eive-tmtc/pus_tc/star_tracker.py

556 lines
24 KiB
Python

# -*- coding: utf-8 -*-
"""
@file star_tracker.py
@brief Star tracker commanding
@author J. Meier
@date 14.08.2021
"""
import struct
from tmtccmd.config.definitions import QueueCommands
from tmtccmd.tc.packer import TcQueueT
from spacepackets.ecss.tc import PusTelecommand
from pus_tc.service_200_mode import pack_mode_data
class StarTrackerActionIds:
PING = 0
BOOT = 1
REQ_VERSION = 2
REQ_INTERFACE = 3
REQ_TIME = 4
UNLOCK = 6
SWITCH_TO_BOOTLOADER_PROGRAM = 7
REQ_POWER = 11
TAKE_IMAGE = 15
DOWNLOAD_IMAGE = 9
UPLOAD_IMAGE = 10
DOWNLOAD_CENTROID = 16
UPLOAD_CENTROID = 17
SUBSCRIBE_TO_TM = 18
IMAGE_PROCESSOR = 19
REQ_SOLUTION = 24
REQ_TEMPERATURE = 25
REQ_HISTOGRAM = 28
REQ_CONTRAST = 29
LIMITS = 40
MOUNTING = 41
CAMERA = 42
BLOB = 43
CENTROIDING = 44
LISA = 45
MATCHING = 46
TRACKING = 47
VALIDATION = 48
ALGO = 49
CHECKSUM = 50
READ = 51
WRITE = 52
DOWNLOAD_MATCHED_STAR = 53
STOP_STR_HELPER = 55
RESET_ERROR = 56
CHANGE_DOWNLOAD_IMAGE = 57
SET_JSON_FILE_NAME = 58
SET_READ_FILENAME = 59
SET_TIME = 60
DOWNLOAD_DBIMAGE = 61
DOWNLOAD_BLOBPIXEL = 62
DOWNLOAD_FPGA_IMAGE = 63
CHANGE_FPGA_DOWNLOAD_FILE = 64
UPLOAD_FPGA_IMAGE = 65
FPGA_ACTION = 66
REQ_CAMERA_PARAMS = 67
REQ_LIMITS = 68
REQ_BLOB_PARAMS = 69
class ImagePathDefs:
uploadFile = "/mnt/sd0/startracker/gemma.bin"
downloadFile = "test_image.bin"
downloadPath = "/mnt/sd0/startracker"
jsonFile = "/mnt/sd0/startracker/full.json"
flashFile = "/mnt/sd0/startracker/flash.bin"
flashReadPath = "/mnt/sd0/startracker"
uploadCentroidJson = "/mnt/sd0/startracker/upload-centroid.json"
downloadFpgaImagePath = "/mnt/sd0/startracker"
downloadFpgaImageName = "testname"
uploadFpgaImageName = "/mnt/sd0/startracker/fpga-image.bin"
class Region:
# Definition according to datasheet (which turned out to be partially faulty)
BOOTLOADER = 0
STAR_TRACKER_FIRMWARE = 1
FREE_1 = 2
FREE_2 = 3
class PartitionSize:
BOOTLOADER = 128000
STAR_TRACKER_FIRMWARE = 896000
FREE_1 = 128000
FREE_2 = 896000
def pack_star_tracker_commands(
object_id: bytearray, tc_queue: TcQueueT, op_code: str
) -> TcQueueT:
tc_queue.appendleft(
(
QueueCommands.PRINT,
"Generate command for star tracker with object id: 0x" + object_id.hex(),
)
)
if op_code == "0":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode On"))
command = pack_mode_data(object_id, 1, 0)
command = PusTelecommand(service=200, subservice=1, ssc=10, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "1":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Normal"))
command = pack_mode_data(object_id, 2, 0)
command = PusTelecommand(service=200, subservice=1, ssc=11, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "2":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Off"))
command = pack_mode_data(object_id, 0, 0)
command = PusTelecommand(service=200, subservice=1, ssc=12, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "3":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Raw"))
command = pack_mode_data(object_id, 3, 0)
command = PusTelecommand(service=200, subservice=1, ssc=13, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "4":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Ping"))
command = object_id + struct.pack("!I", StarTrackerActionIds.PING)
command = PusTelecommand(service=8, subservice=128, ssc=30, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "5":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Switch to bootloader program")
)
command = object_id + struct.pack(
"!I", StarTrackerActionIds.SWITCH_TO_BOOTLOADER_PROGRAM
)
command = PusTelecommand(service=8, subservice=128, ssc=31, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "6":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Temperature request"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_TEMPERATURE)
command = PusTelecommand(service=8, subservice=128, ssc=32, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "7":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request version"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_VERSION)
command = PusTelecommand(service=8, subservice=128, ssc=33, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "8":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request interface"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_INTERFACE)
command = PusTelecommand(service=8, subservice=128, ssc=34, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "9":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request power"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_POWER)
command = PusTelecommand(service=8, subservice=128, ssc=35, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "10":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Subscribe to telemetry")
)
tm_id = int(input("Specify Id of tm: "))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.SUBSCRIBE_TO_TM)
+ struct.pack("B", tm_id)
)
command = PusTelecommand(service=8, subservice=128, ssc=36, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "11":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Boot"))
command = object_id + struct.pack("!I", StarTrackerActionIds.BOOT)
command = PusTelecommand(service=8, subservice=128, ssc=37, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "12":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request time"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_TIME)
command = PusTelecommand(service=8, subservice=128, ssc=38, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "13":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request solution"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_SOLUTION)
