK),
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interval_seconds=interval,
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)
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for cmd in cmds:
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q.add_pus_tc(cmd)
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if cmd_str == OpCode.DISABLE_CORE_HK:
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q.add_log_cmd(f"gps: {Info.DISABLE_CORE_HK}")
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q.add_pus_tc(
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create_disable_periodic_hk_command_with_diag(
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diag=False, sid=make_sid(object_id=object_id, set_id=SetId.CORE_HK)
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)
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)
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if cmd_str == OpCode.REQ_CORE_HK:
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q.add_log_cmd(f"GPS: {Info.REQ_CORE_HK}")
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q.add_pus_tc(
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create_request_one_hk_command(
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sid=make_sid(object_id=object_id, set_id=SetId.CORE_HK)
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)
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)
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if cmd_str == OpCode.ENABLE_SKYVIEW_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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if interval <= 0:
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raise ValueError("invalid interval")
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q.add_log_cmd(f"GPS: {Info.ENABLE_SKYVIEW_HK}")
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cmds = create_enable_periodic_hk_command_with_interval_with_diag(
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diag=False,
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sid=make_sid(object_id=object_id, set_id=SetId.SKYVIEW_HK),
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interval_seconds=interval,
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)
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for cmd in cmds:
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q.add_pus_tc(cmd)
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if cmd_str == OpCode.DISABLE_SKYVIEW_HK:
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q.add_log_cmd(f"gps: {Info.DISABLE_SKYVIEW_HK}")
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q.add_pus_tc(
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create_disable_periodic_hk_command_with_diag(
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diag=False, sid=make_sid(object_id=object_id, set_id=SetId.SKYVIEW_HK)
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)
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)
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if cmd_str == OpCode.REQ_SKYVIEW_HK:
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q.add_log_cmd(f"GPS: {Info.REQ_SKYVIEW_HK}")
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q.add_pus_tc(
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create_request_one_hk_command(
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sid=make_sid(object_id=object_id, set_id=SetId.SKYVIEW_HK)
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)
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)
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if cmd_str == OpCode.ON:
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q.add_log_cmd(f"GPS: {Info.ON}")
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q.add_pus_tc(create_mode_command(object_id, Mode.ON, 0))
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if cmd_str == OpCode.OFF:
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q.add_log_cmd(f"GPS: {Info.OFF}")
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q.add_pus_tc(create_mode_command(object_id, Mode.OFF, 0))
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def handle_gps_data(
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pw: PrintWrapper,
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set_id: int,
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hk_data: bytes,
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packet_time: datetime.datetime,
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):
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pw.ilog(_LOGGER, f"Received GPS CTRL HK with packet time {packet_time}")
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match set_id:
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case SetId.CORE_HK:
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handle_core_data(pw, hk_data)
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case SetId.SKYVIEW_HK:
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handle_skyview_data(pw, hk_data)
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def handle_core_data(pw: PrintWrapper, hk_data: bytes):
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if len(hk_data) < 4 * 8 + 4 + 2 + 8:
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pw.dlog(
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f"GPS Core dataset with size {len(hk_data)} does not have expected size"
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f" of {4*8+4+2+8} bytes"
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)
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return
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current_idx = 0
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fmt_str = "!ddddBBBHBBBBBI"
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inc_len = struct.calcsize(fmt_str)
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(
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lat,
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long,
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alt,
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speed,
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fix,
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sats_in_use,
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sats_in_view,
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year,
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month,
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day,
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hours,
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minutes,
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seconds,
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unix_seconds,
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) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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current_idx += inc_len
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if year == 0:
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date_string = "No date string, year is 0"
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else:
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date_string = datetime.datetime(
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year=year, month=month, day=day, hour=hours, minute=minutes, second=seconds
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)
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pw.dlog(f"Lat: {lat} deg")
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pw.dlog(f"Long: {long} deg")
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pw.dlog(f"Altitude: {alt} m | Speed: {speed} m/s")
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pw.dlog(
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f"Fix Type: {fix} | Sats in View {sats_in_view} | Sats in Use {sats_in_use}"
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)
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pw.dlog(f"GNSS Date: {date_string}")
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pw.dlog(f"Unix seconds {unix_seconds}")
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pw.dlog(get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=14))
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def handle_skyview_data(pw: PrintWrapper, hk_data: bytes):
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data_length = 8 + GpsInfo.MAX_SATELLITES * (8 + 3 * 2 + 1)
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if len(hk_data) < data_length:
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pw.dlog(
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f"GPS Skyview dataset with size {len(hk_data)} does not have expected size"
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f" of {data_length} bytes"
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)
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return
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current_idx = 0
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fmt_str_unix = "!d"
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fmt_str_int16 = "!" + "h" * GpsInfo.MAX_SATELLITES
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fmt_str_double = "!" + "d" * GpsInfo.MAX_SATELLITES
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fmt_str_uint8 = "!" + "B" * GpsInfo.MAX_SATELLITES
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inc_len_unix = struct.calcsize(fmt_str_unix)
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inc_len_int16 = struct.calcsize(fmt_str_int16)
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inc_len_double = struct.calcsize(fmt_str_double)
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inc_len_uint8 = struct.calcsize(fmt_str_uint8)
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unix = struct.unpack(
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fmt_str_unix, hk_data[current_idx : current_idx + inc_len_unix]
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)[0]
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current_idx += inc_len_unix
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prn_id = struct.unpack(
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fmt_str_int16, hk_data[current_idx : current_idx + inc_len_int16]
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)
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current_idx += inc_len_int16
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azimuth = struct.unpack(
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fmt_str_int16, hk_data[current_idx : current_idx + inc_len_int16]
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)
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current_idx += inc_len_int16
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elevation = struct.unpack(
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fmt_str_int16, hk_data[current_idx : current_idx + inc_len_int16]
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)
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current_idx += inc_len_int16
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signal_to_noise = struct.unpack(
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fmt_str_double, hk_data[current_idx : current_idx + inc_len_double]
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)
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current_idx += inc_len_double
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used = struct.unpack(
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fmt_str_uint8, hk_data[current_idx : current_idx + inc_len_uint8]
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)
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current_idx += inc_len_uint8
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pw.dlog(f"Skyview Time: {unix} unix-sec")
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pw.dlog(
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"{:<8} {:<8} {:<8} {:<8} {:<8}".format(
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"PRN_ID", "AZ [°]", "EL [°]", "S2N [dBHz]", "USED"
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)
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)
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for idx in range(GpsInfo.MAX_SATELLITES):
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pw.dlog(
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"{:<8} {:<8} {:<8} {:<8} {:<8}".format(
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prn_id[idx],
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azimuth[idx],
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elevation[idx],
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signal_to_noise[idx],
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used[idx],
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)
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)
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pw.dlog(get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=6))
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