fsfw-example-tmtc-common/common.py

import logging
import sys
from pathlib import Path
from typing import Optional, Sequence

from spacepackets import SpacePacket, SpacePacketHeader, PacketTypes
from spacepackets.cfdp import (
    TransmissionModes,
    PduType,
    DirectiveType,
    GenericPduPacket,
    PduHolder,
    PduFactory,
)
from tmtccmd.cfdp import (
    RemoteEntityCfgTable,
    RemoteEntityCfg,
    LocalEntityCfg,
    CfdpUserBase,
)
from spacepackets.util import UnsignedByteField
from tmtccmd.cfdp.handler import SourceHandler, DestHandler
from tmtccmd.cfdp.request import PutRequest, PutRequestCfg
from tmtccmd.logging import get_current_time_string
from tmtccmd.pus.pus_11_tc_sched import Subservices as Pus11Subservices
from tmtccmd.tc.queue import DefaultPusQueueHelper
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider, ProvidesSeqCount
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter

try:
    import spacepackets
except ImportError as error:
    print(error)
    print("Python tmtccmd module could not be imported. Make sure it is installed")
    sys.exit(1)

try:
    import tmtccmd
except ImportError as error:
    print(error)
    print("Python tmtccmd module could not be imported. Make sure it is installed")
    sys.exit(1)

from spacepackets.ecss import PusVerificator, PusTelecommand, PusServices

from common_tmtc.pus_tc.pus_11_tc_sched import pack_service_11_commands
from common_tmtc.pus_tc.pus_17_test import pack_service_17_commands
from common_tmtc.pus_tc.pus_200_mode import pack_service_200_commands_into
from common_tmtc.pus_tc.service_20_parameters import pack_service20_commands_into
from common_tmtc.pus_tc.service_2_raw_cmd import pack_service_2_commands_into
from common_tmtc.pus_tc.service_3_housekeeping import pack_service_3_commands_into
from common_tmtc.pus_tc.service_8_func_cmd import pack_service_8_commands_into
from examples.tmtcc import EXAMPLE_APID
from tmtccmd import TcHandlerBase, get_console_logger, TmTcCfgHookBase, BackendBase
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tc import (
    ProcedureHelper,
    FeedWrapper,
    TcProcedureType,
    TcQueueEntryType,
    SendCbParams,
)
from tmtccmd.tc.pus_5_event import pack_generic_service_5_test_into
from tmtccmd.tm import SpecificApidHandlerBase, CcsdsTmHandler
from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
from tmtccmd.config import CoreServiceList, SetupWrapper, SetupParams, ArgParserWrapper
from common_tmtc.pus_tm.factory_hook import pus_factory_hook


LOGGER = get_console_logger()


class CfdpCcsdsWrapper:
    def __init__(
        self,
        cfg: LocalEntityCfg,
        user: CfdpUserBase,
        cfdp_seq_cnt_provider: ProvidesSeqCount,
        remote_cfg: Sequence[RemoteEntityCfg],
        ccsds_seq_cnt_provider: ProvidesSeqCount,
        ccsds_apid: int,
    ):
        self.handler = CfdpHandler(cfg, user, cfdp_seq_cnt_provider, remote_cfg)
        self.ccsds_seq_cnt_provider = ccsds_seq_cnt_provider
        self.ccsds_apid = ccsds_apid

    def pull_next_dest_packet(self) -> Optional[SpacePacket]:
        """Retrieves the next PDU to send and wraps it into a space packet"""
        next_packet = self.handler.pull_next_dest_packet()
        if next_packet is None:
            return next_packet
        sp_header = SpacePacketHeader(
            packet_type=PacketTypes.TC,
            apid=self.ccsds_apid,
            seq_count=self.ccsds_seq_cnt_provider.get_and_increment(),
            data_len=next_packet.packet_len - 1,
        )
        return SpacePacket(sp_header, None, next_packet.pack())

    def confirm_dest_packet_sent(self):
        self.handler.confirm_dest_packet_sent()

    def pass_packet(self, packet: SpacePacket):
        # Unwrap the user data and pass it to the handler
        pdu_raw = packet.user_data
        pdu_base = PduFactory.from_raw(pdu_raw)
        self.handler.pass_packet(pdu_base)


class CfdpHandler:
    def __init__(
        self,
        cfg: LocalEntityCfg,
        user: CfdpUserBase,
        seq_cnt_provider: ProvidesSeqCount,
        remote_cfg: Sequence[RemoteEntityCfg],
    ):
        self.dest_id = UnsignedByteField(EXAMPLE_APID, 2)
        self.remote_cfg_table = RemoteEntityCfgTable()
        self.remote_cfg_table.add_remote_entities(remote_cfg)
        self.dest_handler = DestHandler(cfg, user, self.remote_cfg_table)
        self.source_handler = SourceHandler(cfg, seq_cnt_provider, user)

