1298 lines
49 KiB
Python
1298 lines
49 KiB
Python
# -*- coding: utf-8 -*-
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"""
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@file star_tracker.py
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@brief Star tracker commanding
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@author J. Meier
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@date 14.08.2021
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"""
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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 typing import List, Tuple
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from eive_tmtc.utility.input_helper import InputHelper
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from spacepackets.ecss.tc import PusTelecommand
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from tmtccmd.config import CmdTreeNode
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from tmtccmd.pus.tc.s3_fsfw_hk import (
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create_request_one_diag_command,
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create_request_one_hk_command,
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enable_periodic_hk_command_with_interval,
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disable_periodic_hk_command,
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make_sid,
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)
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from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd, create_scalar_u8_parameter
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from tmtccmd.pus.s8_fsfw_action import create_action_cmd
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from tmtccmd.tmtc import DefaultPusQueueHelper
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from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
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from tmtccmd.util import ObjectIdU32
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from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
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from eive_tmtc.config.object_ids import STR_ASSEMBLY, STAR_TRACKER_ID
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_LOGGER = logging.getLogger(__name__)
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class FirmwareTarget(enum.IntEnum):
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MAIN = 1
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BACKUP = 10
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class ParamId(enum.IntEnum):
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FIRMWARE_TARGET = 1
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FIRMWARE_TARGET_PERSISTENT = 2
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class StarTrackerActionId(enum.IntEnum):
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PING = 0
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BOOT = 1
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REQ_VERSION = 2
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REQ_INTERFACE = 3
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REQ_TIME = 4
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UNLOCK = 6
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SWITCH_TO_BOOTLOADER_PROGRAM = 7
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REQ_POWER = 11
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TAKE_IMAGE = 15
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DOWNLOAD_IMAGE = 9
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UPLOAD_IMAGE = 10
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DOWNLOAD_CENTROID = 16
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UPLOAD_CENTROID = 17
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SUBSCRIPTION = 18
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IMAGE_PROCESSOR = 19
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REQ_SOLUTION = 24
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REQ_TEMPERATURE = 25
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REQ_HISTOGRAM = 28
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REQ_CONTRAST = 29
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LIMITS = 40
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MOUNTING = 41
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CAMERA = 42
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BLOB = 43
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CENTROIDING = 44
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LISA = 45
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MATCHING = 46
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TRACKING = 47
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VALIDATION = 48
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ALGO = 49
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CHECKSUM = 50
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FLASH_READ = 51
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FLASH_WRITE = 52
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DOWNLOAD_MATCHED_STAR = 53
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STOP_STR_HELPER = 55
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RESET_ERROR = 56
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CHANGE_DOWNLOAD_IMAGE = 57
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SET_JSON_FILE_NAME = 58
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SET_FLASH_READ_FILENAME = 59
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DOWNLOAD_DBIMAGE = 61
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DOWNLOAD_BLOBPIXEL = 62
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DOWNLOAD_FPGA_IMAGE = 63
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CHANGE_FPGA_DOWNLOAD_FILE = 64
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UPLOAD_FPGA_IMAGE = 65
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FPGA_ACTION = 66
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REQ_CAMERA_PARAMS = 67
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REQ_LIMITS = 68
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REQ_LOG_LEVEL = 69
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REQ_MOUNTING = 70
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REQ_IMAGE_PROCESSOR = 71
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REQ_CENTROIDING = 72
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REQ_LISA = 73
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REQ_MATCHING = 74
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REQ_TRACKING = 75
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REQ_VALIDATION = 76
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REQ_ALGO = 77
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REQ_SUBSCRIPTION = 78
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REQ_LOG_SUBSCRIPTION = 79
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REQ_DEBUG_CAMERA = 80
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LOGLEVEL = 81
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LOG_SUBSCRIPTION = 82
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DEBUG_CAMERA = 83
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# Legacy variable.
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FIRMWARE_UPDATE = 84
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FIRMWARE_UPDATE_MAIN = 84
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FIRMWARE_UPDATE_BACKUP = 101
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SET_TIME_FROM_SYS_TIME = 87
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ADD_SECONDARY_TM_TO_NORMAL_MODE = 95
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RESET_SECONDARY_TM_SET = 96
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READ_SECONDARY_TM_SET = 97
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RELOAD_JSON_CFG_FILE = 100
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class OpCode:
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ON_BOOTLOADER = "on_bootloader"
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ON_FIRMWARE = "on_firmware"
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NORMAL = "nml"
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OFF = "off"
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PING = "ping"
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ONE_SHOOT_HK = "one_shot_hk"
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ENABLE_HK = "enable_hk"
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DISABLE_HK = "disable_hk"
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ADD_SECONDARY_TM_TO_NORMAL_MODE = "add_secondary_tm"
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RESET_SECONDARY_TM_SET = "reset_secondary_tm"
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READ_SECONDARY_TM_SET = "read_secondary_tm"
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TAKE_IMAGE = "take_image"
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UPLOAD_IMAGE = "upload_image"
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DOWNLOAD_IMAGE = "download_image"
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SET_IMG_PROCESSOR_MODE = "set_img_proc_mode"
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FW_UPDATE_MAIN = "fw_update_main"
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SET_TIME_FROM_SYS_TIME = "set_time"
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RELOAD_JSON_CFG_FILE = "reload_json_cfg"
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FW_UPDATE_BACKUP = "fw_update_backup"
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SELECT_TARGET_FIRMWARE_MAIN = "fw_main"
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SELECT_TARGET_FIRMWARE_BACKUP = "fw_backup"
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SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT = "fw_main_persistent"
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SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT = "fw_backup_persistent"
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REQUEST_VERSION = "request_version"
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class Info:
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ON_BOOTLOADER = "Switch to Mode On, Submode Bootloder"
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ON_FIRMWARE = "Switch to Mode On, Submode Firmware"
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NORMAL = "Switch to Mode Normal"
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OFF = "Switch to Mode Off"
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PING = "Send Ping"
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ONE_SHOOT_HK = "One shoot HK Set"
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ENABLE_HK = "Enable Periodic HK"
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DISABLE_HK = "Disable Periodic HK"
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ADD_SECONDARY_TM_TO_NORMAL_MODE = "Add specific Dataset to secondary TM"
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RESET_SECONDARY_TM_SET = "Reset secondary TM to Temperature Set only"
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READ_SECONDARY_TM_SET = "Read list of secondary TM Sets"
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UPLOAD_IMAGE = "Upload Optical Image"
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DOWNLOAD_IMAGE = "Download Optical Image"
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TAKE_IMAGE = "Take Image"
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SET_IMG_PROCESSOR_MODE = "Set Image Processor Mode"
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FW_UPDATE_MAIN = "Update Main Firmware Slot"
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FW_UPDATE_BACKUP = "Update Backup Firmware Slot"
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SET_TIME_FROM_SYS_TIME = "Set time from system time"
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RELOAD_JSON_CFG_FILE = "Reload JSON configuration file. Reboot still required."
