initial camera handling things

Cargo.lock

@@ -113,6 +113,12 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf4b9d6a944f767f8e5e0db018570623c85f3d925ac718db4e06d0187adb21c1"
+
 [[package]]
 name = "bumpalo"
 version = "3.16.0"
@@ -364,6 +370,16 @@ dependencies = [
  "hashbrown",
 ]
 
+[[package]]
+name = "io-kit-sys"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
+dependencies = [
+ "core-foundation-sys",
+ "mach2",
+]
+
 [[package]]
 name = "itoa"
 version = "1.0.11"
@@ -391,12 +407,41 @@ version = "0.2.153"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
 
+[[package]]
+name = "libudev"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
+dependencies = [
+ "libc",
+ "libudev-sys",
+]
+
+[[package]]
+name = "libudev-sys"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
+dependencies = [
+ "libc",
+ "pkg-config",
+]
+
 [[package]]
 name = "log"
 version = "0.4.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
 
+[[package]]
+name = "mach2"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19b955cdeb2a02b9117f121ce63aa52d08ade45de53e48fe6a38b39c10f6f709"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "maybe-uninit"
 version = "2.0.0"
@@ -421,6 +466,17 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "nix"
+version = "0.26.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
+dependencies = [
+ "bitflags 1.3.2",
+ "cfg-if",
+ "libc",
+]
+
 [[package]]
 name = "nodrop"
 version = "0.1.14"
@@ -486,6 +542,7 @@ dependencies = [
  "num_enum",
  "satrs",
  "satrs-mib",
+ "serialport",
  "strum",
  "thiserror",
 ]
@@ -509,6 +566,12 @@ version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
+[[package]]
+name = "pkg-config"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d231b230927b5e4ad203db57bbcbee2802f6bce620b1e4a9024a07d94e2907ec"
+
 [[package]]
 name = "proc-macro-crate"
 version = "3.1.0"
@@ -542,7 +605,7 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
 ]
 
 [[package]]
@@ -642,6 +705,12 @@ dependencies = [
  "spacepackets",
 ]
 
+[[package]]
+name = "scopeguard"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
+
 [[package]]
 name = "serde"
 version = "1.0.197"
@@ -673,6 +742,25 @@ dependencies = [
  "syn 2.0.58",
 ]
 
+[[package]]
+name = "serialport"
+version = "4.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f5a15d0be940df84846264b09b51b10b931fb2f275becb80934e3568a016828"
+dependencies = [
+ "bitflags 2.5.0",
+ "cfg-if",
+ "core-foundation-sys",
+ "io-kit-sys",
+ "libudev",
+ "mach2",
+ "nix",
+ "regex",
+ "scopeguard",
+ "unescaper",
+ "winapi",
+]
+
 [[package]]
 name = "smallvec"
 version = "0.6.14"
@@ -795,6 +883,15 @@ dependencies = [
  "winnow",
 ]
 
+[[package]]
+name = "unescaper"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0adf6ad32eb5b3cadff915f7b770faaac8f7ff0476633aa29eb0d9584d889d34"
+dependencies = [
+ "thiserror",
+]
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.12"
@@ -873,6 +970,28 @@ version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
 
+[[package]]
+name = "winapi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
 [[package]]
 name = "windows-core"
 version = "0.52.0"

Cargo.toml

@@ -14,6 +14,7 @@ strum = { version = "0.26", features = ["derive"] }
 thiserror = "1"
 derive-new = "0.6"
 num_enum = "0.7"
+serialport = "4"
 
 [dependencies.satrs]
 version = "0.2.0-rc.0"

ops-sat-rs-tmtc/.tmtc-history.txt

@@ -0,0 +1,12 @@
+
+# 2024-04-09 11:12:13.559448
++:p
+
+# 2024-04-09 11:12:19.781770
++ping
+
+# 2024-04-09 11:12:32.029770
++/test/ping
+
+# 2024-04-09 11:13:10.388937
++test/ping

ops-sat-rs-tmtc/log/tmtccmd_file_2024-04-09_111310.log

@@ -0,0 +1,4 @@
+Acceptance success of TC  | Request ID 0x1802c000 | acc (S) sta (-) ste (-, 0) fin (-)
+Start success of TC       | Request ID 0x1802c000 | acc (S) sta (S) ste (-, 0) fin (-)
+Received Ping Reply TM[17,2]
+Completion success of TC  | Request ID 0x1802c000 | acc (S) sta (S) ste (-, 0) fin (S) S

