try to make MGM set HK data work

satrs-example/pytmtc/pytmtc/hk.py

@@ -1,15 +1,42 @@
+import logging
 import struct
 from spacepackets.ecss.pus_3_hk import Subservice
-from spacepackets.ecss import PusService, PusTc
+from spacepackets.ecss import PusTm
+
+from pytmtc.common import AcsId, Apid
+from pytmtc.mgms import handle_mgm_hk_report
 
 
-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,
+_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"
+        )

satrs-example/pytmtc/pytmtc/hk_common.py

@@ -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,
+    )

satrs-example/pytmtc/pytmtc/mgms.py

@@ -1,12 +1,18 @@
+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 import create_request_one_shot_hk_cmd
+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
 
@@ -23,3 +29,17 @@ def create_mgm_cmds(q: DefaultPusQueueHelper, cmd_path: List[str]):
     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

satrs-example/pytmtc/pytmtc/pus_tm.py

@@ -9,6 +9,7 @@ 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__)
@@ -53,16 +54,10 @@ class PusHandler(GenericApidHandlerBase):
                 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 = PusTm.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)
+            handle_hk_packet(pus_tm)
         elif service == 5:
             tm_packet = PusTm.unpack(
                 packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE

satrs-example/src/acs/mgm.rs

@@ -34,6 +34,12 @@ 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,
+}
+
 pub trait SpiInterface {
     type Error: Debug;
     fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
@@ -133,7 +139,7 @@ pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender>
     #[new(default)]
     rx_buf: [u8; 32],
     #[new(default)]
-    tm_buf: [u8; 16],
+    tm_buf: [u8; 32],
     #[new(default)]
     stamp_helper: TimestampHelper,
 }
@@ -180,6 +186,9 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
     pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
         match hk_request.variant {
             HkRequestVariant::OneShot => {
+                // TODO: We should provide a helper class for generating some of the boilerplate.
+                // This includes the APID, subservice, unique ID and set ID handling. The user
+                // should be able to simply specify the HK data as a slice.
                 self.hk_reply_tx
                     .send(GenericMessage::new(
                         *requestor_info,
@@ -194,15 +203,17 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
                     self.stamp_helper.stamp(),
                 );
                 let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
+                self.tm_buf[0..4].copy_from_slice(&self.id.unique_id.to_be_bytes());
+                self.tm_buf[4..8].copy_from_slice(&(SetId::SensorData as u32).to_be_bytes());
                 // Use binary serialization here. We want the data to be tightly packed.
-                self.tm_buf[0] = mgm_snapshot.valid as u8;
-                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
-                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
-                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                self.tm_buf[8] = mgm_snapshot.valid as u8;
+                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                self.tm_buf[13..17].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                self.tm_buf[17..21].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
                 let hk_tm = PusTmCreator::new(
                     SpHeader::new_from_apid(self.id.apid),
                     sec_header,
-                    &self.tm_buf[0..12],
+                    &self.tm_buf[0..21],
                     true,
                 );
                 self.tm_sender

satrs/src/hal/std/tcp_server.rs

@@ -66,8 +66,8 @@ impl ServerConfig {
             inner_loop_delay,
             tm_buffer_size,
             tc_buffer_size,
-            reuse_addr: false,
-            reuse_port: false,
+            reuse_addr: true,
+            reuse_port: true,
         }
     }
 }