diff --git a/README.md b/README.md index 4a0d313..07e0ba0 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,5 @@

- [![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://robamu.github.io/sat-rs/book/) [![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs) [![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs) @@ -11,9 +10,8 @@ sat-rs This is the repository of the sat-rs library. Its primary goal is to provide re-usable components to write on-board software for remote systems like rovers or satellites. It is specifically written -for the special requirements for these systems. You can find an overview of the project and the -link to the [more high-level sat-rs book](https://robamu.github.io/sat-rs/book/) -at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/). +for the special requirements for these systems. You can find an overview of the project in the +[more high-level sat-rs book](https://robamu.github.io/sat-rs/book/). This is early-stage software. Important features are missing. New releases with breaking changes are released regularly, with all changes documented inside respective @@ -31,7 +29,7 @@ This project currently contains following crates: * [`satrs-book`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-book): Primary information resource in addition to the API documentation, hosted - [here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read + [here](https://robamu.github.io/sat-rs/book/). It can be useful to read this first before delving into the example application and the API documentation. * [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs): Primary crate. diff --git a/satrs-book/README.md b/satrs-book/README.md index 64321fb..7243806 100644 --- a/satrs-book/README.md +++ b/satrs-book/README.md @@ -1,7 +1,7 @@ sat-rs book ========= -High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/). +High-level documentation of the [sat-rs project](https://egit.irs.uni-stuttgart.de/rust/sat-rs). ## Building diff --git a/satrs-example/README.md b/satrs-example/README.md index 87a8e13..825933d 100644 --- a/satrs-example/README.md +++ b/satrs-example/README.md @@ -5,7 +5,7 @@ This crate contains an example application which simulates an on-board software. It uses various components provided by the sat-rs framework to do this. As such, it shows how a more complex real on-board software could be built from these components. It is recommended to read the dedicated -[example chapters](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside +[example chapters](https://robamu.github.io/sat-rs/book/example.html) inside the sat-rs book. The application opens a UDP and a TCP server on port 7301 to receive telecommands. @@ -26,58 +26,21 @@ cargo run --no-default-features # Interacting with the sat-rs example -## Simple Client - -The `simpleclient` binary target sends a -ping telecommand and then verifies the telemetry generated by the example application. -It can be run like this: - -```rs -cargo run --bin simpleclient -``` - -This repository also contains a more complex client using the -[Python tmtccmd](https://github.com/robamu-org/tmtccmd) module. - -## Using the tmtccmd Python client - -The python client requires a valid installation of the -[tmtccmd package](https://github.com/robamu-org/tmtccmd). - -It is recommended to use a virtual environment to do this. To set up one in the command line, -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 interactively: +The `client` crate is a command line client which sends telecommands to the example application +and prints the received telemetry. For example, you can ping the application or switch MGM 0 +to normal mode like this: ```sh -pip install -e . +cargo run -p client -- --ping +cargo run -p client -- mgm0 -m normal ``` -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] -``` - -After setting up the dependencies, you can simply run the `main.py` script to send commands -to the OBSW example and to view and handle incoming telemetry. The script and the `tmtccmd` -framework