Integration of the mini simulator into the sat-rs example
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Robin Müller 2024-06-03 15:18:23 +02:00
parent a4c433a7be
commit 29167736db
Signed by: muellerr
GPG Key ID: A649FB78196E3849
42 changed files with 3578 additions and 697 deletions

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@ -27,6 +27,9 @@ serde_json = "1"
path = "../satrs"
features = ["test_util"]
[dependencies.satrs-minisim]
path = "../satrs-minisim"
[dependencies.satrs-mib]
version = "0.1.1"
path = "../satrs-mib"

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@ -48,16 +48,17 @@ It is recommended to use a virtual environment to do this. To set up one in the
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
on how to activate the environment and then use the following command to install the required
dependency:
dependency interactively:
```sh
pip install -r requirements.txt
pip install -e .
```
Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also
install it manually with
```sh
pip install -e .
pip install tmtccmd[gui]
```
@ -72,3 +73,22 @@ the `simpleclient`:
```
You can also simply call the script without any arguments to view the command tree.
## Adding the mini simulator application
This example application features a few device handlers. The
[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
can be used to simulate the physical devices managed by these device handlers.
The example application will attempt communication with the mini simulator on UDP port 7303.
If this works, the device handlers will use communication interfaces dedicated to the communication
with the mini simulator. Otherwise, they will be replaced by dummy interfaces which either
return constant values or behave like ideal devices.
In summary, you can use the following command command to run the mini-simulator first:
```sh
cargo run -p satrs-minisim
```
and then start the example using `cargo run -p satrs-example`.

View File

@ -1,3 +1,4 @@
/tmtc_conf.json
__pycache__
/venv
@ -7,3 +8,136 @@ __pycache__
/seqcnt.txt
/.tmtc-history.txt
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
pip-wheel-metadata/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
pip-delete-this-directory.txt
# Unit test / coverage reports
htmlcov/
.tox/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
*.py,cover
.hypothesis/
.pytest_cache/
# Translations
*.mo
*.pot
# Django stuff:
*.log
local_settings.py
db.sqlite3
db.sqlite3-journal
# Flask stuff:
instance/
.webassets-cache
# Scrapy stuff:
.scrapy
# Sphinx documentation
docs/_build/
# PyBuilder
target/
# Jupyter Notebook
.ipynb_checkpoints
# IPython
profile_default/
ipython_config.py
# pyenv
.python-version
# pipenv
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
# However, in case of collaboration, if having platform-specific dependencies or dependencies
# having no cross-platform support, pipenv may install dependencies that don't work, or not
# install all needed dependencies.
#Pipfile.lock
# PEP 582; used by e.g. github.com/David-OConnor/pyflow
__pypackages__/
# Celery stuff
celerybeat-schedule
celerybeat.pid
# SageMath parsed files
*.sage.py
# Environments
.env
.venv
env/
venv/
ENV/
env.bak/
venv.bak/
# Spyder project settings
.spyderproject
.spyproject
# Rope project settings
.ropeproject
# mkdocs documentation
/site
# mypy
.mypy_cache/
.dmypy.json
dmypy.json
# Pyre type checker
.pyre/
# PyCharm
.idea

View File

@ -3,27 +3,17 @@
import logging
import sys
import time
from typing import Any, Optional
from prompt_toolkit.history import History
from prompt_toolkit.history import FileHistory
from spacepackets.ccsds import PacketId, PacketType
import tmtccmd
from spacepackets.ecss import PusTelemetry, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
from spacepackets.ccsds.time import CdsShortTimestamp
from spacepackets.ecss import PusVerificator
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
from tmtccmd import ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.tmtc import CcsdsTmHandler
from tmtccmd.config import (
CmdTreeNode,
default_json_path,
SetupParams,
HookBase,
params_to_procedure_conversion,
)
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
@ -33,193 +23,20 @@ from tmtccmd.logging.pus import (
RawTmtcTimedLogWrapper,
TimedLogWhen,
)
from tmtccmd.tmtc import (
TcQueueEntryType,
ProcedureWrapper,
TcProcedureType,
FeedWrapper,
SendCbParams,
DefaultPusQueueHelper,
QueueWrapper,
)
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT
from spacepackets.seqcount import PusFileSeqCountProvider
import pus_tc
from common import Apid, EventU32
from pytmtc.config import SatrsConfigHook
from pytmtc.pus_tc import TcHandler
from pytmtc.pus_tm import PusHandler
_LOGGER = logging.getLogger()
class SatRsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path=json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
create_com_interface_default,
create_com_interface_cfg_default,
)
assert self.cfg_path is not None
packet_id_list = []
for apid in Apid:
packet_id_list.append(PacketId(PacketType.TM, True, apid))
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=packet_id_list,
)
assert cfg is not None
return create_com_interface_default(cfg)
def get_command_definitions(self) -> CmdTreeNode:
"""This function should return the root node of the command definition tree."""