command = PusTelecommand(service=8, subservice=128, ssc=39, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "14":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload image"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.UPLOAD_IMAGE)
+ bytearray(ImagePathDefs.uploadFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "15":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download image"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.DOWNLOAD_IMAGE)
+ bytearray(ImagePathDefs.downloadPath, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=53, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "16":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set limits"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.LIMITS)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=42, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "17":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Set tracking parameters")
)
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.TRACKING)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=43, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "18":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mounting"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.MOUNTING)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=44, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "19":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Camera"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.CAMERA)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=45, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "20":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Blob"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.BLOB)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=46, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "21":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Centroiding"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.CENTROIDING)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=47, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "22":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: LISA"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.LISA)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=48, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "23":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Matching"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.MATCHING)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=49, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "24":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Validation"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.VALIDATION)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=50, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "25":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Algo"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.ALGO)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=51, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "26":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Take image"))
actionid = int(input("Specify parameter ID (nominal - 4): "))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.TAKE_IMAGE)
+ struct.pack("!B", actionid)
)
command = PusTelecommand(service=8, subservice=128, ssc=52, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "27":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Stop str helper"))
command = object_id + struct.pack("!I", StarTrackerActionIds.STOP_STR_HELPER)
command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "28":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Reset error signal"))
command = object_id + struct.pack("!I", StarTrackerActionIds.RESET_ERROR)
command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "29":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Set name of download image")
)
filename = input("Specify download image name: ")
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.CHANGE_DOWNLOAD_IMAGE)
+ bytearray(filename, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "30":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request histogram"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_HISTOGRAM)
command = PusTelecommand(service=8, subservice=128, ssc=55, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "31":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request contrast"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_CONTRAST)
command = PusTelecommand(service=8, subservice=128, ssc=56, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "32":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set json filename"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.SET_JSON_FILE_NAME)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=57, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "33":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Write"))
command = pack_write_command(object_id)
command = PusTelecommand(service=8, subservice=128, ssc=58, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "34":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Read"))
command = pack_read_command(object_id)
command = PusTelecommand(service=8, subservice=128, ssc=59, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "35":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set read filename"))
filename = input("Specify filename: ")
command = (
object_id
+ StarTrackerActionIds.SET_READ_FILENAME
+ bytearray(filename, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=60, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "36":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Get checksum"))