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SELECT_TARGET_FIRMWARE_MAIN = "Select main firmware slot"
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SELECT_TARGET_FIRMWARE_BACKUP = "Select backup firmware slot"
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SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT = "Select main firmware slot persistently"
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SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT = (
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"Select backup firmware slot persistently"
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)
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REQUEST_VERSION = "Request the active Firmware Version"
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class SetId(enum.IntEnum):
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VERSION = 2
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INTERFACE = 3
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POWER = 11
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TEMPERATURE = 25
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SOLUTION = 24
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HISTOGRAM = 28
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CONTRAST = 29
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CHECKSUM = 50
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CAMERA = 67
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LIMITS = 68
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CENTROIDING = 72
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LISA = 73
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AUTO_BLOB = 89
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MATCHED_CENTROIDS = 90
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BLOB = 91
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BLOBS = 92
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CENTROID = 93
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CENTROIDS = 94
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BLOB_STATS = 102
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class DataSetRequest(enum.IntEnum):
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ONESHOT = 0
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ENABLE = 1
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DISABLE = 2
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class FileDefs:
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download_path = "/mnt/sd0/startracker"
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json_file = "/mnt/sd0/startracker/full.json"
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egse_ground_config = "/home/pi/arcsec/json/ground-config.json"
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egse_flight_config = "/home/pi/arcsec/json/flight-config.json"
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egse_solution_upload_img_config = "/home/pi/arcsec/json/upload-image-solution.json"
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egse_histogram_upload_img_config = (
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"/home/pi/arcsec/json/upload-image-histogram.json"
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)
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q7s_ground_config = "/mnt/sd0/startracker/ground-config.json"
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q7s_flight_config = "/mnt/sd0/startracker/flight-config.json"
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firmware2_1 = "/home/pi/arcsec/firmware/sagitta-2-1.bin"
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firmware22_1 = "/home/pi/arcsec/firmware/sagitta-22-1.bin"
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firmware_origin = "/home/pi/arcsec/firmware/sagitta-origin.bin"
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FW_SLOT_Q7S = "/mnt/sd0/startracker/updates/sagitta-update.bin"
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json_dict = {
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"1": ("Q7S flight config", FileDefs.q7s_flight_config),
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"2": ("Q7S ground config", FileDefs.q7s_ground_config),
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"3": ("EGSE flight config", FileDefs.egse_flight_config),
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"4": ("EGSE ground config", FileDefs.egse_ground_config),
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"5": (
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"EGSE get solution, upload image config",
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FileDefs.egse_solution_upload_img_config,
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),
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"6": (
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"EGSE get histogram, upload image config",
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FileDefs.egse_solution_upload_img_config,
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),
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}
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FW_DICT = {
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"0": ("Firmware Update Q7S", FileDefs.FW_SLOT_Q7S),
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"1": ("Firmware Major = 2, Minor = 1", FileDefs.firmware2_1),
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"2": ("Firmware Major = 22, Minor = 1", FileDefs.firmware22_1),
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"3": ("Firmware Origin", FileDefs.firmware_origin),
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}
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UPLOAD_IMAGE_DICT = {
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"0": ("custom path", "Custom Path"),
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"1": ("q7s gemma", "/mnt/sd0/startracker/gemma.bin"),
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"2": ("egse gemma", "/home/pi/arcsec/star-images/gemma.bin"),
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"3": ("q7s polaris", "/mnt/sd0/startracker/polaris.bin"),
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"4": ("egse polaris", "/home/pi/arcsec/star-images/polaris.bin"),
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}
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class StartRegion:
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# Definition according to datasheet (which turned out to be partially faulty)
