186 lines
6.4 KiB
Python
186 lines
6.4 KiB
Python
import enum
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import socket
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import struct
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from socket import AF_INET
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from typing import Tuple
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from eive_tmtc.config.definitions import CustomServiceList
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from eive_tmtc.config.object_ids import ACS_CONTROLLER
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from tmtccmd import get_console_logger
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from tmtccmd.config.tmtc import (
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tmtc_definitions_provider,
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TmtcDefinitionWrapper,
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OpCodeEntry,
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)
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from tmtccmd.tc import service_provider
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from tmtccmd.tc.decorator import ServiceProviderParams
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from tmtccmd.tc.pus_3_fsfw_hk import (
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generate_one_hk_command,
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make_sid,
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enable_periodic_hk_command_with_interval,
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disable_periodic_hk_command,
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)
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from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
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LOGGER = get_console_logger()
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class SetIds(enum.IntEnum):
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MGM_SET = 0
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class OpCodes:
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REQUEST_MGM_HK = ["0", "req-mgm-hk"]
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ENABLE_MGM_HK = ["1", "enable-mgm-hk"]
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DISABLE_MGM_HK = ["1", "disable-mgm-hk"]
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class Info:
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REQUEST_MGM_HK = "Request MGM HK once"
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ENABLE_MGM_HK = "Enable MGM HK data generation"
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DISABLE_MGM_HK = "Disable MGM HK data generation"
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PERFORM_MGM_CALIBRATION = False
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CALIBRATION_SOCKET_HOST = "localhost"
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CALIBRATION_SOCKET_PORT = 6677
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CALIBRATION_ADDR = (CALIBRATION_SOCKET_HOST, CALIBRATION_SOCKET_PORT)
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if PERFORM_MGM_CALIBRATION:
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CALIBR_SOCKET = socket.socket(AF_INET, socket.SOCK_STREAM)
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CALIBR_SOCKET.setblocking(False)
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CALIBR_SOCKET.settimeout(0.2)
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CALIBR_SOCKET.connect(CALIBRATION_ADDR)
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@tmtc_definitions_provider
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def acs_cmd_defs(defs: TmtcDefinitionWrapper):
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oce = OpCodeEntry()
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oce.add(keys=OpCodes.REQUEST_MGM_HK, info=Info.REQUEST_MGM_HK)
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oce.add(keys=OpCodes.ENABLE_MGM_HK, info=Info.ENABLE_MGM_HK)
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oce.add(keys=OpCodes.DISABLE_MGM_HK, info=Info.DISABLE_MGM_HK)
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defs.add_service(
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name=CustomServiceList.ACS_CTRL.value, info="ACS Controller", op_code_entry=oce
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)
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@service_provider(CustomServiceList.ACS_CTRL.value)
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def pack_acs_ctrl_command(p: ServiceProviderParams):
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op_code = p.op_code
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q = p.queue_helper
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sid = make_sid(ACS_CONTROLLER, SetIds.MGM_SET)
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if op_code in OpCodes.REQUEST_MGM_HK:
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q.add_log_cmd(Info.REQUEST_MGM_HK)
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q.add_pus_tc(generate_one_hk_command(sid))
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elif op_code in OpCodes.ENABLE_MGM_HK:
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q.add_log_cmd(Info.ENABLE_MGM_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(False, sid, 2.0)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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elif op_code in OpCodes.DISABLE_MGM_HK:
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q.add_log_cmd(Info.DISABLE_MGM_HK)
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q.add_pus_tc(disable_periodic_hk_command(False, sid))
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else:
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LOGGER.info(f"Unknown op code {op_code}")
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def handle_acs_ctrl_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
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current_idx = 0
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pw = PrintWrapper(printer)
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if len(hk_data) < 61:
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pw.dlog(
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f"ACS CTRL HK: MGM HK data with length {len(hk_data)} shorter than expected 61 bytes"
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)
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pw.dlog(f"Raw Data: {hk_data.hex(sep=',')}")
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return
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def unpack_float_tuple(idx: int) -> (tuple, int):
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f_tuple = struct.unpack(
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float_tuple_fmt_str,
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hk_data[idx : idx + struct.calcsize(float_tuple_fmt_str)],
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)
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idx += struct.calcsize(float_tuple_fmt_str)
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return f_tuple, idx
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float_tuple_fmt_str = "!fff"
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mgm_0_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx)
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mgm_1_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx)
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mgm_2_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx)
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mgm_3_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx)
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isis_floats_nt, current_idx = unpack_float_tuple(current_idx)
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imtq_mgm_ut = tuple(val / 1000.0 for val in isis_floats_nt)
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pw.dlog("ACS CTRL HK: MGM values [X,Y,Z] in floating point uT: ")
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mgm_lists = [
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mgm_0_lis3_floats_ut,
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mgm_1_rm3100_floats_ut,
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mgm_2_lis3_floats_ut,
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mgm_3_rm3100_floats_ut,
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imtq_mgm_ut,
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]
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formatted_list = []
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# Reserve 8 decimal digits, use precision 3
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float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
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for mgm_entry in mgm_lists[0:4]:
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formatted_list.append(float_str_fmt.format(*mgm_entry))
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formatted_list.append(hk_data[current_idx])
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formatted_list.append(float_str_fmt.format(*mgm_lists[4]))
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print_str_list = [
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"ACS Board MGM 0 LIS3MDL",
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"ACS Board MGM 1 RM3100",
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"ACS Board MGM 2 LIS3MDL",
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"ACS Board MGM 3 RM3100",
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"IMTQ Actuation Status:",
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"IMTQ MGM:",
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]
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for entry in zip(print_str_list, formatted_list):
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pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}")
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current_idx += 1
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if PERFORM_MGM_CALIBRATION:
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perform_mgm_calibration(pw, mgm_0_lis3_floats_ut)
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assert current_idx == 61
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def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
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global CALIBR_SOCKET, CALIBRATION_ADDR
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try:
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declare_api_cmd = "declare_api_version 2"
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CALIBR_SOCKET.sendall(f"{declare_api_cmd}\n".encode())
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reply = CALIBR_SOCKET.recv(1024)
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if len(reply) != 2:
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pw.dlog(
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f"MGM calibration: Reply received command {declare_api_cmd} has invalid length {len(reply)}"
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)
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return
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else:
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if str(reply[0]) == "0":
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pw.dlog(f"MGM calibration: API version 2 was not accepted")
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return
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if len(mgm_tuple) != 3:
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pw.dlog(f"MGM tuple has invalid length {len(mgm_tuple)}")
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mgm_list = [mgm / 1e6 for mgm in mgm_tuple]
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command = (
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f"magnetometer_field {mgm_list[0]} {mgm_list[1]} {mgm_list[2]}\n".encode()
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)
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CALIBR_SOCKET.sendall(command)
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reply = CALIBR_SOCKET.recv(1024)
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if len(reply) != 2:
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pw.dlog(
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f"MGM calibration: Reply received command magnetometer_field has invalid length {len(reply)}"
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)
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return
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else:
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if str(reply[0]) == "0":
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pw.dlog(f"MGM calibration: magnetmeter field format was not accepted")
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return
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pw.dlog(f"Sent data {mgm_list} to Helmholtz Testbench successfully")
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except socket.timeout:
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pw.dlog("Socket timeout")
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except BlockingIOError as e:
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pw.dlog(f"Error {e}")
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except ConnectionResetError as e:
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pw.dlog("Socket was closed")
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except ConnectionRefusedError or OSError:
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pw.dlog("Connecting to Calibration Socket on addrss {} failed")
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