Merge pull request 'camera_merge_main' (#7) from camera_merge_main into main

Reviewed-on: #7

Cargo.lock

@@ -489,6 +489,8 @@ dependencies = [
  "num_enum",
  "satrs",
  "satrs-mib",
+ "serde",
+ "serde_json",
  "strum",
  "thiserror",
 ]
@@ -680,6 +682,17 @@ dependencies = [
  "syn 2.0.59",
 ]
 
+[[package]]
+name = "serde_json"
+version = "1.0.116"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3e17db7126d17feb94eb3fad46bf1a96b034e8aacbc2e775fe81505f8b0b2813"
+dependencies = [
+ "itoa",
+ "ryu",
+ "serde",
+]
+
 [[package]]
 name = "smallvec"
 version = "0.6.14"

Cargo.toml

@@ -15,6 +15,8 @@ strum = { version = "0.26", features = ["derive"] }
 thiserror = "1"
 derive-new = "0.6"
 num_enum = "0.7"
+serde = "1"
+serde_json = "1"
 mio = "0.8"
 
 [dependencies.satrs]

pytmtc/main.py

@@ -233,13 +233,13 @@ def main():
     raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
     verificator = PusVerificator()
     verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
-    # Create primary TM handler and add it to the CCSDS Packet Handler
+    # Create primary TM handlers and add it to the CCSDS Packet Handler
     tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
     ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
-    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    # TODO: We could add the CFDP handlers for the CFDP APID at a later stage.
     # ccsds_handler.add_apid_handler(tm_handler)
 
-    # Create TC handler
+    # Create TC handlers
     seq_count_provider = PusFileSeqCountProvider()
     tc_handler = TcHandler(seq_count_provider, verification_wrapper)
     tmtccmd.setup(setup_args=setup_args)

src/handlers/camera.rs

@@ -0,0 +1,284 @@
+/// 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::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use satrs::tmtc::PacketAsVec;
+use serde::{Deserialize, Serialize};
+use std::io::Error;
+use std::process::Command;
+use std::sync::mpsc;
+
+const DEFAULT_SINGLE_CAM_PARAMS: CameraPictureParameters = CameraPictureParameters {
+    R: 8,
+    G: 8,
+    B: 8,
+    N: 1,
+    P: true,
+    E: 2,
+    W: 1000,
+};
+
+const BALANCED_SINGLE_CAM_PARAMS: CameraPictureParameters = CameraPictureParameters {
+    R: 13,
+    G: 7,
+    B: 8,
+    N: 1,
+    P: true,
+    E: 2,
+    W: 1000,
+};
+
+const DEFAULT_SINGLE_FLATSAT_CAM_PARAMS: CameraPictureParameters = CameraPictureParameters {
+    R: 8,
+    G: 8,
+    B: 8,
+    N: 1,
+    P: true,
+    E: 200,
+    W: 1000,
+};
+
+const BALANCED_SINGLE_FLATSAT_CAM_PARAMS: CameraPictureParameters = CameraPictureParameters {
+    R: 13,
+    G: 7,
+    B: 8,
+    N: 1,
+    P: true,
+    E: 200,
+    W: 1000,
+};
+
+#[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)]
+#[derive(new)]
+pub struct IMS100BatchHandler {
+    id: UniqueApidTargetId,
+    // mode_interface: MpscModeLeafInterface,
+    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    // hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    tm_sender: mpsc::Sender<PacketAsVec>,
+    stamp_helper: TimeStampHelper,
+}
+
+#[allow(non_snake_case)]
+#[allow(dead_code)]
+impl IMS100BatchHandler {
+    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 => DEFAULT_SINGLE_CAM_PARAMS,
+            CameraActionIds::BalancedSingle => BALANCED_SINGLE_CAM_PARAMS,
+            CameraActionIds::DefaultSingleFlatSat => DEFAULT_SINGLE_FLATSAT_CAM_PARAMS,
+            CameraActionIds::BalancedSingleFlatSat => BALANCED_SINGLE_FLATSAT_CAM_PARAMS,
+            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
+    }
+}

src/handlers/mod.rs

@@ -0,0 +1 @@
+pub mod camera;

src/main.rs

@@ -32,6 +32,7 @@ use crate::{
 };
 
 mod controller;
+mod handlers;
 mod interface;
 mod logger;
 mod pus;
@@ -247,7 +248,7 @@ fn main() {
         })
         .unwrap();
 
-    info!("Starting PUS handler thread");
+    info!("Starting PUS handlers thread");
     let pus_stop_signal = stop_signal.clone();
     let jh_pus_handler = thread::Builder::new()
         .name("ops-sat pus".to_string())
@@ -277,5 +278,5 @@ fn main() {
         .expect("Joining TM Funnel thread failed");
     jh_pus_handler
         .join()
-        .expect("Joining PUS handler thread failed");
+        .expect("Joining PUS handlers thread failed");
 }

src/pus/mod.rs

@@ -176,7 +176,7 @@ pub trait TargetedPusService {
     fn check_for_request_timeouts(&mut self);
 }
 
-/// This is a generic handler class for all PUS services where a PUS telecommand is converted
+/// This is a generic handlers class for all PUS services where a PUS telecommand is converted
 /// to a targeted request.
 ///
 /// The generic steps for this process are the following
@@ -186,12 +186,12 @@ pub trait TargetedPusService {
 ///  3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
 ///  4. Route the requests using the [GenericRequestRouter].
 ///  5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
-///  6. Check for replies which complete the forwarded request. The handler takes care of
+///  6. Check for replies which complete the forwarded request. The handlers takes care of
 ///     the verification process.
 ///  7. Check for timeouts of active requests. Generally, the timeout on the service level should
 ///     be highest expected timeout for the given target.
 ///
-/// The handler exposes the following API:
+/// The handlers exposes the following API:
 ///
 ///  1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
 ///  2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.

src/pus/test.rs

@@ -49,7 +49,7 @@ impl TestCustomServiceWrapper {
     pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
         let res = self.handler.poll_and_handle_next_tc(time_stamp);
         if res.is_err() {
-            warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
+            warn!("PUS17 handlers failed with error {:?}", res.unwrap_err());
             return HandlingStatus::Empty;
         }
         match res.unwrap() {