    def put_request_file(
        self,
        source_path: Path,
        dest_path: Path,
        trans_mode: TransmissionModes,
        closure_requested: bool,
    ):
        put_request_cfg = PutRequestCfg(
            destination_id=self.dest_id,
            source_file=source_path,
            dest_file=dest_path.as_posix(),
            trans_mode=trans_mode,
            closure_requested=closure_requested,
        )
        put_request = PutRequest(put_request_cfg)
        self.source_handler.put_request(
            put_request, self.remote_cfg_table.get_remote_entity(self.dest_id)
        )

    def pull_next_dest_packet(self) -> Optional[PduHolder]:
        res = self.dest_handler.state_machine()
        if res.states.packet_ready:
            return self.dest_handler.pdu_holder
        return None

    def confirm_dest_packet_sent(self):
        self.dest_handler.confirm_packet_sent_advance_fsm()

    def pass_packet(self, packet: GenericPduPacket):
        """This function routes the packets based on PDU type and directive type if applicable.

        The routing is based on section 4.5 of the CFDP standard whcih specifies the PDU forwarding
        procedure.
        """
        if packet.pdu_type == PduType.FILE_DATA:
            self.dest_handler.pass_packet(packet)
        else:
            if packet.directive_type in [
                DirectiveType.METADATA_PDU,
                DirectiveType.EOF_PDU,
                DirectiveType.PROMPT_PDU,
            ]:
                # Section b) of 4.5.3: These PDUs should always be targeted towards the file
                # receiver a.k.a. the destination handler
                self.dest_handler.pass_packet(packet)
            elif packet.directive_type in [
                DirectiveType.FINISHED_PDU,
                DirectiveType.NAK_PDU,
                DirectiveType.KEEP_ALIVE_PDU,
            ]:
                # Section c) of 4.5.3: These PDUs should always be targeted towards the file sender
                # a.k.a. the source handler
                self.source_handler.pass_packet(packet)
            elif packet.directive_type == DirectiveType.ACK_PDU:
                # Section a): Recipient depends on the type of PDU that is being acknowledged.
                # We can simply extract the PDU type from the raw stream. If it is an EOF PDU,
                # this packet is passed to the source handler. For a finished PDU, it is
                # passed to the destination handler
                pdu_holder = PduHolder(packet)
                ack_pdu = pdu_holder.to_ack_pdu()
                if ack_pdu.directive_code_of_acked_pdu == DirectiveType.EOF_PDU:
                    self.source_handler.pass_packet(packet)
                elif ack_pdu.directive_code_of_acked_pdu == DirectiveType.FINISHED_PDU:
                    self.dest_handler.pass_packet(packet)


class PusHandler(SpecificApidHandlerBase):
    def __init__(
        self,
        wrapper: VerificationWrapper,
        printer: FsfwTmTcPrinter,
        raw_logger: RawTmtcTimedLogWrapper,
    ):
        super().__init__(EXAMPLE_APID, None)
        self.printer = printer
        self.verif_wrapper = wrapper
        self.raw_logger = raw_logger

    def handle_tm(self, packet: bytes, _user_args: any):
        pus_factory_hook(
            packet=packet,
            wrapper=self.verif_wrapper,
            raw_logger=self.raw_logger,
            printer=self.printer,
        )


class TcHandler(TcHandlerBase):
    def __init__(
        self,
        pus_apid: int,
        seq_count_provider: FileSeqCountProvider,
        pus_verificator: PusVerificator,
        file_logger: logging.Logger,
        raw_logger: RawTmtcTimedLogWrapper,
    ):
        super().__init__()
        self.seq_count_provider = seq_count_provider
        self.pus_verificator = pus_verificator
        self.file_logger = file_logger
        self.raw_logger = raw_logger
        self.queue_helper = DefaultPusQueueHelper(
            queue_wrapper=None,
            pus_apid=pus_apid,
            seq_cnt_provider=seq_count_provider,
            pus_verificator=pus_verificator,
        )