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BOOTLOADER = 0
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STAR_TRACKER_FIRMWARE = 1
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class PartitionSize:
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# Size of most recent firmware image
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STAR_TRACKER_FIRMWARE = 464572
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class Submode(enum.IntEnum):
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DEFAULT = 0
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BOOTLOADER = 1
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FIRMWARE = 2
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def prompt_object_id_mode_cmd() -> bytes:
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cmd_assy = input("Command Assembly (0) or Device Handler (1) ?: ")
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if cmd_assy == "0":
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return STR_ASSEMBLY
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else:
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return STAR_TRACKER_ID
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def pack_star_tracker_commands( # noqa C901
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object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
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):
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q.add_log_cmd(
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f"Generate command for star tracker with object id: {object_id.as_hex_string}"
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)
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obyt = object_id.as_bytes
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if cmd_str == OpCode.ON_BOOTLOADER:
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q.add_log_cmd("Star tracker: Mode On, Submode Bootloader")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.ON, Submode.BOOTLOADER)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if cmd_str == OpCode.ON_FIRMWARE:
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q.add_log_cmd("Star tracker: Mode On, Submode Firmware")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.ON, Submode.FIRMWARE)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if cmd_str == OpCode.NORMAL:
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q.add_log_cmd("Star tracker: Mode Normal")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.NORMAL, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if cmd_str == OpCode.OFF:
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q.add_log_cmd("Star tracker: Mode Off")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.OFF, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if cmd_str == OpCode.ONE_SHOOT_HK:
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q.add_log_cmd(Info.ONE_SHOOT_HK)
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request_dataset(q, DataSetRequest.ONESHOT)
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if cmd_str == OpCode.ENABLE_HK:
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q.add_log_cmd(Info.ENABLE_HK)
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request_dataset(q, DataSetRequest.ENABLE)
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if cmd_str == OpCode.DISABLE_HK:
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q.add_log_cmd(Info.DISABLE_HK)
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request_dataset(q, DataSetRequest.DISABLE)
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if cmd_str == "4":
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q.add_log_cmd("Star tracker: Mode Raw")
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data = pack_mode_data(obyt, Mode.RAW, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if cmd_str == OpCode.PING:
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q.add_log_cmd("Star tracker: Ping")
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data = obyt + struct.pack("!I", StarTrackerActionId.PING)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "6":
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q.add_log_cmd("Star tracker: Switch to bootloader program")
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data = obyt + struct.pack(
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"!I", StarTrackerActionId.SWITCH_TO_BOOTLOADER_PROGRAM
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "7":
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q.add_log_cmd("Star tracker: Temperature request")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TEMPERATURE)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "9":
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q.add_log_cmd("Star tracker: Request interface")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_INTERFACE)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "10":
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q.add_log_cmd("Star tracker: Request power")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_POWER)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "11":
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q.add_log_cmd("Star tracker: Set subscription parameters")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.SUBSCRIPTION)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "12":
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q.add_log_cmd("Star tracker: Boot")
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data = obyt + struct.pack("!I", StarTrackerActionId.BOOT)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "13":
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q.add_log_cmd("Star tracker: Request time")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TIME)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == OpCode.UPLOAD_IMAGE:
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q.add_log_cmd("Star tracker: Upload image")
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image = get_upload_image()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.UPLOAD_IMAGE)
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+ bytearray(image, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == OpCode.DOWNLOAD_IMAGE:
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q.add_log_cmd(f"STR: {Info.DOWNLOAD_IMAGE}")
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path = input("Specify storage location (default - /mnt/sd0/startracker): ")
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if not path:
