384 lines
14 KiB
Python
384 lines
14 KiB
Python
|
#!/usr/bin/env python3
|
||
|
|
"""Example client for the sat-rs example application"""
|
||
|
|
import enum
|
||
|
|
import logging
|
||
|
|
import struct
|
||
|
|
import sys
|
||
|
|
import time
|
||
|
|
from typing import Optional
|
||
|
|
import datetime
|
||
|
|
|
||
|
|
import tmtccmd
|
||
|
|
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
|
||
|
|
from spacepackets.ecss.pus_17_test import Service17Tm
|
||
|
|
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||
|
|
from spacepackets.ccsds.time import CdsShortTimestamp
|
||
|
|
|
||
|
|
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||
|
|
from tmtccmd.tc.pus_3_fsfw_hk import generate_one_hk_command, make_sid
|
||
|
|
from tmtccmd.tc.pus_11_tc_sched import create_time_tagged_cmd
|
||
|
|
from tmtccmd.core.base import BackendRequest
|
||
|
|
from tmtccmd.pus import VerificationWrapper
|
||
|
|
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||
|
|
from tmtccmd.com import ComInterface
|
||
|
|
from tmtccmd.config import (
|
||
|
|
default_json_path,
|
||
|
|
SetupParams,
|
||
|
|
HookBase,
|
||
|
|
TmtcDefinitionWrapper,
|
||
|
|
CoreServiceList,
|
||
|
|
OpCodeEntry,
|
||
|
|
params_to_procedure_conversion,
|
||
|
|
)
|
||
|
|
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||
|
|
from tmtccmd.logging import add_colorlog_console_logger
|
||
|
|
from tmtccmd.logging.pus import (
|
||
|
|
RegularTmtcLogWrapper,
|
||
|
|
RawTmtcTimedLogWrapper,
|
||
|
|
TimedLogWhen,
|
||
|
|
)
|
||
|
|
from tmtccmd.tc import (
|
||
|
|
TcQueueEntryType,
|
||
|
|
ProcedureWrapper,
|
||
|
|
TcProcedureType,
|
||
|
|
FeedWrapper,
|
||
|
|
SendCbParams,
|
||
|
|
DefaultPusQueueHelper,
|
||
|
|
QueueWrapper,
|
||
|
|
)
|
||
|
|
from tmtccmd.tm.pus_5_fsfw_event import Service5Tm
|
||
|
|
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||
|
|
from tmtccmd.util.obj_id import ObjectIdDictT
|
||
|
|
|
||
|
|
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||
|
|
|
||
|
|
_LOGGER = logging.getLogger(__name__)
|
||
|
|
|
||
|
|
EXAMPLE_PUS_APID = 0x02
|
||
|
|
|
||
|
|
|
||
|
|
class SatRsConfigHook(HookBase):
|
||
|
|
def __init__(self, json_cfg_path: str):
|
||
|
|
super().__init__(json_cfg_path=json_cfg_path)
|
||
|
|
|
||
|
|
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||
|
|
from tmtccmd.config.com import (
|
||
|
|
create_com_interface_default,
|
||
|
|
create_com_interface_cfg_default,
|
||
|
|
)
|
||
|
|
|
||
|
|
cfg = create_com_interface_cfg_default(
|
||
|
|
com_if_key=com_if_key,
|
||
|
|
json_cfg_path=self.cfg_path,
|
||
|
|
space_packet_ids=None,
|
||
|
|
)
|
||
|
|
return create_com_interface_default(cfg)
|
||
|
|
|
||
|
|
def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||
|
|
from tmtccmd.config.globals import get_default_tmtc_defs
|
||
|
|
|
||
|
|
defs = get_default_tmtc_defs()
|
||
|
|
srv_5 = OpCodeEntry()
|
||
|
|
srv_5.add("0", "Event Test")
|
||
|
|
defs.add_service(
|
||
|
|
name=CoreServiceList.SERVICE_5.value,
|
||
|
|
info="PUS Service 5 Event",
|
||
|
|
op_code_entry=srv_5,
|
||
|
|
)
|
||
|
|
srv_17 = OpCodeEntry()
|
||
|
|
srv_17.add("0", "Ping Test")
|
||
|
|
defs.add_service(
|
||
|
|
name=CoreServiceList.SERVICE_17_ALT,
|
||
|
|
info="PUS Service 17 Test",
|
||
|
|
op_code_entry=srv_17,
|
||
|
|
)
|
||
|
|
srv_3 = OpCodeEntry()
|
||
|
|
srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
|
||
|
|
defs.add_service(
|
||
|
|
name=CoreServiceList.SERVICE_3,
|
||
|
|
info="PUS Service 3 Housekeeping",
|
||
|
|
op_code_entry=srv_3,