return pus_tc.create_cmd_definition_tree()
def get_cmd_history(self) -> Optional[History]:
"""Optionlly return a history class for the past command paths which will be used
when prompting a command path from the user in CLI mode."""
return FileHistory(".tmtc-history.txt")
def get_object_ids(self) -> ObjectIdDictT:
from tmtccmd.config.objects import get_core_object_ids
return get_core_object_ids()
class PusHandler(GenericApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
try:
pus_tm = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
raise e
service = pus_tm.service
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
_LOGGER.info(
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
)
_LOGGER.warning(
f"No matching telecommand found for {tm_packet.tc_req_id}"
)
else:
self.verif_wrapper.log_to_console(tm_packet, res)
self.verif_wrapper.log_to_file(tm_packet, res)
elif service == 3:
_LOGGER.info("No handling for HK packets implemented")
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
pus_tm = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
if pus_tm.subservice == 25:
if len(pus_tm.source_data) < 8:
raise ValueError("No addressable ID in HK packet")
json_str = pus_tm.source_data[8:]
_LOGGER.info(json_str)
elif service == 5:
tm_packet = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
src_data = tm_packet.source_data
event_u32 = EventU32.unpack(src_data)
_LOGGER.info(
f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
)
if event_u32.group_id == 0 and event_u32.unique_id == 0:
_LOGGER.info("Received test event")
elif service == 17:
tm_packet = Service17Tm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
if tm_packet.subservice == 2:
self.file_logger.info("Received Ping Reply TM[17,2]")
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
self.file_logger.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
else:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTelemetry.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
self.raw_logger.log_tm(pus_tm)
class TcHandler(TcHandlerBase):
def __init__(
self,
seq_count_provider: FileSeqCountProvider,
verif_wrapper: VerificationWrapper,
):
super(TcHandler, self).__init__()
self.seq_count_provider = seq_count_provider
self.verif_wrapper = verif_wrapper
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
seq_cnt_provider=seq_count_provider,
pus_verificator=self.verif_wrapper.pus_verificator,
default_pus_apid=None,
)
def send_cb(self, send_params: SendCbParams):
entry_helper = send_params.entry
if entry_helper.is_tc:
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
raw_tc = pus_tc_wrapper.pus_tc.pack()
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
send_params.com_if.send(raw_tc)
elif entry_helper.entry_type == TcQueueEntryType.LOG:
log_entry = entry_helper.to_log_entry()
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
assert def_proc.cmd_path is not None
pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
def main():
add_colorlog_console_logger(_LOGGER)
tmtccmd.init_printout(False)
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
hook_obj = SatrsConfigHook(json_cfg_path=default_json_path())
parser_wrapper = PreArgsParsingWrapper()
parser_wrapper.create_default_parent_parser()
parser_wrapper.create_default_parser()

View File

@ -0,0 +1,27 @@
[build-system]
requires = ["setuptools>=61.0"]
build-backend = "setuptools.build_meta"
[project]
name = "pytmtc"
description = "Python TMTC client for OPS-SAT"
readme = "README.md"
version = "0.1.0"
requires-python = ">=3.8"
authors = [
{name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
]
dependencies = [
"tmtccmd~=8.0",
"pydantic~=2.7"
]
[tool.setuptools.packages]
find = {}
[tool.ruff]
extend-exclude = ["archive"]
[tool.ruff.lint]
ignore = ["E501"]
[tool.ruff.lint.extend-per-file-ignores]
"__init__.py" = ["F401"]

View File

@ -0,0 +1,47 @@
from typing import Optional
from prompt_toolkit.history import FileHistory, History
from spacepackets.ccsds import PacketId, PacketType
from tmtccmd import HookBase
from tmtccmd.com import ComInterface
from tmtccmd.config import CmdTreeNode
from tmtccmd.util.obj_id import ObjectIdDictT
from pytmtc.common import Apid
from pytmtc.pus_tc import create_cmd_definition_tree
class SatrsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path=json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
create_com_interface_default,
create_com_interface_cfg_default,
)
assert self.cfg_path is not None
packet_id_list = []
for apid in Apid:
packet_id_list.append(PacketId(PacketType.TM, True, apid))
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=packet_id_list,
)
assert cfg is not None
return create_com_interface_default(cfg)
def get_command_definitions(self) -> CmdTreeNode:
"""This function should return the root node of the command definition tree."""