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path = FileDefs.download_path
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_IMAGE)
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+ bytearray(path, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "17":
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q.add_log_cmd("Star tracker: Set limits")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.LIMITS)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "18":
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q.add_log_cmd("Star tracker: Set tracking parameters")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.TRACKING)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "19":
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q.add_log_cmd("Star tracker: Mounting")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.MOUNTING)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "20":
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q.add_log_cmd("Star tracker: Camera")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.CAMERA)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "22":
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q.add_log_cmd("Star tracker: Centroiding")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.CENTROIDING)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "23":
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q.add_log_cmd("Star tracker: LISA")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.LISA)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "24":
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q.add_log_cmd("Star tracker: Matching")
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json_file = get_config_file()
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data = (
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obyt
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+ struct.pack("!I", StarTrackerActionId.MATCHING)
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+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if cmd_str == "25":
|
|
q.add_log_cmd("Star tracker: Validation")
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.VALIDATION)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "26":
|
|
q.add_log_cmd("Star tracker: Algo")
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.ALGO)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == OpCode.TAKE_IMAGE:
|
|
q.add_log_cmd("Star tracker: Take image")
|
|
actionid = int(
|
|
input("Specify parameter ID (4: take image, 7: get histogram): ")
|
|
)
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.TAKE_IMAGE)
|
|
+ struct.pack("!B", actionid)
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "28":
|
|
q.add_log_cmd("Star tracker: Stop str helper")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.STOP_STR_HELPER)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "30":
|
|
q.add_log_cmd("Star tracker: Set name of download image")
|
|
filename = input("Specify download image name: ")
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.CHANGE_DOWNLOAD_IMAGE)
|
|
+ bytearray(filename, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "31":
|
|
q.add_log_cmd("Star tracker: Request histogram")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_HISTOGRAM)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "32":
|
|
q.add_log_cmd("Star tracker: Request contrast")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CONTRAST)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "33":
|
|
q.add_log_cmd("Star tracker: Set json filename")
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.SET_JSON_FILE_NAME)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "35":
|
|
q.add_log_cmd("Star tracker: Flash read")
|
|
data = pack_read_command(obyt)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "36":
|
|
q.add_log_cmd("Star tracker: Set flash read filename")
|
|
filename = input("Specify filename: ")
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.SET_FLASH_READ_FILENAME)
|
|
+ bytearray(filename, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "37":
|
|
q.add_log_cmd("Star tracker: Get checksum")
|
|
data = pack_checksum_command(obyt)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == OpCode.SET_TIME_FROM_SYS_TIME:
|
|
q.add_log_cmd(Info.SET_TIME_FROM_SYS_TIME)
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.SET_TIME_FROM_SYS_TIME)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "39":
|
|
q.add_log_cmd("Star tracker: Download Centroid")
|
|
id = 0
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_CENTROID)
|
|
+ struct.pack("!B", id)
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "41":
|
|
q.add_log_cmd("Star tracker: Download matched star")
|
|
id = 0
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_MATCHED_STAR)
|
|
+ struct.pack("!B", id)
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "42":
|
|
q.add_log_cmd("Star tracker: Download DB Image")
|
|
id = 0
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_DBIMAGE)
|
|
+ struct.pack("!B", id)
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "43":
|
|
q.add_log_cmd("Star tracker: Download Blob Pixel")
|
|
id = 0
|
|
type = 1 # 0 - normal, 1 - fast
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_BLOBPIXEL)
|
|
+ struct.pack("!B", id)
|
|
+ struct.pack("!B", type)
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "47":
|
|
q.add_log_cmd("Star tracker: FPGA action")
|
|
id = 3
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.FPGA_ACTION)
|
|
+ struct.pack("!B", id)
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "48":
|
|
q.add_log_cmd("Star tracker: Unlock")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.UNLOCK)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "49":
|
|
q.add_log_cmd("Star tracker: Request camera parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CAMERA_PARAMS)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "50":
|
|
q.add_log_cmd("Star tracker: Request limits")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LIMITS)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == OpCode.SET_IMG_PROCESSOR_MODE:
|
|
q.add_log_cmd(Info.SET_IMG_PROCESSOR_MODE)
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.IMAGE_PROCESSOR)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "52":
|
|
q.add_log_cmd("Star tracker: EGSE load ground config camera parameters")
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.CAMERA)
|
|
+ bytearray(FileDefs.egse_ground_config, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "53":