|
||
|
|
)
|
||
|
|
|
||
|
|
srv_8 = OpCodeEntry()
|
||
|
|
srv_8.add("1", "Camera Image Request")
|
||
|
|
defs.add_service(
|
||
|
|
name=CoreServiceList.SERVICE_8,
|
||
|
|
info="PUS Service 8 Action",
|
||
|
|
op_code_entry=srv_8,
|
||
|
|
)
|
||
|
|
|
||
|
|
srv_11 = OpCodeEntry()
|
||
|
|
srv_11.add("0", "Scheduled TC Test")
|
||
|
|
defs.add_service(
|
||
|
|
name=CoreServiceList.SERVICE_11,
|
||
|
|
info="PUS Service 11 TC Scheduling",
|
||
|
|
op_code_entry=srv_11,
|
||
|
|
)
|
||
|
|
return defs
|
||
|
|
|
||
|
|
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||
|
|
_LOGGER.info("Mode operation hook was called")
|
||
|
|
pass
|
||
|
|
|
||
|
|
def get_object_ids(self) -> ObjectIdDictT:
|
||
|
|
from tmtccmd.config.objects import get_core_object_ids
|
||
|
|
|
||
|
|
return get_core_object_ids()
|
||
|
|
|
||
|
|
|
||
|
|
class PusHandler(SpecificApidHandlerBase):
|
||
|
|
def __init__(
|
||
|
|
self,
|
||
|
|
verif_wrapper: VerificationWrapper,
|
||
|
|
printer: FsfwTmTcPrinter,
|
||
|
|
raw_logger: RawTmtcTimedLogWrapper,
|
||
|
|
):
|
||
|
|
super().__init__(EXAMPLE_PUS_APID, None)
|
||
|
|
self.printer = printer
|
||
|
|
self.raw_logger = raw_logger
|
||
|
|
self.verif_wrapper = verif_wrapper
|
||
|
|
|
||
|
|
def handle_tm(self, packet: bytes, _user_args: any):
|
||
|
|
try:
|
||
|
|
tm_packet = PusTelemetry.unpack(
|
||
|
|
packet, time_reader=CdsShortTimestamp.empty()
|
||
|
|
)
|
||
|
|
except ValueError as e:
|
||
|
|
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||
|
|
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||
|
|
raise e
|
||
|
|
service = tm_packet.service
|
||
|
|
dedicated_handler = False
|
||
|
|
if service == 1:
|
||
|
|
tm_packet = Service1Tm.unpack(
|
||
|
|
data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
|
||
|
|
)
|
||
|
|
res = self.verif_wrapper.add_tm(tm_packet)
|
||
|
|
if res is None:
|
||
|
|
_LOGGER.info(
|
||
|
|
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||
|
|
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||
|
|
)
|
||
|
|
_LOGGER.warning(
|
||
|
|
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||
|
|
)
|
||
|
|
else:
|
||
|
|
self.verif_wrapper.log_to_console(tm_packet, res)
|
||
|
|
self.verif_wrapper.log_to_file(tm_packet, res)
|
||
|
|
dedicated_handler = True
|
||
|
|
if service == 3:
|
||
|
|
_LOGGER.info("No handling for HK packets implemented")
|
||
|
|
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||
|
|
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||
|
|
if pus_tm.subservice == 25:
|
||
|
|
if len(pus_tm.source_data) < 8:
|
||
|
|
raise ValueError("No addressable ID in HK packet")
|
||
|
|
json_str = pus_tm.source_data[8:]
|
||
|
|
dedicated_handler = True
|
||
|
|
if service == 5:
|
||
|
|
tm_packet = Service5Tm.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||
|
|
if service == 17:
|
||
|
|
tm_packet = Service17Tm.unpack(
|
||
|
|
packet, time_reader=CdsShortTimestamp.empty()
|
||
|
|
)
|
||
|
|
dedicated_handler = True
|
||
|
|
if tm_packet.subservice == 2:
|
||
|
|
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||
|
|
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||
|
|
else:
|
||
|
|
self.printer.file_logger.info(
|
||
|
|
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||
|
|
)
|
||
|
|
_LOGGER.info(
|
||
|
|
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||
|
|
)
|
||
|
|
if tm_packet is None:
|
||
|
|
_LOGGER.info(
|
||
|
|
f"The service {service} is not implemented in Telemetry Factory"
|
||
|
|
)
|
||
|
|