return create_cmd_definition_tree()
def get_cmd_history(self) -> Optional[History]:
"""Optionlly return a history class for the past command paths which will be used
when prompting a command path from the user in CLI mode."""
return FileHistory(".tmtc-history.txt")
def get_object_ids(self) -> ObjectIdDictT:
from tmtccmd.config.objects import get_core_object_ids
return get_core_object_ids()

View File

@ -0,0 +1,42 @@
import logging
import struct
from spacepackets.ecss.pus_3_hk import Subservice
from spacepackets.ecss import PusTm
from pytmtc.common import AcsId, Apid
from pytmtc.mgms import handle_mgm_hk_report
_LOGGER = logging.getLogger(__name__)
def handle_hk_packet(pus_tm: PusTm):
if len(pus_tm.source_data) < 4:
raise ValueError("no unique ID in HK packet")
unique_id = struct.unpack("!I", pus_tm.source_data[:4])[0]
if (
pus_tm.subservice == Subservice.TM_HK_REPORT
or pus_tm.subservice == Subservice.TM_DIAGNOSTICS_REPORT
):
if len(pus_tm.source_data) < 8:
raise ValueError("no set ID in HK packet")
set_id = struct.unpack("!I", pus_tm.source_data[4:8])[0]
handle_hk_report(pus_tm, unique_id, set_id)
_LOGGER.warning(
f"handling for HK packet with subservice {pus_tm.subservice} not implemented yet"
)
def handle_hk_report(pus_tm: PusTm, unique_id: int, set_id: int):
hk_data = pus_tm.source_data[8:]
if pus_tm.apid == Apid.ACS:
if unique_id == AcsId.MGM_0:
handle_mgm_hk_report(pus_tm, set_id, hk_data)
else:
_LOGGER.warning(
f"handling for HK report with unique ID {unique_id} not implemented yet"
)
else:
_LOGGER.warning(
f"handling for HK report with apid {pus_tm.apid} not implemented yet"
)

View File

@ -0,0 +1,16 @@
import struct
from spacepackets.ecss import PusService, PusTc
from spacepackets.ecss.pus_3_hk import Subservice
def create_request_one_shot_hk_cmd(apid: int, unique_id: int, set_id: int) -> PusTc:
app_data = bytearray()
app_data.extend(struct.pack("!I", unique_id))
app_data.extend(struct.pack("!I", set_id))
return PusTc(
service=PusService.S3_HOUSEKEEPING,
subservice=Subservice.TC_GENERATE_ONE_PARAMETER_REPORT,
apid=apid,
app_data=app_data,
)

View File

@ -0,0 +1,45 @@
import logging
import struct
import enum
from typing import List
from spacepackets.ecss import PusTm
from tmtccmd.tmtc import DefaultPusQueueHelper
from pytmtc.common import AcsId, Apid
from pytmtc.hk_common import create_request_one_shot_hk_cmd
from pytmtc.mode import handle_set_mode_cmd
_LOGGER = logging.getLogger(__name__)
class SetId(enum.IntEnum):
SENSOR_SET = 0
def create_mgm_cmds(q: DefaultPusQueueHelper, cmd_path: List[str]):
assert len(cmd_path) >= 3
if cmd_path[2] == "hk":
if cmd_path[3] == "one_shot_hk":
q.add_log_cmd("Sending HK one shot request")
q.add_pus_tc(
create_request_one_shot_hk_cmd(Apid.ACS, AcsId.MGM_0, SetId.SENSOR_SET)
)
if cmd_path[2] == "mode":
if cmd_path[3] == "set_mode":
handle_set_mode_cmd(q, "MGM 0", cmd_path[4], Apid.ACS, AcsId.MGM_0)
def handle_mgm_hk_report(pus_tm: PusTm, set_id: int, hk_data: bytes):
if set_id == SetId.SENSOR_SET:
if len(hk_data) != 13:
raise ValueError(f"invalid HK data length, expected 13, got {len(hk_data)}")
data_valid = hk_data[0]
mgm_x = struct.unpack("!f", hk_data[1:5])[0]
mgm_y = struct.unpack("!f", hk_data[5:9])[0]
mgm_z = struct.unpack("!f", hk_data[9:13])[0]
_LOGGER.info(
f"received MGM HK set in uT: Valid {data_valid} X {mgm_x} Y {mgm_y} Z {mgm_z}"
)
pass

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@ -0,0 +1,31 @@
import struct
from spacepackets.ecss import PusTc
from tmtccmd.pus.s200_fsfw_mode import Mode, Subservice
from tmtccmd.tmtc import DefaultPusQueueHelper
def create_set_mode_cmd(apid: int, unique_id: int, mode: int, submode: int) -> PusTc:
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 PusTc(
service=200,
subservice=Subservice.TC_MODE_COMMAND,
apid=apid,
app_data=app_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))

View File

@ -1,33 +1,69 @@
import datetime
import struct
import logging
from spacepackets.ccsds import CdsShortTimestamp
from spacepackets.ecss import PusTelecommand
