ops-sat-rs/src/handlers/camera.rs

/// Device handler implementation for the IMS-100 Imager used on the OPS-SAT mission.
///
/// from the [OPSSAT Experimenter Wiki](https://opssat1.esoc.esa.int/projects/experimenter-information/wiki/Camera_Introduction):
/// OPS-SAT has a BST IMS-100 Imager onboard for image acquisition. These RGGB images are 2048x1944px in size.
///
/// There are two ways of taking pictures, with the NMF or by using the camera API directly.
///
/// As the NMF method is already explained in the NMF documentation we will focus on triggering the camera API.
///
/// The camera is located on the -Z face of OPS-SAT
///
/// Mapping between camera and satellite frames:
/// cam body
/// +x -z
/// +y -x
/// +z +y
///
/// If you look onto Flatsat as in your picture coordinate system for camera it is
///
/// Z              Z pointing inside Flatsat
///  x---> X
/// |
/// |
///  v Y
///
/// see also https://opssat1.esoc.esa.int/dmsf/files/6/view
use crate::requests::CompositeRequest;
use derive_new::new;
use log::debug;
use ops_sat_rs::TimeStampHelper;
use satrs::action::{ActionRequest, ActionRequestVariant};
use satrs::hk::HkRequest;
use satrs::pus::EcssTmSender;
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use serde::{Deserialize, Serialize};
use std::io::Error;
use std::process::Command;
use std::sync::mpsc;

#[derive(Debug)]
pub enum CameraActionIds {
    DefaultSingle = 1,
    BalancedSingle = 2,
    DefaultSingleFlatSat = 3,
    BalancedSingleFlatSat = 4,
    CustomParameters = 5,
}

impl TryFrom<u32> for CameraActionIds {
    type Error = ();

    fn try_from(value: u32) -> Result<Self, Self::Error> {
        match value {
            value if value == CameraActionIds::DefaultSingle as u32 => {
                Ok(CameraActionIds::DefaultSingle)
            }
            value if value == CameraActionIds::BalancedSingle as u32 => {
                Ok(CameraActionIds::BalancedSingle)
            }
            value if value == CameraActionIds::DefaultSingleFlatSat as u32 => {
                Ok(CameraActionIds::DefaultSingleFlatSat)
            }
            value if value == CameraActionIds::BalancedSingleFlatSat as u32 => {
                Ok(CameraActionIds::BalancedSingleFlatSat)
            }
            value if value == CameraActionIds::CustomParameters as u32 => {
                Ok(CameraActionIds::CustomParameters)
            }
            _ => Err(()),
        }
    }
}

// TODO what happens if limits are exceded
#[allow(non_snake_case)]
#[derive(Serialize, Deserialize, new)]
pub struct CameraPictureParameters {
    pub R: u8,
    pub G: u8,
    pub B: u8,
    pub N: u8,   // number of images, max: 26
    pub P: bool, // .png flag, true converts raw extracted image from camera to a png
    pub E: u32,  // exposure time in ms, max: 1580, default: 2, FlatSat: 200
    pub W: u32,  // wait time between pictures in ms, max: 40000
}

#[allow(dead_code)]
impl CameraPictureParameters {
    pub fn default_single() -> Self {
        Self {
            R: 8,
            G: 8,
            B: 8,
            N: 1,
            P: true,
            E: 2,
            W: 1000,
        }
    }

    pub fn balanced_single() -> Self {
        Self {
            R: 13,
            G: 7,
            B: 8,
            N: 1,
            P: true,
            E: 2,
            W: 1000,
        }
    }

    pub fn default_single_flatsat() -> Self {
        Self {
            R: 8,
            G: 8,
            B: 8,
            N: 1,
            P: true,
            E: 200,
            W: 1000,
        }
    }

    pub fn balanced_single_flatsat() -> Self {
        Self {
            R: 13,
            G: 7,
            B: 8,
            N: 1,
            P: true,
            E: 200,
            W: 1000,
        }
    }
}

#[allow(dead_code)]
#[derive(new)]
pub struct IMS100BatchHandler<TmSender: EcssTmSender> {
    id: UniqueApidTargetId,
    // mode_interface: MpscModeLeafInterface,
    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
    // hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
    tm_sender: TmSender,
    stamp_helper: TimeStampHelper,
}

#[allow(non_snake_case)]
#[allow(dead_code)]
impl<TmSender: EcssTmSender>
    IMS100BatchHandler<TmSender>
{
    pub fn periodic_operation(&mut self) {
        self.stamp_helper.update_from_now();
        // Handle requests.
        self.handle_composite_requests();
        // self.handle_mode_requests();
    }

    pub fn handle_composite_requests(&mut self) {
        loop {
            match self.composite_request_receiver.try_recv() {
                Ok(ref msg) => match &msg.message {
                    CompositeRequest::Hk(hk_request) => {
                        self.handle_hk_request(&msg.requestor_info, hk_request);
                    }
                    CompositeRequest::Action(action_request) => {
                        self.handle_action_request(&msg.requestor_info, action_request);
                    }
                },
                Err(_) => {}
            }
        }
    }

    pub fn handle_hk_request(&mut self, _requestor_info: &MessageMetadata, _hk_request: &HkRequest) {
        // TODO add hk to opssat
    }

