Integration of the mini simulator into the sat-rs example
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images/minisim-arch/minisim-arch.graphml
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<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="119.751953125" x="-132.27600022951788" xml:space="preserve" y="-32.03587548828091">SimRequest in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="20.73181250000017" distanceToCenter="true" position="left" ratio="0.9386993050513424" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
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<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
||||
</data>
|
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</edge>
|
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<edge id="e8" source="n7" target="n8">
|
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<data key="d10">
|
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<y:PolyLineEdge>
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<y:Path sx="29.18399999999997" sy="0.0" tx="24.28800000000001" ty="0.0">
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<y:Point x="1094.6654253222143" y="731.8000000000002"/>
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<y:Point x="1016.1054253222144" y="731.8000000000002"/>
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</y:Path>
|
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<y:LineStyle color="#000000" type="line" width="1.0"/>
|
||||
<y:Arrows source="none" target="standard"/>
|
||||
<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="104.2421875" x="-62.15307370122309" xml:space="preserve" y="34.80927001953137">SimReply in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="23.81218750000005" distanceToCenter="true" position="left" ratio="0.12769857433808468" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
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<y:BendStyle smoothed="false"/>
|
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</y:PolyLineEdge>
|
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</data>
|
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</edge>
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<edge id="e9" source="n5" target="n1">
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<data key="d10">
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<y:PolyLineEdge>
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<y:Path sx="23.921741802203996" sy="-3.0501798912007416" tx="0.0" ty="-56.27417989120056">
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<y:Point x="867.5280981327575" y="502.70182010879967"/>
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</y:Path>
|
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<y:LineStyle color="#000000" type="line" width="1.0"/>
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<y:Arrows source="none" target="standard"/>
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<y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.95703125" x="73.38950633588263" xml:space="preserve" y="-62.699758016200235">step<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="11.126187499999986" distanceToCenter="true" position="left" ratio="0.5889387894625147" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
|
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<y:BendStyle smoothed="false"/>
|
||||
</y:PolyLineEdge>
|
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</data>
|
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</edge>
|
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</graph>
|
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<data key="d7">
|
||||
<y:Resources/>
|
||||
</data>
|
||||
</graphml>
|
||||
BIN
images/minisim-arch/minisim-arch.png
Normal file
BIN
images/minisim-arch/minisim-arch.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 98 KiB |
@ -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"
|
||||
|
||||
@ -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`.
|
||||
|
||||
134
satrs-example/pytmtc/.gitignore
vendored
134
satrs-example/pytmtc/.gitignore
vendored
@ -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
|
||||
|
||||
@ -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()
|
||||
|
||||
27
satrs-example/pytmtc/pyproject.toml
Normal file
27
satrs-example/pytmtc/pyproject.toml
Normal 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"]
|
||||
47
satrs-example/pytmtc/pytmtc/config.py
Normal file
47
satrs-example/pytmtc/pytmtc/config.py
Normal 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()
|
||||
42
satrs-example/pytmtc/pytmtc/hk.py
Normal file
42
satrs-example/pytmtc/pytmtc/hk.py
Normal 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"
|
||||
)
|
||||
16
satrs-example/pytmtc/pytmtc/hk_common.py
Normal file
16
satrs-example/pytmtc/pytmtc/hk_common.py
Normal 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,
|
||||
)
|
||||
45
satrs-example/pytmtc/pytmtc/mgms.py
Normal file
45
satrs-example/pytmtc/pytmtc/mgms.py
Normal 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
|
||||
31
satrs-example/pytmtc/pytmtc/mode.py
Normal file
31
satrs-example/pytmtc/pytmtc/mode.py
Normal file
@ -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))
|
||||
@ -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)
|
||||
93
satrs-example/pytmtc/pytmtc/pus_tm.py
Normal file
93
satrs-example/pytmtc/pytmtc/pus_tm.py
Normal file
@ -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)
|
||||
@ -1,2 +1 @@
|
||||
tmtccmd == 8.0.0rc2
|
||||
# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
|
||||
.
|
||||
|
||||
@ -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
|
||||
0
satrs-example/pytmtc/tests/__init__.py
Normal file
0
satrs-example/pytmtc/tests/__init__.py
Normal file
48
satrs-example/pytmtc/tests/test_tc_mods.py
Normal file
48
satrs-example/pytmtc/tests/test_tc_mods.py
Normal 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)
|
||||
@ -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,
|
||||