|
|
q.add_log_cmd("Star tracker: EGSE load flight config camera parameters")
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.CAMERA)
|
|
+ bytearray(FileDefs.egse_flight_config, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "54":
|
|
q.add_log_cmd("Star tracker: Request log level parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LOG_LEVEL)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "55":
|
|
q.add_log_cmd("Star tracker: Request mounting parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_MOUNTING)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "56":
|
|
q.add_log_cmd("Star tracker: Request image processor parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_IMAGE_PROCESSOR)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "57":
|
|
q.add_log_cmd("Star tracker: Request centroiding parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CENTROIDING)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "58":
|
|
q.add_log_cmd("Star tracker: Request lisa parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LISA)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "59":
|
|
q.add_log_cmd("Star tracker: Request matching parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_MATCHING)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "60":
|
|
q.add_log_cmd("Star tracker: Request tracking parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TRACKING)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "61":
|
|
q.add_log_cmd("Star tracker: Request validation parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_VALIDATION)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "62":
|
|
q.add_log_cmd("Star tracker: Request algo parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_ALGO)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "63":
|
|
q.add_log_cmd("Star tracker: Request subscription parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_SUBSCRIPTION)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "64":
|
|
q.add_log_cmd("Star tracker: Request log subscription parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LOG_SUBSCRIPTION)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "65":
|
|
q.add_log_cmd("Star tracker: Request debug camera parameters")
|
|
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_DEBUG_CAMERA)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "66":
|
|
q.add_log_cmd("Star tracker: Set log level parameters")
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.LOGLEVEL)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "67":
|
|
q.add_log_cmd("Star tracker: Set log subscription parameters")
|
|
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.LOG_SUBSCRIPTION)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == "68":
|
|
q.add_log_cmd("Star tracker: Set debug camera parameters")
|
|
json_file = get_config_file()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.DEBUG_CAMERA)
|
|
+ bytearray(json_file, "utf-8")
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == OpCode.FW_UPDATE_MAIN:
|
|
q.add_log_cmd(Info.FW_UPDATE_MAIN)
|
|
firmware = get_firmware()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.FIRMWARE_UPDATE_MAIN)
|
|
+ firmware.encode()
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == OpCode.FW_UPDATE_BACKUP:
|
|
q.add_log_cmd(Info.FW_UPDATE_BACKUP)
|
|
firmware = get_firmware()
|
|
data = (
|
|
obyt
|
|
+ struct.pack("!I", StarTrackerActionId.FIRMWARE_UPDATE_BACKUP)
|
|
+ firmware.encode()
|
|
)
|
|
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
|
|
if cmd_str == OpCode.ADD_SECONDARY_TM_TO_NORMAL_MODE:
|
|
q.add_log_cmd(Info.ADD_SECONDARY_TM_TO_NORMAL_MODE)
|
|
for val in SetId:
|
|
print("{:<2}: {:<20}".format(val, val.name))
|
|
set_id = int(input("Specify the dataset \n" ""))
|
|
q.add_pus_tc(
|
|
create_action_cmd(
|
|
STAR_TRACKER_ID,
|
|
StarTrackerActionId.ADD_SECONDARY_TM_TO_NORMAL_MODE,
|
|
struct.pack("!I", set_id),
|
|
)
|
|
)
|
|
if cmd_str == OpCode.RESET_SECONDARY_TM_SET:
|
|
q.add_log_cmd(Info.RESET_SECONDARY_TM_SET)
|
|
q.add_pus_tc(
|
|
create_action_cmd(
|
|
STAR_TRACKER_ID,
|
|
StarTrackerActionId.RESET_SECONDARY_TM_SET,
|
|
)
|
|
)
|
|
if cmd_str == OpCode.READ_SECONDARY_TM_SET:
|
|
q.add_log_cmd(Info.READ_SECONDARY_TM_SET)
|
|
q.add_pus_tc(
|
|
create_action_cmd(
|
|
STAR_TRACKER_ID, StarTrackerActionId.READ_SECONDARY_TM_SET
|
|
)
|
|
)
|
|
if cmd_str == OpCode.RELOAD_JSON_CFG_FILE:
|
|
q.add_log_cmd(Info.RELOAD_JSON_CFG_FILE)
|
|
q.add_pus_tc(
|
|
create_action_cmd(STAR_TRACKER_ID, StarTrackerActionId.RELOAD_JSON_CFG_FILE)
|
|
)
|
|
if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_MAIN:
|
|
q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_MAIN)
|
|
q.add_pus_tc(create_update_firmware_target_cmd(False, FirmwareTarget.MAIN))
|
|
if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_BACKUP:
|
|
q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_BACKUP)
|
|
q.add_pus_tc(create_update_firmware_target_cmd(False, FirmwareTarget.BACKUP))
|
|
if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT:
|
|
q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_BACKUP)
|
|
q.add_pus_tc(create_update_firmware_target_cmd(True, FirmwareTarget.MAIN))
|
|
if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT:
|
|
q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_BACKUP)
|
|
q.add_pus_tc(create_update_firmware_target_cmd(True, FirmwareTarget.BACKUP))
|
|
if cmd_str == OpCode.REQUEST_VERSION:
|
|
q.add_log_cmd(Info.REQUEST_VERSION)
|
|
q.add_pus_tc(
|
|
create_action_cmd(
|
|
object_id=STAR_TRACKER_ID, action_id=StarTrackerActionId.REQ_VERSION
|
|
)
|
|
)
|
|
|
|
|
|
def create_update_firmware_target_cmd(
|
|
persistent: bool, fw_target: FirmwareTarget
|
|
) -> PusTelecommand:
|
|
if persistent:
|
|
param_id = ParamId.FIRMWARE_TARGET_PERSISTENT
|
|
else:
|
|
param_id = ParamId.FIRMWARE_TARGET
|
|
return create_load_param_cmd(
|
|
parameter=create_scalar_u8_parameter(
|
|
STAR_TRACKER_ID,
|
|
0,
|
|
param_id,
|
|
fw_target,
|
|
),
|
|
apid=0,
|
|
)
|
|
|
|
|
|
def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest):
|
|
for val in SetId:
|
|
print("{:<2}: {:<20}".format(val, val.name))
|
|
set_id = int(input("Specify the dataset \n" ""))
|
|
if set_id in [SetId.SOLUTION, SetId.TEMPERATURE]:
|
|
is_diag = True
|
|
else:
|
|
is_diag = False
|
|
match req_type:
|
|
case DataSetRequest.ONESHOT:
|
|
if is_diag:
|
|
q.add_pus_tc(
|
|
create_request_one_diag_command(make_sid(STAR_TRACKER_ID, set_id))
|
|
)
|
|
else:
|
|
q.add_pus_tc(
|
|