command = pack_checksum_command(object_id)
command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "37":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set time"))
unix_time = 1640783543
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.SET_TIME)
+ struct.pack("!Q", unix_time)
)
command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "38":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download Centroid"))
id = 0
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.DOWNLOAD_CENTROID)
+ struct.pack("!B", id)
)
command = PusTelecommand(service=8, subservice=128, ssc=62, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "39":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload Centroid"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.UPLOAD_CENTROID)
+ bytearray(ImagePathDefs.uploadCentroidJson, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=63, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "40":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Download matched star")
)
id = 0
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.DOWNLOAD_MATCHED_STAR)
+ struct.pack("!B", id)
)
command = PusTelecommand(service=8, subservice=128, ssc=64, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "41":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download DB Image"))
id = 0
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.DOWNLOAD_DBIMAGE)
+ struct.pack("!B", id)
)
command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "42":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download Blob Pixel"))
id = 0
type = 1 # 0 - normal, 1 - fast
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.DOWNLOAD_BLOBPIXEL)
+ struct.pack("!B", id)
+ struct.pack("!B", type)
)
command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "43":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download FPGA Image"))
position = int(input("Start position: "))
length = int(input("Size to download: "))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.DOWNLOAD_FPGA_IMAGE)
+ struct.pack("!I", position)
+ struct.pack("!I", length)
+ bytearray(ImagePathDefs.downloadFpgaImagePath, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=66, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "44":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Change donwload FPGA image file name")
)
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.CHANGE_FPGA_DOWNLOAD_FILE)
+ bytearray(ImagePathDefs.downloadFpgaImageName, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=67, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "45":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload FPGA image"))
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.UPLOAD_FPGA_IMAGE)
+ bytearray(ImagePathDefs.uploadFpgaImageName, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=68, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "46":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: FPGA action"))
id = 3
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.FPGA_ACTION)
+ struct.pack("!B", id)
)
command = PusTelecommand(service=8, subservice=128, ssc=69, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "47":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Unlock"))
command = object_id + struct.pack("!I", StarTrackerActionIds.UNLOCK)
command = PusTelecommand(service=8, subservice=128, ssc=70, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "48":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Request camera parameters")
)
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_CAMERA_PARAMS)
command = PusTelecommand(service=8, subservice=128, ssc=71, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "49":
tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request limits"))
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_LIMITS)
command = PusTelecommand(service=8, subservice=128, ssc=72, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "50":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Request blob parameters")
)
command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_BLOB_PARAMS)
command = PusTelecommand(service=8, subservice=128, ssc=73, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "51":
tc_queue.appendleft(
(QueueCommands.PRINT, "Star tracker: Set image processor parameters")
)
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.IMAGE_PROCESSOR)
+ bytearray(ImagePathDefs.jsonFile, "utf-8")
)
command = PusTelecommand(service=8, subservice=128, ssc=70, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
def pack_write_command(object_id: bytearray) -> bytearray:
region = Region.FREE_1
address = 0
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.WRITE)
+ struct.pack("!B", region)
+ struct.pack("!I", address)
+ bytearray(ImagePathDefs.flashFile, "utf-8")
)
return command
def pack_read_command(object_id: bytearray) -> bytearray:
region = Region.STAR_TRACKER_FIRMWARE
address = 0
size = PartitionSize.STAR_TRACKER_FIRMWARE
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.READ)
+ struct.pack("!B", region)
+ struct.pack("!I", address)
+ struct.pack("!I", size)
+ bytearray(ImagePathDefs.flashReadPath, "utf-8")
)
return command
def pack_checksum_command(object_id: bytearray) -> bytearray:
region = Region.STAR_TRACKER_FIRMWARE
address = 0
size = PartitionSize.STAR_TRACKER_FIRMWARE
command = (
object_id
+ struct.pack("!I", StarTrackerActionIds.CHECKSUM)
+ struct.pack("!B", region)
+ struct.pack("!I", address)
+ struct.pack("!I", size)
)
return command