tm_packet = PusTelemetry.unpack(
|
||
|
|
packet, time_reader=CdsShortTimestamp.empty()
|
||
|
|
)
|
||
|
|
self.raw_logger.log_tm(tm_packet)
|
||
|
|
if not dedicated_handler and tm_packet is not None:
|
||
|
|
pass
|
||
|
|
# self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||
|
|
|
||
|
|
|
||
|
|
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||
|
|
byte_string = bytearray(struct.pack("!I", target_id))
|
||
|
|
byte_string.extend(struct.pack("!I", unique_id))
|
||
|
|
return byte_string
|
||
|
|
|
||
|
|
|
||
|
|
def read_addressable_id(data: bytes) -> tuple[int, int]:
|
||
|
|
target_id = struct.unpack("!I", data[0:4])[0]
|
||
|
|
set_id = struct.unpack("!I", data[4:8])[0]
|
||
|
|
return (target_id, set_id)
|
||
|
|
|
||
|
|
|
||
|
|
class RequestTargetId(enum.IntEnum):
|
||
|
|
ACS = 1
|
||
|
|
PLD = 2
|
||
|
|
|
||
|
|
|
||
|
|
class AcsHkIds(enum.IntEnum):
|
||
|
|
MGM_SET = 1
|
||
|
|
|
||
|
|
|
||
|
|
class HkOpCodes:
|
||
|
|
GENERATE_ONE_SHOT = ["0", "oneshot"]
|
||
|
|
|
||
|
|
|
||
|
|
def make_target_id(target_id: int) -> bytes:
|
||
|
|
byte_string = bytearray(struct.pack("!I", target_id))
|
||
|
|
return byte_string
|
||
|
|
|
||
|
|
|
||
|
|
class TcHandler(TcHandlerBase):
|
||
|
|
def __init__(
|
||
|
|
self,
|
||
|
|
seq_count_provider: FileSeqCountProvider,
|
||
|
|
verif_wrapper: VerificationWrapper,
|
||
|
|
):
|
||
|
|
super(TcHandler, self).__init__()
|
||
|
|
self.seq_count_provider = seq_count_provider
|
||
|
|
self.verif_wrapper = verif_wrapper
|
||
|
|
self.queue_helper = DefaultPusQueueHelper(
|
||
|
|
queue_wrapper=QueueWrapper.empty(),
|
||
|
|
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
|
||
|
|
seq_cnt_provider=seq_count_provider,
|
||
|
|
pus_verificator=self.verif_wrapper.pus_verificator,
|
||
|
|
default_pus_apid=EXAMPLE_PUS_APID,
|
||
|
|
)
|
||
|
|
|
||
|
|
def send_cb(self, send_params: SendCbParams):
|
||
|
|
entry_helper = send_params.entry
|
||
|
|
if entry_helper.is_tc:
|
||
|
|
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
|
||
|
|
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
|
||
|
|
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||
|
|
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||
|
|
send_params.com_if.send(raw_tc)
|
||
|
|
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||
|
|
log_entry = entry_helper.to_log_entry()
|
||
|
|
_LOGGER.info(log_entry.log_str)
|
||
|
|
|
||
|
|
def queue_finished_cb(self, helper: ProcedureWrapper):
|
||
|
|
if helper.proc_type == TcProcedureType.DEFAULT:
|
||
|
|
def_proc = helper.to_def_procedure()
|
||
|
|
_LOGGER.info(
|
||
|
|
f"Queue handling finished for service {def_proc.service} and "
|
||
|
|
f"op code {def_proc.op_code}"
|
||
|
|
)
|
||
|
|
|
||
|
|
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||
|
|
q = self.queue_helper
|
||
|
|
q.queue_wrapper = wrapper.queue_wrapper
|
||
|
|
if helper.proc_type == TcProcedureType.DEFAULT:
|
||
|
|
def_proc = helper.to_def_procedure()
|
||
|
|
service = def_proc.service
|
||
|
|
op_code = def_proc.op_code
|
||
|
|
if (
|
||
|
|
service == CoreServiceList.SERVICE_17
|
||
|
|
or service == CoreServiceList.SERVICE_17_ALT
|
||
|
|
):
|
||
|
|
q.add_log_cmd("Sending PUS ping telecommand")
|
||
|
|
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||
|
|
if service == CoreServiceList.SERVICE_11:
|
||
|
|
q.add_log_cmd("Sending PUS scheduled TC telecommand")
|
||
|
|
crt_time = CdsShortTimestamp.from_now()
|
||
|
|
time_stamp = crt_time + datetime.timedelta(seconds=10)
|
||
|
|
time_stamp = time_stamp.pack()