create_request_one_hk_command(make_sid(STAR_TRACKER_ID, set_id))
|
|
)
|
|
case DataSetRequest.ENABLE:
|
|
interval = float(
|
|
input("Please specify interval in floating point seconds: ")
|
|
)
|
|
|
|
if is_diag:
|
|
cmd_tuple = enable_periodic_hk_command_with_interval(
|
|
True, make_sid(STAR_TRACKER_ID, set_id), interval
|
|
)
|
|
else:
|
|
cmd_tuple = enable_periodic_hk_command_with_interval(
|
|
False, make_sid(STAR_TRACKER_ID, set_id), interval
|
|
)
|
|
q.add_pus_tc(cmd_tuple[0])
|
|
q.add_pus_tc(cmd_tuple[1])
|
|
case DataSetRequest.DISABLE:
|
|
if is_diag:
|
|
q.add_pus_tc(
|
|
disable_periodic_hk_command(True, make_sid(STAR_TRACKER_ID, set_id))
|
|
)
|
|
else:
|
|
q.add_pus_tc(
|
|
disable_periodic_hk_command(
|
|
False, make_sid(STAR_TRACKER_ID, set_id)
|
|
)
|
|
)
|
|
|
|
|
|
def pack_read_command(object_id: bytes) -> bytearray:
|
|
start_region = StartRegion.STAR_TRACKER_FIRMWARE
|
|
size = PartitionSize.STAR_TRACKER_FIRMWARE
|
|
path = input("Specify storage location (default - /mnt/sd0/startracker): ")
|
|
if not path:
|
|
path = FileDefs.download_path
|
|
data = (
|
|
object_id
|
|
+ struct.pack("!I", StarTrackerActionId.FLASH_READ)
|
|
+ struct.pack("!B", start_region)
|
|
+ struct.pack("!I", size)
|
|
+ bytearray(path, "utf-8")
|
|
)
|
|
return bytearray(data)
|
|
|
|
|
|
def pack_checksum_command(object_id: bytes) -> bytearray:
|
|
start_region = StartRegion.STAR_TRACKER_FIRMWARE
|
|
address = 0
|
|
size = PartitionSize.STAR_TRACKER_FIRMWARE
|
|
data = (
|
|
object_id
|
|
+ struct.pack("!I", StarTrackerActionId.CHECKSUM)
|
|
+ struct.pack("!B", start_region)
|
|
+ struct.pack("!I", address)
|
|
+ struct.pack("!I", size)
|
|
)
|
|
return bytearray(data)
|
|
|
|
|
|
def get_config_file() -> str:
|
|
_LOGGER.info("Specify json file")
|
|
input_helper = InputHelper(json_dict)
|
|
key = input_helper.get_key()
|
|
json_file = json_dict[key][1]
|
|
return json_file
|
|
|
|
|
|
def get_firmware() -> str:
|
|
_LOGGER.info("Specify firmware file")
|
|
bin_select = int(input("Use hardcoded paths (0) or specify path manually (1) ?: "))
|
|
if bin_select == 0:
|
|
input_helper = InputHelper(FW_DICT)
|
|
key = input_helper.get_key()
|
|
firmware = FW_DICT[key][1]
|
|
else:
|
|
firmware = input("Specify absolute path of the firmware update file: ")
|
|
return firmware
|
|
|
|
|
|
def get_upload_image() -> str:
|
|
_LOGGER.info("Specify image to upload")
|
|
input_helper = InputHelper(UPLOAD_IMAGE_DICT)
|
|
key = input_helper.get_key()
|
|
if UPLOAD_IMAGE_DICT[key][0] == "custom path":
|
|
image = input("Please specify custom absolute path: ")
|
|
else:
|
|
image = UPLOAD_IMAGE_DICT[key][1]
|
|
return image
|
|
|
|
|
|
def handle_str_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog(f"Received STR HK set with set ID {set_id}")
|
|
if set_id == SetId.SOLUTION:
|
|
handle_solution_set(hk_data, pw)
|
|
elif set_id == SetId.HISTOGRAM:
|
|
handle_histogram_set(hk_data, pw)
|
|
elif set_id == SetId.TEMPERATURE:
|
|
handle_temperature_set(hk_data, pw)
|
|
elif set_id == SetId.AUTO_BLOB:
|
|
handle_auto_blob_set(hk_data, pw)
|
|
elif set_id == SetId.MATCHED_CENTROIDS:
|
|
handle_matched_centroids_set(hk_data, pw)
|
|
elif set_id == SetId.BLOB:
|
|
handle_blob_set(hk_data, pw)
|
|
elif set_id == SetId.BLOBS:
|
|
handle_blobs_set(hk_data, pw)
|
|
elif set_id == SetId.CENTROID:
|
|
handle_centroid_set(hk_data, pw)
|
|
elif set_id == SetId.CENTROIDS:
|
|
handle_centroids_set(hk_data, pw)
|
|
elif set_id == SetId.CONTRAST:
|
|
handle_contrast_set(hk_data, pw)
|
|
elif set_id == SetId.BLOB_STATS:
|
|
handle_blob_stats_set(hk_data, pw)
|
|
elif set_id == SetId.VERSION:
|
|
handle_version_set(hk_data, pw)
|
|
else:
|
|
_LOGGER.warning(f"HK parsing for Star Tracker set ID {set_id} unimplemented")
|
|
|
|
|
|
def unpack_time_hk(hk_data: bytes, current_idx: int, pw: PrintWrapper) -> int:
|
|
ticks_time_fmt = "!IQ"
|
|
fmt_len = struct.calcsize(ticks_time_fmt)
|
|
(ticks, unix_time) = struct.unpack(
|
|
ticks_time_fmt, hk_data[current_idx : current_idx + fmt_len]
|
|
)
|
|
try:
|
|
unix_as_dt = datetime.datetime.fromtimestamp(
|
|
int(round(unix_time / 1e6)), tz=datetime.timezone.utc
|
|
)
|
|
pw.dlog(f"Ticks: {ticks} | UNIX time: {unix_time}")
|
|
pw.dlog(f"UNIX as datetime: {unix_as_dt}")
|
|
except ValueError as e:
|
|
_LOGGER.exception(e)
|
|
current_idx += fmt_len
|
|
return current_idx
|
|
|
|
|
|
def handle_version_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Version Set")
|
|
if len(hk_data) != 16:
|
|
_LOGGER.warning(
|
|
f"Version dataset HK with length {len(hk_data)} of unexpected size"
|
|
)
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
program = struct.unpack("!B", hk_data[current_idx : current_idx + 1])[0]
|
|
pw.dlog(f"Program: {program}")
|
|
current_idx += 1
|
|
major = struct.unpack("!B", hk_data[current_idx : current_idx + 1])[0]
|
|
pw.dlog(f"Major: {major}")
|
|
current_idx += 1
|
|
minor = struct.unpack("!B", hk_data[current_idx : current_idx + 1])[0]
|
|
pw.dlog(f"Minor: {minor}")
|
|
current_idx += 1
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=5))
|
|
|
|
|
|
def handle_temperature_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received temperature set")
|
|
if len(hk_data) < 24:
|
|
_LOGGER.warning(f"Temperature dataset HK with length {len(hk_data)} too short")
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
temps_fmt = "!fff"
|
|
fmt_len = struct.calcsize(temps_fmt)
|
|
(mcu_temp, cmos_temp, fpga_temp) = struct.unpack(
|
|
temps_fmt, hk_data[current_idx : current_idx + fmt_len]
|
|
)
|
|
pw.dlog(f"MCU Temperature: {mcu_temp}")
|
|
pw.dlog(f"CMOS Temperature: {cmos_temp}")
|
|
pw.dlog(f"FPGA Temperature: {fpga_temp}")
|
|
current_idx += fmt_len
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 5))
|
|
|
|
|
|
def handle_solution_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received solution set")
|
|
if len(hk_data) < 78:
|
|
_LOGGER.warning(
|
|
f"Solution dataset HK data with length {len(hk_data)} too short"
|
|
)
|
|
return
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
calib_quaternions_fmt = "!ffff"
|
|
fmt_len = struct.calcsize(calib_quaternions_fmt)
|
|
(calib_q_w, calib_q_x, calib_q_y, calib_q_z) = struct.unpack(
|
|
calib_quaternions_fmt, hk_data[current_idx : current_idx + fmt_len]
|
|
)
|
|
pw.dlog("Calibrated Quaternions")
|
|
pw.dlog(f"Quaternion w: {calib_q_w}")
|
|
pw.dlog(f"Quaternion x: {calib_q_x}")
|
|
pw.dlog(f"Quaternion y: {calib_q_y}")
|
|
pw.dlog(f"Quaternion z: {calib_q_z}")
|
|
current_idx += fmt_len
|
|
track_fmt = "!fffff"
|
|
fmt_len = struct.calcsize(track_fmt)
|
|