from spacepackets.seqcount import FileSeqCountProvider
from tmtccmd import ProcedureWrapper, TcHandlerBase
from tmtccmd.config import CmdTreeNode
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import (
DefaultPusQueueHelper,
FeedWrapper,
QueueWrapper,
SendCbParams,
TcProcedureType,
TcQueueEntryType,
)
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
from common import AcsId, Apid
from pytmtc.common import Apid
from pytmtc.mgms import create_mgm_cmds
_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,
)
class TcHandler(TcHandlerBase):
def __init__(
self,
seq_count_provider: FileSeqCountProvider,
verif_wrapper: VerificationWrapper,
):
super(TcHandler, self).__init__()
self.seq_count_provider = seq_count_provider
self.verif_wrapper = verif_wrapper
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
seq_cnt_provider=seq_count_provider,
pus_verificator=self.verif_wrapper.pus_verificator,
default_pus_apid=None,
)
def send_cb(self, send_params: SendCbParams):
entry_helper = send_params.entry
if entry_helper.is_tc:
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
raw_tc = pus_tc_wrapper.pus_tc.pack()
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
send_params.com_if.send(raw_tc)
elif entry_helper.entry_type == TcQueueEntryType.LOG:
log_entry = entry_helper.to_log_entry()
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
assert def_proc.cmd_path is not None
pack_pus_telecommands(q, def_proc.cmd_path)
def create_cmd_definition_tree() -> CmdTreeNode:
@ -112,32 +148,4 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
if cmd_path_list[0] == "acs":
assert len(cmd_path_list) >= 2
if cmd_path_list[1] == "mgms":
assert len(cmd_path_list) >= 3
if cmd_path_list[2] == "hk":
if cmd_path_list[3] == "one_shot_hk":
q.add_log_cmd("Sending HK one shot request")
# TODO: Fix
# q.add_pus_tc(
# create_request_one_hk_command(
# make_addressable_id(Apid.ACS, AcsId.MGM_SET)
# )
# )
if cmd_path_list[2] == "mode":
if cmd_path_list[3] == "set_mode":
handle_set_mode_cmd(
q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
)
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))
create_mgm_cmds(q, cmd_path_list)

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@ -0,0 +1,93 @@
import logging
from typing import Any
from spacepackets.ccsds.time import CdsShortTimestamp
from spacepackets.ecss import PusTm
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import GenericApidHandlerBase
from pytmtc.common import Apid, EventU32
from pytmtc.hk import handle_hk_packet
_LOGGER = logging.getLogger(__name__)
class PusHandler(GenericApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
try:
pus_tm = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
raise e
service = pus_tm.service
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
_LOGGER.info(
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
)
_LOGGER.warning(
f"No matching telecommand found for {tm_packet.tc_req_id}"
)
else:
self.verif_wrapper.log_to_console(tm_packet, res)
self.verif_wrapper.log_to_file(tm_packet, res)
elif service == 3:
pus_tm = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
handle_hk_packet(pus_tm)
elif service == 5:
tm_packet = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
src_data = tm_packet.source_data
event_u32 = EventU32.unpack(src_data)
_LOGGER.info(
f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
)
if event_u32.group_id == 0 and event_u32.unique_id == 0:
_LOGGER.info("Received test event")
elif service == 17:
tm_packet = Service17Tm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
if tm_packet.subservice == 2:
self.file_logger.info("Received Ping Reply TM[17,2]")
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
self.file_logger.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
else:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
self.raw_logger.log_tm(pus_tm)

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@ -1,2 +1 @@
tmtccmd == 8.0.0rc2
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
.

