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::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) => {
                        if let Err(e) =
                            self.handle_action_request(&msg.requestor_info, action_request)
                        {
                            log::warn!("camera action request IO error: {e}");
                        }
                    }
                },
                Err(e) => match e {
                    mpsc::TryRecvError::Empty => break,
                    mpsc::TryRecvError::Disconnected => {
                        log::warn!("composite request receiver disconnected");
                        break;
                    }
                },
            }
        }
    }

    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(())
    }

    #[allow(clippy::too_many_arguments)]
    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
    }
}