(track_confidence, track_q_w, track_q_x, track_q_y, track_q_z) = struct.unpack(
|
|
track_fmt, hk_data[current_idx : current_idx + fmt_len]
|
|
)
|
|
pw.dlog(f"Track Confidence: {track_confidence}")
|
|
pw.dlog(f"Track QW: {track_q_w}")
|
|
pw.dlog(f"Track QX: {track_q_x}")
|
|
pw.dlog(f"Track QY: {track_q_y}")
|
|
pw.dlog(f"Track QZ: {track_q_z}")
|
|
current_idx += fmt_len
|
|
track_removed = hk_data[current_idx]
|
|
pw.dlog(f"Number of stars removed from tracking solution: {track_removed}")
|
|
current_idx += 1
|
|
stars_centroided = hk_data[current_idx]
|
|
pw.dlog(f"Centroided stars: {stars_centroided}")
|
|
current_idx += 1
|
|
stars_matched_database = hk_data[current_idx]
|
|
pw.dlog(f"Stars matched: {stars_matched_database}")
|
|
current_idx += 1
|
|
# Result of LISA: Lost in space algorithm
|
|
lisa_fmt = "!fffffB"
|
|
fmt_len = struct.calcsize(lisa_fmt)
|
|
(
|
|
lisa_q_w,
|
|
lisa_q_x,
|
|
lisa_q_y,
|
|
lisa_q_z,
|
|
lisa_percentage_close_stars,
|
|
lisa_number_close_stars,
|
|
) = struct.unpack(lisa_fmt, hk_data[current_idx : current_idx + fmt_len])
|
|
pw.dlog(f"LISA QW: {lisa_q_w}")
|
|
pw.dlog(f"LISA QX: {lisa_q_x}")
|
|
pw.dlog(f"LISA QY: {lisa_q_y}")
|
|
pw.dlog(f"LISA QZ: {lisa_q_z}")
|
|
pw.dlog(
|
|
f"Percentage of close stars in LISA solution: {lisa_percentage_close_stars}"
|
|
)
|
|
pw.dlog(f"Number of close stars in LISA solution: {lisa_number_close_stars}")
|
|
current_idx += fmt_len
|
|
str_mode = hk_data[current_idx]
|
|
pw.dlog(f"STR mode: {str_mode}")
|
|
current_idx += 1
|
|
is_trustworthy = hk_data[current_idx]
|
|
pw.dlog(f"Trustworthy solution: {is_trustworthy}")
|
|
current_idx += 1
|
|
stable_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
|
|
pw.dlog(f"Stable count: {stable_count}")
|
|
current_idx += 4
|
|
solution_strategy = hk_data[current_idx]
|
|
pw.dlog(f"Solution strategy: {solution_strategy}")
|
|
current_idx += 1
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 23))
|
|
|
|
|
|
def handle_blob_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Blob Set")
|
|
if len(hk_data) < 14:
|
|
_LOGGER.warning(f"Blob dataset HK data with length {len(hk_data)} too short")
|
|
return
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
blob_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
|
|
pw.dlog(f"Blob count: {blob_count}")
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx + 4 :], num_vars=3))
|
|
|
|
|
|
def handle_blobs_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Blobs Set")
|
|
if len(hk_data) < 6 + 2 * 2 * 8:
|
|
_LOGGER.warning(f"Blobs dataset HK data with length {len(hk_data)} too short")
|
|
return
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
fmt_str = "!HHH"
|
|
inc_len = struct.calcsize(fmt_str)
|
|
count, count_used, nr_4lines_skipped = struct.unpack(
|
|
fmt_str, hk_data[current_idx : current_idx + inc_len]
|
|
)
|
|
current_idx += inc_len
|
|
pw.dlog(
|
|
f"Count {count} | Count Used {count_used} | Number of skipped 4lines {nr_4lines_skipped}"
|
|
)
|
|
fmt_coords = "!HHHHHHHH"
|
|
inc_len = struct.calcsize(fmt_coords)
|
|
x_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
y_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
pw.dlog("{:<8} {:<8}".format("X", "Y"))
|
|
for idx in range(8):
|
|
pw.dlog("{:<8} {:<8}".format(x_coords[idx], y_coords[idx]))
|
|
assert current_idx == len(hk_data) - 1
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=7))
|
|
|
|
|
|
def handle_centroid_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Centroid Set")
|
|
if len(hk_data) < 14:
|
|
raise ValueError(
|
|
f"Centroid dataset HK data with length {len(hk_data)} too short"
|
|
)
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
centroid_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
|
|
current_idx += 4
|
|
pw.dlog(f"Centroid count: {centroid_count}")
|
|
assert current_idx == len(hk_data) - 1
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
|
|
|
|
|
|
def handle_centroids_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Centroids Set")
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
centroids_count = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
|
|
current_idx += 2
|
|
pw.dlog(f"Centroids count: {centroids_count}")
|
|
fmt_coords = "!ffffffffffffffff"
|
|
inc_len = struct.calcsize(fmt_coords)
|
|
x_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
y_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
fmt_coords = "!BBBBBBBBBBBBBBBB"
|
|
inc_len = struct.calcsize(fmt_coords)
|
|
magnitude = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
pw.dlog("{:<8} {:<8} {:<8} {:<8}".format("Index", "X", "Y", "Magnitude"))
|
|
for idx in range(16):
|
|
pw.dlog(
|
|
"{:<8} {:<8.3f} {:<8.3f} {:<8}".format(
|
|
idx, x_coords[idx], y_coords[idx], magnitude[idx]
|
|
)
|
|
)
|
|
assert current_idx == len(hk_data) - 1
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=6))
|
|
|
|
|
|
def handle_matched_centroids_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Matched Centroids Set")
|
|
if len(hk_data) < 4 + 8 + 1 + 4 * 16 * 5:
|
|
raise ValueError(
|
|
f"Matched Centroids dataset HK data with length {len(hk_data)} too short. Expected 333 bytes."
|
|
)
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
num_matched_centroids = hk_data[current_idx]
|
|
current_idx += 1
|
|
pw.dlog(f"Number of matched centroids {num_matched_centroids}")
|
|
fmt_ids = "!IIIIIIIIIIIIIIII"
|
|
inc_len = struct.calcsize(fmt_ids)
|
|
star_id = struct.unpack(fmt_ids, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
fmt_floats = "!ffffffffffffffff"
|
|
inc_len = struct.calcsize(fmt_floats)
|
|
x_coords = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
y_coords = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
x_errors = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
y_errors = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
|
|
current_idx += inc_len
|
|
pw.dlog(
|
|
"{:<8} {:<10} {:<10} {:<10} {:<10} {:<10}".format(
|
|
"Index", "Star ID", "X", "Y", "X Error", "Y Error"
|
|
)
|
|
)
|
|
for idx in range(16):
|
|
pw.dlog(
|
|
"{:<8} {:<10} {:<10.3f} {:<10.3f} {:<10.3f} {:<10.3f}".format(
|
|
idx,
|
|
star_id[idx],
|
|
x_coords[idx],
|
|
y_coords[idx],
|
|
x_errors[idx],
|
|
y_errors[idx],
|
|
)
|
|
)
|
|
assert current_idx == len(hk_data) - 1
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=8))
|
|
|
|
|
|
def handle_auto_blob_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Auto Blob Set")
|
|
if len(hk_data) < 4 + 8 + 4:
|
|
raise ValueError(
|
|
f"Matched Centroids dataset HK data with length {len(hk_data)} too short. Expected 16 bytes."