    pub fn handle_action_request(
        &mut self,
        _requestor_info: &MessageMetadata,
        action_request: &ActionRequest,
    ) -> std::io::Result<()> {
        let param = match CameraActionIds::try_from(action_request.action_id).unwrap() {
            CameraActionIds::DefaultSingle => CameraPictureParameters::default_single(),
            CameraActionIds::BalancedSingle => CameraPictureParameters::balanced_single(),
            CameraActionIds::DefaultSingleFlatSat => {
                CameraPictureParameters::default_single_flatsat()
            }
            CameraActionIds::BalancedSingleFlatSat => {
                CameraPictureParameters::balanced_single_flatsat()
            }
            CameraActionIds::CustomParameters => match &action_request.variant {
                ActionRequestVariant::NoData => return Err(Error::other("No Data sent!")),
                ActionRequestVariant::StoreData(_) => {
                    // let param = serde_json::from_slice()
                    // TODO implement non dynamic version
                    return Err(Error::other(
                        "Static parameter transfer not implemented yet!",
                    ));
                }
                ActionRequestVariant::VecData(data) => {
                    let param: serde_json::Result<CameraPictureParameters>=
                        serde_json::from_slice(data.as_slice());
                    match param {
                        Ok(param) => {
                            param
                        }
                        Err(_) => {
                            return Err(Error::other("Unable to deserialize parameters"));
                        }
                    }
                }
                _ => return Err(Error::other("Invalid Action Request Variant!")),
            },
        };
        self.take_picture(param)
    }

    pub fn take_picture(&mut self, param: CameraPictureParameters) -> std::io::Result<()> {
        let mut cmd = Command::new("ims100_testapp");
        cmd.arg("-R")
            .arg(&param.R.to_string())
            .arg("-G")
            .arg(&param.G.to_string())
            .arg("-B")
            .arg(&param.B.to_string())
            .arg("-c")
            .arg("/dev/cam_tty")
            .arg("-m")
            .arg("/dev/cam_sd")
            .arg("-v")
            .arg("0")
            .arg("-n")
            .arg(&param.N.to_string());
        if param.P {
            cmd.arg("-p");
        }
        cmd.arg("-e")
            .arg(&param.E.to_string())
            .arg("-w")
            .arg(&param.W.to_string());

        let output = cmd.output()?;

        debug!("{}", String::from_utf8_lossy(&output.stdout));

        Ok(())
    }

    pub fn take_picture_from_str(
        &mut self,
        R: &str,
        G: &str,
        B: &str,
        N: &str,
        P: &str,
        E: &str,
        W: &str,
    ) -> std::io::Result<()> {
        let mut cmd = Command::new("ims100_testapp");
        cmd.arg("-R")
            .arg(R)
            .arg("-G")
            .arg(G)
            .arg("-B")
            .arg(B)
            .arg("-c")
            .arg("/dev/cam_tty")
            .arg("-m")
            .arg("/dev/cam_sd")
            .arg("-v")
            .arg("0")
            .arg("-n")
            .arg(N)
            .arg(P)
            .arg("-e")
            .arg(E)
            .arg("-w")
            .arg(W);

        let output = cmd.output()?;

        debug!("{}", String::from_utf8_lossy(&output.stdout));

        Ok(())
    }
}

#[cfg(test)]
mod tests {
    #[test]
    fn test_crc() {
        // TODO
    }
}

/*
const SERIAL_PORT_ATTRIBUTE: &str = "opssat.camera.port";
const SERIAL_PORT_DEFAULT: &str = "/dev/ttyACM0";
const BLOCK_DEVICE_ATTRIBUTE: &str = "opssat.camera.blockdev";
const BLOCK_DEVICE_DEFAULT: &str = "/dev/sda";
const USE_WATCHDOG_ATTRIBUTE: &str = "opssat.camera.usewatchdog";
const USE_WATCHDOG_DEFAULT: &str = "true";
const PREVIEW_EXPOSURE_TIME: Duration = Duration::milliseconds(100);
const MINIMUM_PERIOD: Duration = Duration::milliseconds(1000);
const PREVIEW_GAIN: f64 = 10.0;

const CRC8_TABLE: [u8; 256] = [
    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
    0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
    0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
    0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
    0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
    0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
    0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
    0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
    0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
    0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
    0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3,
];

pub fn calculate_crc8(data: &[u8], n: usize) -> u8 {
    let mut crc: u8 = 0;
    for el in data {
        let i: usize = (crc ^ el).into();
        crc = CRC8_TABLE[i];
    }
    crc
}

pub struct IMS100Settings {}

#[derive(new)]
pub struct IMS100Handler<ComInterface: SerialInterface, TmSender: EcssTmSenderCore> {
    id: UniqueApidTargetId,
    // mode_interface: MpscModeLeafInterface,
    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
    // hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
    tm_sender: TmSender,
    com_interface: ComInterface,
    stamp_helper: TimeStampHelper,
}

impl<ComInterface: SerialInterface, TmSender: EcssTmSenderCore>
    IMS100Handler<ComInterface, TmSender>
{
    pub fn periodic_operation(&mut self) {
        self.stamp_helper.update_from_now();
        // Handle requests.
        self.handle_composite_requests();
        // self.handle_mode_requests();
    }

    pub fn handle_composite_requests(&mut self) {
        loop {
            match self.composite_request_receiver.try_recv() {
                Ok(ref msg) => match &msg.message {
                    CompositeRequest::Hk(hk_request) => {
                        self.handle_hk_request(&msg.requestor_info, hk_request);
                    }
                    CompositeRequest::Action(action_request) => {
                        self.handle_action_request(&msg.requestor_info, action_request);
                    }
                },
                Err(_) => {}
            }
        }
    }

    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
        // TODO add hk to opssat
    }

    pub fn handle_action_request(
        &mut self,
        requestor_info: &MessageMetadata,
        action_request: &ActionRequest,
    ) {
        // TODO implement actions
    }

    pub fn take_picture(&mut self) {}
}
 */