it uses allow to easily add and expose additional telecommand and telemetry handling -as Python code. For example, you can use the following command to send a ping like done with -the `simpleclient`: - -```sh -./main.py -p /test/ping -``` - -You can also simply call the script without any arguments to view the command tree. +Use `cargo run -p client -- --help` to list all available commands. ## 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) +[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/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. diff --git a/satrs-example/pytmtc/.gitignore b/satrs-example/pytmtc/.gitignore deleted file mode 100644 index 008bdd0..0000000 --- a/satrs-example/pytmtc/.gitignore +++ /dev/null @@ -1,143 +0,0 @@ -/tmtc_conf.json -__pycache__ - -/venv -/log -/.idea/* -!/.idea/runConfigurations - -/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 diff --git a/satrs-example/pytmtc/main.py b/satrs-example/pytmtc/main.py deleted file mode 100755 index 19da674..0000000 --- a/satrs-example/pytmtc/main.py +++ /dev/null @@ -1,103 +0,0 @@ -#!/usr/bin/env python3 -"""Example client for the sat-rs example application""" - -import logging -import sys -import time - -import tmtccmd -from spacepackets.ecss import PusVerificator - -from tmtccmd import ProcedureParamsWrapper -from tmtccmd.core.base import BackendRequest -from tmtccmd.pus import VerificationWrapper -from tmtccmd.tmtc import CcsdsTmHandler -from tmtccmd.config import ( - default_json_path, - SetupParams, - params_to_procedure_conversion, -) -from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper -from tmtccmd.logging import add_colorlog_console_logger -from tmtccmd.logging.pus import ( - RegularTmtcLogWrapper, - RawTmtcTimedLogWrapper, - TimedLogWhen, -) -from spacepackets.seqcount import PusFileSeqCountProvider - - -from pytmtc.config import SatrsConfigHook -from pytmtc.pus_tc import TcHandler -from pytmtc.pus_tm import PusHandler - -_LOGGER = logging.getLogger() - - -def main(): - add_colorlog_console_logger(_LOGGER) - tmtccmd.init_printout(False) - hook_obj = SatrsConfigHook(json_cfg_path=default_json_path()) - parser_wrapper = PreArgsParsingWrapper() - parser_wrapper.create_default_parent_parser() - parser_wrapper.create_default_parser() - parser_wrapper.add_def_proc_args() - params = SetupParams() - post_args_wrapper = parser_wrapper.parse(hook_obj, params) - proc_wrapper = ProcedureParamsWrapper() - if post_args_wrapper.use_gui: - post_args_wrapper.set_params_without_prompts(proc_wrapper) - else: - post_args_wrapper.set_params_with_prompts(proc_wrapper) - setup_args = SetupWrapper( - hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper - ) - # Create console logger helper and file loggers - tmtc_logger = RegularTmtcLogWrapper() - file_logger = tmtc_logger.logger - raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1) - verificator = PusVerificator() - verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger) - # Create primary TM handler and add it to the CCSDS Packet Handler - tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger) - ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler) - # TODO: We could add the CFDP handler for the CFDP APID at a later stage. - # ccsds_handler.add_apid_handler(tm_handler) - - # Create TC handler - seq_count_provider = PusFileSeqCountProvider() - tc_handler = TcHandler(seq_count_provider, verification_wrapper) - tmtccmd.setup(setup_args=setup_args) - init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper) - tmtc_backend = tmtccmd.create_default_tmtc_backend( - setup_wrapper=setup_args, - tm_handler=ccsds_handler, - tc_handler=tc_handler, - init_procedure=init_proc, - ) - tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj) - try: - while True: - state = tmtc_backend.periodic_op(None) - if state.request == BackendRequest.TERMINATION_NO_ERROR: - tmtc_backend.close_com_if() - sys.exit(0) - elif state.request == BackendRequest.DELAY_IDLE: - _LOGGER.info("TMTC Client in IDLE