ops-sat-rs/pytmtc/pus_tc.py

174 lines
6.5 KiB
Python

import datetime
import struct
import logging
from spacepackets.ccsds import CdsShortTimestamp
from spacepackets.ecss import PusTelecommand
from tmtccmd.config import CmdTreeNode
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
from camera_params import CameraParameters
from common import (
EXPERIMENT_APID,
UniqueId,
make_action_cmd_header,
)
_LOGGER = logging.getLogger(__name__)
def create_set_mode_cmd(
apid: int, unique_id: int, mode: int, submode: int
) -> PusTelecommand:
app_data = bytearray()
app_data.extend(struct.pack("!I", unique_id))
app_data.extend(struct.pack("!I", mode))
app_data.extend(struct.pack("!H", submode))
return PusTelecommand(
service=200,
subservice=ModeSubservice.TC_MODE_COMMAND,
apid=apid,
app_data=app_data,
)
def create_cmd_definition_tree() -> CmdTreeNode:
root_node = CmdTreeNode.root_node()
hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
hk_node.add_child(
CmdTreeNode("enable", "Enable periodic housekeeping data generation")
)
hk_node.add_child(
CmdTreeNode("disable", "Disable periodic housekeeping data generation")
)
mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
set_mode_node = CmdTreeNode(
"set_mode", "Set Node", hide_children_which_are_leaves=True
)
set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
mode_node.add_child(set_mode_node)
mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
test_node = CmdTreeNode("test", "Test Node")
test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
root_node.add_child(test_node)
scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
scheduler_node.add_child(
CmdTreeNode(
"schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
)
)
root_node.add_child(scheduler_node)
action_node = CmdTreeNode("action", "Action Node")
cam_node = CmdTreeNode("take_image", "Take Image with IMS Imager")
cam_node.add_child(
CmdTreeNode("default_single", "Default Single Image Camera Parameters")
)
cam_node.add_child(
CmdTreeNode("balanced_single", "Balanced Single Image Camera Parameters")
)
cam_node.add_child(
CmdTreeNode(
"default_single_flatsat",
"Default Single Image Camera Parameters for use on FlatSat",
)
)
cam_node.add_child(
CmdTreeNode(
"balanced_single_flatsat",
"Balanced Single Image Camera Parameters for use on FlatSat",
)
)
cam_node.add_child(
CmdTreeNode("custom_params", "Custom Camera Parameters as specified from file")
)
action_node.add_child(cam_node)
root_node.add_child(action_node)
return root_node
def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
# It should always be at least the root path "/", so we split of the empty portion left of it.
cmd_path_list = cmd_path.split("/")[1:]
if len(cmd_path_list) == 0:
_LOGGER.warning("empty command path")
return
if cmd_path_list[0] == "test":
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "ping":
q.add_log_cmd("Sending PUS ping telecommand")
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
elif cmd_path_list[1] == "trigger_event":
q.add_log_cmd("Triggering test event")
return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
if cmd_path_list[0] == "scheduler":
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
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),
)
)
if cmd_path_list[0] == "acs":
assert len(cmd_path_list) >= 2
if cmd_path_list[0] == "action":
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "take_image":
assert len(cmd_path_list) >= 3
q.add_log_cmd(
"Sending PUS take image action request with "
+ cmd_path_list[2]
+ " params."
)
data = bytearray()
if cmd_path_list[2] == "default_single":
data.extend(make_action_cmd_header(UniqueId.CameraHandler, 1))
if cmd_path_list[2] == "balanced_single":
data.extend(make_action_cmd_header(UniqueId.CameraHandler, 2))
if cmd_path_list[2] == "default_single_flatsat":
data.extend(make_action_cmd_header(UniqueId.CameraHandler, 3))
if cmd_path_list[2] == "balanced_single_flatsat":
data.extend(make_action_cmd_header(UniqueId.CameraHandler, 4))
if cmd_path_list[2] == "custom":
data.extend(make_action_cmd_header(UniqueId.CameraHandler, 5))
params = CameraParameters(8, 8, 8, 1, True, 200, 1000)
data.extend(params.serialize_for_uplink())
return q.add_pus_tc(
PusTelecommand(
service=8, subservice=128, apid=EXPERIMENT_APID, app_data=data
)
)
def handle_set_mode_cmd(
q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
):
if mode_str == "off":
q.add_log_cmd(f"Sending Mode OFF to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
elif mode_str == "on":
q.add_log_cmd(f"Sending Mode ON to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
elif mode_str == "normal":
q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))