|
||
|
|
return q.add_pus_tc(
|
||
|
|
create_time_tagged_cmd(
|
||
|
|
time_stamp,
|
||
|
|
PusTelecommand(service=17, subservice=1),
|
||
|
|
apid=EXAMPLE_PUS_APID,
|
||
|
|
)
|
||
|
|
)
|
||
|
|
if service == CoreServiceList.SERVICE_8:
|
||
|
|
q.add_log_cmd("Sending PUS action request telecommand")
|
||
|
|
return q.add_pus_tc(
|
||
|
|
PusTelecommand(service=8, subservice=1, app_data=make_target_id(RequestTargetId.PLD))
|
||
|
|
)
|
||
|
|
if service == CoreServiceList.SERVICE_3:
|
||
|
|
if op_code in HkOpCodes.GENERATE_ONE_SHOT:
|
||
|
|
q.add_log_cmd("Sending HK one shot request")
|
||
|
|
q.add_pus_tc(
|
||
|
|
generate_one_hk_command(
|
||
|
|
make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
|
||
|
|
)
|
||
|
|
)
|
||
|
|
pass
|
||
|
|
|
||
|
|
|
||
|
|
def main():
|
||
|
|
add_colorlog_console_logger(_LOGGER)
|
||
|
|
tmtccmd.init_printout(False)
|
||
|
|
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||
|
|
parser_wrapper = PreArgsParsingWrapper()
|
||
|
|
parser_wrapper.create_default_parent_parser()
|
||
|
|
parser_wrapper.create_default_parser()
|
||
|
|
parser_wrapper.add_def_proc_args()
|
||
|
|
params = SetupParams()
|
||
|
|
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||
|
|
proc_wrapper = ProcedureParamsWrapper()
|
||
|
|
if post_args_wrapper.use_gui:
|
||
|
|
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||
|
|
else:
|
||
|
|
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||
|
|
params.apid = EXAMPLE_PUS_APID
|
||
|
|
setup_args = SetupWrapper(
|
||
|
|
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||
|
|
)
|
||
|
|
# Create console logger helper and file loggers
|
||
|
|
tmtc_logger = RegularTmtcLogWrapper()
|
||
|
|
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||
|
|
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||
|
|
verificator = PusVerificator()
|
||
|
|
verification_wrapper = VerificationWrapper(
|
||
|
|
verificator, _LOGGER, printer.file_logger
|
||
|
|
)
|
||
|
|
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||
|
|
tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
|
||
|
|
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||
|
|
ccsds_handler.add_apid_handler(tm_handler)
|
||
|
|
|
||
|
|
# Create TC handler
|
||
|
|
seq_count_provider = PusFileSeqCountProvider()
|
||
|
|
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
|
||
|
|
tmtccmd.setup(setup_args=setup_args)
|
||
|
|
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
|
||
|
|
tmtc_backend = tmtccmd.create_default_tmtc_backend(
|
||
|
|
setup_wrapper=setup_args,
|
||
|
|
tm_handler=ccsds_handler,
|
||
|
|
tc_handler=tc_handler,
|
||
|
|
init_procedure=init_proc,
|
||
|
|
)
|
||
|
|
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
|
||
|
|
try:
|
||
|
|
while True:
|
||
|
|
state = tmtc_backend.periodic_op(None)
|
||
|
|
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||
|
|
sys.exit(0)
|
||
|
|
elif state.request == BackendRequest.DELAY_IDLE:
|
||
|
|
_LOGGER.info("TMTC Client in IDLE mode")
|
||
|
|
time.sleep(3.0)
|
||
|
|
elif state.request == BackendRequest.DELAY_LISTENER:
|
||
|
|
time.sleep(0.8)
|
||
|
|
elif state.request == BackendRequest.DELAY_CUSTOM:
|
||
|
|
if state.next_delay.total_seconds() <= 0.4:
|
||
|
|
time.sleep(state.next_delay.total_seconds())
|
||
|
|
else:
|
||
|
|
time.sleep(0.4)
|
||
|
|
elif state.request == BackendRequest.CALL_NEXT:
|
||
|
|
pass
|
||
|
|
except KeyboardInterrupt:
|
||
|
|
sys.exit(0)
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
main()
|