mode") - time.sleep(3.0) - elif state.request == BackendRequest.DELAY_LISTENER: - time.sleep(0.8) - elif state.request == BackendRequest.DELAY_CUSTOM: - if state.next_delay.total_seconds() <= 0.4: - time.sleep(state.next_delay.total_seconds()) - else: - time.sleep(0.4) - elif state.request == BackendRequest.CALL_NEXT: - pass - except KeyboardInterrupt: - tmtc_backend.close_com_if() - sys.exit(0) - - -if __name__ == "__main__": - main() diff --git a/satrs-example/pytmtc/pyproject.toml b/satrs-example/pytmtc/pyproject.toml deleted file mode 100644 index bcbb0ab..0000000 --- a/satrs-example/pytmtc/pyproject.toml +++ /dev/null @@ -1,27 +0,0 @@ -[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~=8.1", - "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"] diff --git a/satrs-example/pytmtc/pytmtc/__init__.py b/satrs-example/pytmtc/pytmtc/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/satrs-example/pytmtc/pytmtc/acs/__init__.py b/satrs-example/pytmtc/pytmtc/acs/__init__.py deleted file mode 100644 index 834654d..0000000 --- a/satrs-example/pytmtc/pytmtc/acs/__init__.py +++ /dev/null @@ -1,11 +0,0 @@ -from tmtccmd.config import CmdTreeNode - - -def create_acs_node(mode_node: CmdTreeNode, hk_node: CmdTreeNode) -> CmdTreeNode: - acs_node = CmdTreeNode("acs", "ACS Subsystem Node") - mgm_node = CmdTreeNode("mgms", "MGM devices node") - mgm_node.add_child(mode_node) - mgm_node.add_child(hk_node) - - acs_node.add_child(mgm_node) - return acs_node diff --git a/satrs-example/pytmtc/pytmtc/acs/mgms.py b/satrs-example/pytmtc/pytmtc/acs/mgms.py deleted file mode 100644 index d420b3e..0000000 --- a/satrs-example/pytmtc/pytmtc/acs/mgms.py +++ /dev/null @@ -1,45 +0,0 @@ -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 diff --git a/satrs-example/pytmtc/pytmtc/common.py b/satrs-example/pytmtc/pytmtc/common.py deleted file mode 100644 index e5a7380..0000000 --- a/satrs-example/pytmtc/pytmtc/common.py +++ /dev/null @@ -1,55 +0,0 @@ -from __future__ import annotations - -import dataclasses -import enum -import struct - - -class Apid(enum.IntEnum): - SCHED = 1 - GENERIC_PUS = 2 - ACS = 3 - CFDP = 4 - TMTC = 5 - - -class EventSeverity(enum.IntEnum): - INFO = 0 - LOW = 1 - MEDIUM = 2 - HIGH = 3 - - -@dataclasses.dataclass -class EventU32: - severity: EventSeverity - group_id: int - unique_id: int - - @classmethod - def unpack(cls, data: bytes) -> EventU32: - if len(data) < 4: - raise ValueError("passed data too short") - event_raw = struct.unpack("!I", data[0:4])[0] - return cls( - severity=EventSeverity((event_raw >> 30) & 0b11), - group_id=(event_raw >> 16) & 0x3FFF, - unique_id=event_raw & 0xFFFF, - ) - - -class AcsId(enum.IntEnum): - SUBSYSTEM = 1 - MGM_ASSEMBLY = 2 - MGM_0 = 3 - MGM_1 = 4 - - -class AcsHkIds(enum.IntEnum): - MGM_SET = 1 - - -def make_addressable_id(target_id: int, unique_id: int) -> bytes: - byte_string = bytearray(struct.pack("!I", target_id)) - byte_string.extend(struct.pack("!I", unique_id)) - return byte_string diff --git a/satrs-example/pytmtc/pytmtc/config.py b/satrs-example/pytmtc/pytmtc/config.py deleted file mode 100644 index 150b9c1..0000000 --- a/satrs-example/pytmtc/pytmtc/config.py +++ /dev/null @@ -1,47 +0,0 @@ -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) - - 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() diff --git a/satrs-example/pytmtc/pytmtc/eps/__init__.py b/satrs-example/pytmtc/pytmtc/eps/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/satrs-example/pytmtc/pytmtc/eps/pcdu.py b/satrs-example/pytmtc/pytmtc/eps/pcdu.py deleted file mode 100644 index e69de29..0000000 diff --git a/satrs-example/pytmtc/pytmtc/hk.py b/satrs-example/pytmtc/pytmtc/hk.py deleted file mode 100644 index d50f0f1..0000000 --- a/satrs-example/pytmtc/pytmtc/hk.py +++ /dev/null @@ -1,42 +0,0 @@ -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.acs.