    def feed_cb(self, info: ProcedureHelper, wrapper: FeedWrapper):
        self.queue_helper.queue_wrapper = wrapper.queue_wrapper
        if info.proc_type == TcProcedureType.DEFAULT:
            def_proc = info.to_def_procedure()
            service = def_proc.service
            op_code = def_proc.op_code
            if service == CoreServiceList.SERVICE_2.value:
                return pack_service_2_commands_into(
                    op_code=op_code, q=self.queue_helper
                )
            if service == CoreServiceList.SERVICE_3.value:
                return pack_service_3_commands_into(
                    op_code=op_code, q=self.queue_helper
                )
            if service == CoreServiceList.SERVICE_5.value:
                return pack_generic_service_5_test_into(q=self.queue_helper)
            if service == CoreServiceList.SERVICE_8.value:
                return pack_service_8_commands_into(
                    op_code=op_code, q=self.queue_helper
                )
            if service == CoreServiceList.SERVICE_11.value:
                return pack_service_11_commands(op_code=op_code, q=self.queue_helper)
            if service == CoreServiceList.SERVICE_17.value:
                return pack_service_17_commands(op_code=op_code, q=self.queue_helper)
            if service == CoreServiceList.SERVICE_20.value:
                return pack_service20_commands_into(
                    q=self.queue_helper, op_code=op_code
                )
            if service == CoreServiceList.SERVICE_200.value:
                return pack_service_200_commands_into(
                    q=self.queue_helper, op_code=op_code
                )
            LOGGER.warning("Invalid Service !")

    def send_cb(self, params: SendCbParams):
        if params.entry.is_tc:
            if params.entry.entry_type == TcQueueEntryType.PUS_TC:
                self.handle_tc_send_cb(params)
        elif params.entry.entry_type == TcQueueEntryType.LOG:
            log_entry = params.entry.to_log_entry()
            LOGGER.info(log_entry.log_str)
            self.file_logger.info(log_entry.log_str)

    def handle_tc_send_cb(self, params: SendCbParams):
        pus_tc_wrapper = params.entry.to_pus_tc_entry()
        if (
            pus_tc_wrapper.pus_tc.service == PusServices.S11_TC_SCHED
            and pus_tc_wrapper.pus_tc.subservice == Pus11Subservices.TC_INSERT
        ):
            wrapped_tc = PusTelecommand.unpack(pus_tc_wrapper.pus_tc.app_data[4:])
            tc_info_string = f"Sending time-tagged command {wrapped_tc}"
            LOGGER.info(tc_info_string)
            self.file_logger.info(f"{get_current_time_string(True)}: {tc_info_string}")
        raw_tc = pus_tc_wrapper.pus_tc.pack()
        self.raw_logger.log_tc(pus_tc_wrapper.pus_tc)
        tc_info_string = f"Sending {pus_tc_wrapper.pus_tc}"
        LOGGER.info(tc_info_string)
        self.file_logger.info(f"{get_current_time_string(True)}: {tc_info_string}")
        params.com_if.send(raw_tc)

    def queue_finished_cb(self, info: ProcedureHelper):
        if info is not None and info.proc_type == TcQueueEntryType.PUS_TC:
            def_proc = info.to_def_procedure()
            LOGGER.info(
                f"Finished queue for service {def_proc.service} and op code {def_proc.op_code}"
            )


def setup_params(hook_obj: TmTcCfgHookBase) -> SetupWrapper:
    print(f"-- eive TMTC Commander --")
    print(f"-- spacepackets v{spacepackets.__version__} --")
    params = SetupParams()
    parser_wrapper = ArgParserWrapper(hook_obj)
    parser_wrapper.create_default_parent_parser()
    parser_wrapper.create_default_parser()
    parser_wrapper.add_def_proc_and_cfdp_as_subparsers()
    parser_wrapper.parse()
    tmtccmd.init_printout(parser_wrapper.use_gui)
    parser_wrapper.set_params(params)
    params.apid = EXAMPLE_APID
    setup_wrapper = SetupWrapper(hook_obj=hook_obj, setup_params=params)
    return setup_wrapper


def setup_tmtc_handlers(
    verif_wrapper: VerificationWrapper,
    printer: FsfwTmTcPrinter,
    raw_logger: RawTmtcTimedLogWrapper,
) -> (CcsdsTmHandler, TcHandler):

    pus_handler = PusHandler(
        printer=printer, raw_logger=raw_logger, wrapper=verif_wrapper
    )
    ccsds_handler = CcsdsTmHandler(None)
    ccsds_handler.add_apid_handler(pus_handler)
    tc_handler = TcHandler(
        pus_apid=EXAMPLE_APID,
        file_logger=printer.file_logger,
        raw_logger=raw_logger,
        pus_verificator=verif_wrapper.pus_verificator,
        seq_count_provider=PusFileSeqCountProvider(),
    )
    return ccsds_handler, tc_handler


def setup_backend(
    setup_wrapper: SetupWrapper,
    tc_handler: TcHandler,
    ccsds_handler: CcsdsTmHandler,
) -> BackendBase:
    tmtc_backend = tmtccmd.create_default_tmtc_backend(
        setup_wrapper=setup_wrapper, tm_handler=ccsds_handler, tc_handler=tc_handler
    )
    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=setup_wrapper.hook_obj)
    return tmtc_backend