View File

@ -1,38 +0,0 @@
from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper, CoreServiceList
from tmtccmd.config.globals import get_default_tmtc_defs
from common import HkOpCodes
def tc_definitions() -> TmtcDefinitionWrapper:
defs = get_default_tmtc_defs()
srv_5 = OpCodeEntry()
srv_5.add("0", "Event Test")
defs.add_service(
name=CoreServiceList.SERVICE_5.value,
info="PUS Service 5 Event",
op_code_entry=srv_5,
)
srv_17 = OpCodeEntry()
srv_17.add("ping", "Ping Test")
srv_17.add("trigger_event", "Trigger Event")
defs.add_service(
name=CoreServiceList.SERVICE_17_ALT,
info="PUS Service 17 Test",
op_code_entry=srv_17,
)
srv_3 = OpCodeEntry()
srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
defs.add_service(
name=CoreServiceList.SERVICE_3,
info="PUS Service 3 Housekeeping",
op_code_entry=srv_3,
)
srv_11 = OpCodeEntry()
srv_11.add("0", "Scheduled TC Test")
defs.add_service(
name=CoreServiceList.SERVICE_11,
info="PUS Service 11 TC Scheduling",
op_code_entry=srv_11,
)
return defs

View File

View File

@ -0,0 +1,48 @@
from unittest import TestCase
from spacepackets.ccsds import CdsShortTimestamp
from tmtccmd.tmtc import DefaultPusQueueHelper, QueueEntryHelper
from tmtccmd.tmtc.queue import QueueWrapper
from pytmtc.config import SatrsConfigHook
from pytmtc.pus_tc import pack_pus_telecommands
class TestTcModules(TestCase):
def setUp(self):
self.hook = SatrsConfigHook(json_cfg_path="tmtc_conf.json")
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
seq_cnt_provider=None,
pus_verificator=None,
default_pus_apid=None,
)
def test_cmd_tree_creation_works_without_errors(self):
cmd_defs = self.hook.get_command_definitions()
self.assertIsNotNone(cmd_defs)
def test_ping_cmd_generation(self):
pack_pus_telecommands(self.queue_helper, "/test/ping")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper = QueueEntryHelper(queue_entry)
log_queue = entry_helper.to_log_entry()
self.assertEqual(log_queue.log_str, "Sending PUS ping telecommand")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper.entry = queue_entry
pus_tc_entry = entry_helper.to_pus_tc_entry()
self.assertEqual(pus_tc_entry.pus_tc.service, 17)
self.assertEqual(pus_tc_entry.pus_tc.subservice, 1)
def test_event_trigger_generation(self):
pack_pus_telecommands(self.queue_helper, "/test/trigger_event")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper = QueueEntryHelper(queue_entry)
log_queue = entry_helper.to_log_entry()
self.assertEqual(log_queue.log_str, "Triggering test event")
queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
entry_helper.entry = queue_entry
pus_tc_entry = entry_helper.to_pus_tc_entry()
self.assertEqual(pus_tc_entry.pus_tc.service, 17)
self.assertEqual(pus_tc_entry.pus_tc.subservice, 128)

View File

@ -1,52 +1,126 @@
use derive_new::new;
use satrs::hk::{HkRequest, HkRequestVariant};
use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
use satrs::spacepackets::ecss::hk;
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use satrs::spacepackets::SpHeader;
use satrs_example::{DeviceMode, TimeStampHelper};
use satrs_example::{DeviceMode, TimestampHelper};
use satrs_minisim::acs::lis3mdl::{
MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
};
use satrs_minisim::acs::MgmRequestLis3Mdl;
use satrs_minisim::eps::PcduSwitch;
use satrs_minisim::{SerializableSimMsgPayload, SimReply, SimRequest};
use std::fmt::Debug;
use std::sync::mpsc::{self};
use std::sync::{Arc, Mutex};
use std::time::Duration;
use satrs::mode::{
ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
};
use satrs::pus::{EcssTmSender, PusTmVariant};
use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
use satrs_example::config::components::PUS_MODE_SERVICE;
use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};
use crate::hk::PusHkHelper;
use crate::pus::hk::{HkReply, HkReplyVariant};
use crate::requests::CompositeRequest;
use serde::{Deserialize, Serialize};
const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
// Register adresses to access various bytes from the raw reply.