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" - ) diff --git a/satrs-example/pytmtc/pytmtc/hk_common.py b/satrs-example/pytmtc/pytmtc/hk_common.py deleted file mode 100644 index bb9890a..0000000 --- a/satrs-example/pytmtc/pytmtc/hk_common.py +++ /dev/null @@ -1,16 +0,0 @@ -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, - ) diff --git a/satrs-example/pytmtc/pytmtc/mode.py b/satrs-example/pytmtc/pytmtc/mode.py deleted file mode 100644 index 918fdb1..0000000 --- a/satrs-example/pytmtc/pytmtc/mode.py +++ /dev/null @@ -1,31 +0,0 @@ -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)) diff --git a/satrs-example/pytmtc/pytmtc/pus_tc.py b/satrs-example/pytmtc/pytmtc/pus_tc.py deleted file mode 100644 index f1fe5c5..0000000 --- a/satrs-example/pytmtc/pytmtc/pus_tc.py +++ /dev/null @@ -1,143 +0,0 @@ -import datetime -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 import VerificationWrapper -from tmtccmd.tmtc import ( - DefaultPusQueueHelper, - FeedWrapper, - QueueWrapper, - SendCbParams, - TcProcedureType, - TcQueueEntryType, -) -from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd - -from pytmtc.acs import create_acs_node -from pytmtc.common import Apid -from pytmtc.acs.mgms import create_mgm_cmds - -_LOGGER = logging.getLogger(__name__) - - -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: - root_node = CmdTreeNode.root_node() - - hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True) - hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set")) - hk_node.add_child( - CmdTreeNode("enable", "Enable periodic housekeeping data generation") - ) - hk_node.add_child( - CmdTreeNode("disable", "Disable periodic housekeeping data generation") - ) - - mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True) - set_mode_node = CmdTreeNode( - "set_mode", "Set Node", hide_children_which_are_leaves=True - ) - set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode")) - set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode")) - set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode")) - mode_node.add_child(set_mode_node) - mode_node.add_child(CmdTreeNode("read_mode", "Read Mode")) - - test_node = CmdTreeNode("test", "Test Node") - test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC")) - test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event")) - root_node.add_child(test_node) - - scheduler_node = CmdTreeNode("scheduler", "Scheduler Node") - scheduler_node.add_child( - CmdTreeNode( - "schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds" - ) - ) - root_node.add_child(scheduler_node) - root_node.add_child(create_acs_node(mode_node, hk_node)) - return root_node - - -def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str): - # It should always be at least the root path "/", so we split of the empty portion left of it. - cmd_path_list = cmd_path.split("/")[1:] - if len(cmd_path_list) == 0: - _LOGGER.warning("empty command path") - return - if cmd_path_list[0] == "test": - assert len(cmd_path_list) >= 2 - if cmd_path_list[1] == "ping": - q.add_log_cmd("Sending PUS ping telecommand") - return q.add_pus_tc( - PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1) - ) - elif cmd_path_list[1] == "trigger_event": - q.add_log_cmd("Triggering test event") - return q.add_pus_tc( - PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128) - ) - if cmd_path_list[0] == "scheduler": - assert len(cmd_path_list) >= 2 - if cmd_path_list[1] == "schedule_ping_10_secs_ahead": - q.add_log_cmd("Sending PUS scheduled TC telecommand") - crt_time = CdsShortTimestamp.from_now() - time_stamp = crt_time + datetime.timedelta(seconds=10) - time_stamp = time_stamp.pack() - return q.add_pus_tc( - create_time_tagged_cmd( - time_stamp, - PusTelecommand(service=17, subservice=1), - apid=Apid.SCHED, - ) - ) - if cmd_path_list[0] == "acs": - assert len(cmd_path_list) >= 2 - if cmd_path_list[1] == "mgms": - create_mgm_cmds(q, cmd_path_list) diff --git a/satrs-example/pytmtc/pytmtc/pus_tm.py b/satrs-example/pytmtc/pytmtc/pus_tm.py deleted file mode 100644 index ed55212..0000000 --- a/satrs-example/pytmtc/pytmtc/pus_tm.py +++ /dev/null @@ -1,93 +0,0 @@ -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) diff --git