|
|
)
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
fmt_threshold = "!f"
|
|
inc_len = struct.calcsize(fmt_threshold)
|
|
threshold = struct.unpack(
|
|
fmt_threshold, hk_data[current_idx : current_idx + inc_len]
|
|
)[0]
|
|
current_idx += inc_len
|
|
assert current_idx == len(hk_data) - 1
|
|
pw.dlog(f"Threshold {threshold}")
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
|
|
|
|
|
|
def handle_histo_or_contrast_set(name: str, hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog(f"Received {name} Set")
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
fmt_str = "!IIIIIIIII"
|
|
bins_list = []
|
|
inc_len = struct.calcsize(fmt_str)
|
|
a_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
|
|
bins_list.append(a_bins)
|
|
current_idx += inc_len
|
|
b_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
|
|
bins_list.append(b_bins)
|
|
current_idx += inc_len
|
|
c_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
|
|
bins_list.append(c_bins)
|
|
current_idx += inc_len
|
|
d_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
|
|
bins_list.append(d_bins)
|
|
pw.dlog(
|
|
f"{name} Sections: A Upper Left | B Upper Right | C Lower Left | D Lower Right"
|
|
)
|
|
pw.dlog("{:<12} {:<10} {:<10} {:<10} {:<10}".format("Range", "A", "B", "C", "D"))
|
|
for idx in range(9):
|
|
if idx == 0:
|
|
val_range = "0 (0-0)"
|
|
elif idx == 1:
|
|
val_range = "1 (1-1)"
|
|
else:
|
|
val_range = f"{idx} ({pow(2, idx - 1)}-{pow(2, idx) - 1})"
|
|
pw.dlog(
|
|
"{:<12} {:<10} {:<10} {:<10} {:<10}".format(
|
|
val_range,
|
|
bins_list[0][idx],
|
|
bins_list[1][idx],
|
|
bins_list[2][idx],
|
|
bins_list[3][idx],
|
|
)
|
|
)
|
|
|
|
|
|
def handle_histogram_set(hk_data: bytes, pw: PrintWrapper):
|
|
handle_histo_or_contrast_set("Histogram", hk_data, pw)
|
|
|
|
|
|
def handle_contrast_set(hk_data: bytes, pw: PrintWrapper):
|
|
handle_histo_or_contrast_set("Contrast", hk_data, pw)
|
|
|
|
|
|
def handle_blob_stats_set(hk_data: bytes, pw: PrintWrapper):
|
|
pw.dlog("Received Blob Stats Set")
|
|
if len(hk_data) < 65:
|
|
raise ValueError(
|
|
f"Matched BlobStats set with length {len(hk_data)} too short. Expected 65 bytes."
|
|
)
|
|
current_idx = unpack_time_hk(hk_data, 0, pw)
|
|
|
|
def fill_list(current_idx: int) -> Tuple[List[int], int]:
|
|
list_to_fill = []
|
|
for _ in range(16):
|
|
list_to_fill.append(hk_data[current_idx])
|
|
current_idx += 1
|
|
return list_to_fill, current_idx
|
|
|
|
noise_list, current_idx = fill_list(current_idx)
|
|
threshold_list, current_idx = fill_list(current_idx)
|
|
lvalid_list, current_idx = fill_list(current_idx)
|
|
oflow_list, current_idx = fill_list(current_idx)
|
|
pw.dlog("Index | Noise | Threshold | LValid | Oflow")
|
|
for i in range(16):
|
|
pw.dlog(
|
|
"{:<3} {:<3} {:<3} {:<3} {:<3}".format(
|
|
i, noise_list[i], threshold_list[i], lvalid_list[i], oflow_list[i]
|
|
)
|
|
)
|
|
pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=6))
|
|
|
|
|
|
def handle_star_tracker_action_replies(
|
|
action_id: int, pw: PrintWrapper, custom_data: bytes
|
|
):
|
|
if action_id == StarTrackerActionId.CHECKSUM:
|
|
handle_checksum(pw, custom_data)
|
|
elif action_id == StarTrackerActionId.READ_SECONDARY_TM_SET:
|
|
handle_read_secondary_tm_set(pw, custom_data)
|
|
|
|
|
|
def handle_checksum(pw: PrintWrapper, custom_data: bytes):
|
|
if len(custom_data) != 5:
|
|
_LOGGER.warning(
|
|
"Star tracker reply has invalid length {0}".format(len(custom_data))
|
|
)
|
|
return
|
|
header_list = ["Checksum", "Checksum valid"]
|
|
print(custom_data[4])
|
|
checksum_valid_flag = custom_data[4] >> 8
|
|
content_list = ["0x" + custom_data[:4].hex(), checksum_valid_flag]
|
|
pw.dlog(f"{header_list}")
|
|
pw.dlog(f"{content_list}")
|
|
|
|
|
|
def handle_read_secondary_tm_set(pw: PrintWrapper, custom_data: bytes):
|
|
pw.dlog("Received secondary TM Sets")
|
|
if len(custom_data) % 4 != 0:
|
|
raise ValueError(f"Received data of unexpected length {len(custom_data)}")
|
|
data_length = int(len(custom_data) / 4)
|
|
fmt_str = "!" + "I" * data_length
|
|
inc_len = struct.calcsize(fmt_str)
|
|
set_ids = struct.unpack(fmt_str, custom_data[:inc_len])
|
|
pw.dlog("The following Datasets are currently Part of the secondary TM list")
|
|
for set_id in set_ids:
|
|
if set_id in SetId._value2member_map_:
|
|
pw.dlog(SetId(set_id).name)
|
|
else:
|
|
pw.dlog(f"Unknown Set ID {set_id}")
|
|
|
|
|
|
def create_str_node() -> CmdTreeNode:
|
|
# Zip the two classes together into a dictionary
|
|
op_code_strs = [
|
|
getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
|
|
]
|
|
info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
|
|
combined_dict = dict(zip(op_code_strs, info_strs))
|
|
node = CmdTreeNode(
|
|
"str", "Star Tracker Device", hide_children_which_are_leaves=True
|
|
)
|
|
for op_code, info in combined_dict.items():
|
|
node.add_child(CmdTreeNode(op_code, info))
|
|
return node
|