pub const X_LOWBYTE_IDX: usize = 9;
pub const Y_LOWBYTE_IDX: usize = 11;
pub const Z_LOWBYTE_IDX: usize = 13;
#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
#[repr(u32)]
pub enum SetId {
SensorData = 0,
}
#[derive(Default, Debug, PartialEq, Eq)]
pub enum TransitionState {
#[default]
Idle,
PowerSwitching,
Done,
}
pub trait SpiInterface {
type Error;
type Error: Debug;
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
}
#[derive(Default)]
pub struct SpiDummyInterface {
pub dummy_val_0: i16,
pub dummy_val_1: i16,
pub dummy_val_2: i16,
pub dummy_values: MgmLis3RawValues,
}
impl SpiInterface for SpiDummyInterface {
type Error = ();
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes());
rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes());
rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.z.to_be_bytes());
Ok(())
}
}
pub struct SpiSimInterface {
pub sim_request_tx: mpsc::Sender<SimRequest>,
pub sim_reply_rx: mpsc::Receiver<SimReply>,
}
impl SpiInterface for SpiSimInterface {
type Error = ();
// Right now, we only support requesting sensor data and not configuration of the sensor.
fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
if let Err(e) = self
.sim_request_tx
.send(SimRequest::new_with_epoch_time(mgm_sensor_request))
{
log::error!("failed to send MGM LIS3 request: {}", e);
}
match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
Ok(sim_reply) => {
let sim_reply_lis3 = MgmLis3MdlReply::from_sim_message(&sim_reply)
.expect("failed to parse LIS3 reply");
rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
.copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
.copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
.copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
}
Err(e) => {
log::warn!("MGM LIS3 SIM reply timeout: {}", e);
}
}
Ok(())
}
}
pub enum SpiSimInterfaceWrapper {
Dummy(SpiDummyInterface),
Sim(SpiSimInterface),
}
impl SpiInterface for SpiSimInterfaceWrapper {
type Error = ();
fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
match self {
SpiSimInterfaceWrapper::Dummy(dummy) => dummy.transfer(tx, rx),
SpiSimInterfaceWrapper::Sim(sim_if) => sim_if.transfer(tx, rx),
}
}
}
#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
pub struct MgmData {
pub valid: bool,
@ -57,61 +131,85 @@ pub struct MgmData {
pub struct MpscModeLeafInterface {
pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
}
#[derive(Default)]
pub struct BufWrapper {
tx_buf: [u8; 32],
rx_buf: [u8; 32],
tm_buf: [u8; 32],
}
pub struct ModeHelpers {
current: ModeAndSubmode,
target: Option<ModeAndSubmode>,
requestor_info: Option<MessageMetadata>,
transition_state: TransitionState,
}
impl Default for ModeHelpers {
fn default() -> Self {
Self {
current: ModeAndSubmode::new(DeviceMode::Off as u32, 0),
target: Default::default(),
requestor_info: Default::default(),
transition_state: Default::default(),
}
}
}
/// Example MGM device handler strongly based on the LIS3MDL MEMS device.
#[derive(new)]
#[allow(clippy::too_many_arguments)]
pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
pub struct MgmHandlerLis3Mdl<
ComInterface: SpiInterface,