ops-sat-rs-tmtc/log/tmtccmd_raw_pus_2024-04-09.log

@@ -0,0 +1,12 @@
+2024-04-09 11:13:11.628: tm 0 [1, 1] repr: PusTelemetry.from_composite_fields(PusTelemetry(sp_header=SpacePacketHeader(packet_version=0, packet_type=<PacketType.TM: 0>, apid=2, seq_cnt=0, data_len=19, sec_header_flag=True, seq_flags=<SequenceFlags.UNSEGMENTED: 3>), sec_header=PusTmSecondaryHeader(service=1, subservice=1, time=CdsShortTimestamp(ccsds_days=24205, ms_of_day=33190818), message_counter=0, dest_id=0, spacecraft_time_ref=0, pus_version=2), tm_data=bytearray(b'\x18\x02\xc0\x00')
+2024-04-09 11:13:11.630: tm 0 [1, 1] raw readable hex: [08,02,c0,00,00,13,20,01,01,00,00,00,00,40,5e,8d,01,fa,73,a2,18,02,c0,00,0f,cc]
+2024-04-09 11:13:11.630: tm 0 [1, 1] raw repr: bytearray(b'\x08\x02\xc0\x00\x00\x13 \x01\x01\x00\x00\x00\x00@^\x8d\x01\xfas\xa2\x18\x02\xc0\x00\x0f\xcc')
+2024-04-09 11:13:11.631: tm 1 [1, 3] repr: PusTelemetry.from_composite_fields(PusTelemetry(sp_header=SpacePacketHeader(packet_version=0, packet_type=<PacketType.TM: 0>, apid=2, seq_cnt=1, data_len=19, sec_header_flag=True, seq_flags=<SequenceFlags.UNSEGMENTED: 3>), sec_header=PusTmSecondaryHeader(service=1, subservice=3, time=CdsShortTimestamp(ccsds_days=24205, ms_of_day=33191016), message_counter=1, dest_id=0, spacecraft_time_ref=0, pus_version=2), tm_data=bytearray(b'\x18\x02\xc0\x00')
+2024-04-09 11:13:11.631: tm 1 [1, 3] raw readable hex: [08,02,c0,01,00,13,20,01,03,00,01,00,00,40,5e,8d,01,fa,74,68,18,02,c0,00,5c,65]
+2024-04-09 11:13:11.631: tm 1 [1, 3] raw repr: bytearray(b'\x08\x02\xc0\x01\x00\x13 \x01\x03\x00\x01\x00\x00@^\x8d\x01\xfath\x18\x02\xc0\x00\\e')
+2024-04-09 11:13:11.631: tm 2 [17, 2] repr: PusTelemetry.from_composite_fields(PusTelemetry(sp_header=SpacePacketHeader(packet_version=0, packet_type=<PacketType.TM: 0>, apid=2, seq_cnt=2, data_len=15, sec_header_flag=True, seq_flags=<SequenceFlags.UNSEGMENTED: 3>), sec_header=PusTmSecondaryHeader(service=17, subservice=2, time=CdsShortTimestamp(ccsds_days=24205, ms_of_day=33191016), message_counter=0, dest_id=0, spacecraft_time_ref=0, pus_version=2), tm_data=bytearray(b'')
+2024-04-09 11:13:11.632: tm 2 [17, 2] raw readable hex: [08,02,c0,02,00,0f,20,11,02,00,00,00,00,40,5e,8d,01,fa,74,68,18,1f]
+2024-04-09 11:13:11.632: tm 2 [17, 2] raw repr: bytearray(b'\x08\x02\xc0\x02\x00\x0f \x11\x02\x00\x00\x00\x00@^\x8d\x01\xfath\x18\x1f')
+2024-04-09 11:13:11.632: tm 3 [1, 7] repr: PusTelemetry.from_composite_fields(PusTelemetry(sp_header=SpacePacketHeader(packet_version=0, packet_type=<PacketType.TM: 0>, apid=2, seq_cnt=3, data_len=19, sec_header_flag=True, seq_flags=<SequenceFlags.UNSEGMENTED: 3>), sec_header=PusTmSecondaryHeader(service=1, subservice=7, time=CdsShortTimestamp(ccsds_days=24205, ms_of_day=33191016), message_counter=2, dest_id=0, spacecraft_time_ref=0, pus_version=2), tm_data=bytearray(b'\x18\x02\xc0\x00')
+2024-04-09 11:13:11.632: tm 3 [1, 7] raw readable hex: [08,02,c0,03,00,13,20,01,07,00,02,00,00,40,5e,8d,01,fa,74,68,18,02,c0,00,ea,d9]
+2024-04-09 11:13:11.632: tm 3 [1, 7] raw repr: bytearray(b'\x08\x02\xc0\x03\x00\x13 \x01\x07\x00\x02\x00\x00@^\x8d\x01\xfath\x18\x02\xc0\x00\xea\xd9')

ops-sat-rs-tmtc/seqcnt.txt

@@ -0,0 +1 @@
+1

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 +1,114 @@
+/// Device handler implementation for the IMS-100 Imager used on the OPS-SAT mission.
+///
+/// see also https://opssat1.esoc.esa.int/dmsf/files/6/view
+use crate::interface::serial::SerialInterface;
+use crate::requests::CompositeRequest;
+use derive_new::new;
+use ops_sat_rs::TimeStampHelper;
+use satrs::action::ActionRequest;
+use satrs::hk::HkRequest;
+use satrs::pus::EcssTmSenderCore;
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use std::sync::mpsc;
+use std::sync::mpsc::TryRecvError;
+use chrono::Duration;
+
+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) {}
+}
+
+#[cfg(test)]
+mod tests {
+    #[test]
+    fn test_crc() {
+        // TODO
+    }
+}

src/handlers/mod.rs

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

src/interface/mod.rs

@@ -1,3 +1,4 @@
 pub mod can;
+pub mod serial;
 pub mod tcp;
 pub mod udp;

src/interface/serial.rs

@@ -0,0 +1 @@
+pub trait SerialInterface {}

src/main.rs

@@ -35,6 +35,7 @@ use crate::{
 };
 
 mod controller;
+mod handlers;
 mod interface;
 mod logger;
 mod pus;
@@ -222,7 +223,7 @@ 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())
@@ -249,5 +250,5 @@ 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

@@ -166,7 +166,7 @@ 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
@@ -176,12 +176,12 @@ 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() {