a/satrs-example/pytmtc/requirements.txt b/satrs-example/pytmtc/requirements.txt deleted file mode 100644 index 9c558e3..0000000 --- a/satrs-example/pytmtc/requirements.txt +++ /dev/null @@ -1 +0,0 @@ -. diff --git a/satrs-example/pytmtc/tests/__init__.py b/satrs-example/pytmtc/tests/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/satrs-example/pytmtc/tests/test_tc_mods.py b/satrs-example/pytmtc/tests/test_tc_mods.py deleted file mode 100644 index 0b56bde..0000000 --- a/satrs-example/pytmtc/tests/test_tc_mods.py +++ /dev/null @@ -1,48 +0,0 @@ -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) diff --git a/satrs-example/pytmtc/tmtc_conf.json b/satrs-example/pytmtc/tmtc_conf.json deleted file mode 100644 index f2c8afd..0000000 --- a/satrs-example/pytmtc/tmtc_conf.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "com_if": "tcp", - "tcpip_udp_ip_addr": "127.0.0.1", - "tcpip_udp_port": 7301, - "tcpip_udp_recv_max_size": 1500, - "tcpip_tcp_ip_addr": "127.0.0.1", - "tcpip_tcp_port": 7301 -} diff --git a/satrs-mib/Cargo.toml b/satrs-mib/Cargo.toml index 79d4d74..ed59c0d 100644 --- a/satrs-mib/Cargo.toml +++ b/satrs-mib/Cargo.toml @@ -6,7 +6,7 @@ rust-version = "1.61" description = """ Helper crate of the sat-rs framework to build a mission information base (MIB) from the On-Board Software (OBSW) code directly.""" -homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/" +homepage = "https://robamu.github.io/sat-rs/book/" repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs" license = "Apache-2.0" keywords = ["no-std", "space", "aerospace"] diff --git a/satrs-shared/Cargo.toml b/satrs-shared/Cargo.toml index 64c5827..e09bf09 100644 --- a/satrs-shared/Cargo.toml +++ b/satrs-shared/Cargo.toml @@ -3,7 +3,7 @@ name = "satrs-shared" description = "Components shared by multiple sat-rs crates" version = "0.2.4" edition = "2021" -homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/" +homepage = "https://robamu.github.io/sat-rs/book/" repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs" license = "Apache-2.0" diff --git a/satrs/src/legacy/event_man.rs b/satrs/src/legacy/event_man.rs index 7d5cce7..a4d944c 100644 --- a/satrs/src/legacy/event_man.rs +++ b/satrs/src/legacy/event_man.rs @@ -1,7 +1,7 @@ //! Event management and forwarding //! //! It is recommended to read the -//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html) +//! [sat-rs book chapter](https://robamu.github.io/sat-rs/book/events.html) //! about events first. //! //! This module provides components to perform event routing. The most important component for this diff --git a/satrs/src/legacy/event_man_legacy.rs b/satrs/src/legacy/event_man_legacy.rs index 3ee22d7..3660777 100644 --- a/satrs/src/legacy/event_man_legacy.rs +++ b/satrs/src/legacy/event_man_legacy.rs @@ -3,7 +3,7 @@ //! This is a legacy module. It is recommended to use [super::event_man] instead. //! //! It is recommended to read the -//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html) +//! [sat-rs book chapter](https://robamu.github.io/sat-rs/book/events.html) //! about events first. //! //! This module provides components to perform event routing. The most important component for this diff --git a/satrs/src/tmtc/mod.rs b/satrs/src/tmtc/mod.rs index 5737494..57bc3ba 100644 --- a/satrs/src/tmtc/mod.rs +++ b/satrs/src/tmtc/mod.rs @@ -1,7 +1,7 @@ //! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special //! support for CCSDS and ECSS packets. //! -//! It is recommended to read the [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/communication.html) +//! It is recommended to read the [sat-rs book chapter](https://robamu.github.io/sat-rs/book/communication.html) //! about communication first. The TMTC abstractions provided by this framework are based on the //! assumption that all telemetry is sent to a special handler object called the TM sink while //! all received telecommands are sent to a special handler object called TC source. Using diff --git a/tmtc-utils/Cargo.toml b/tmtc-utils/Cargo.toml index 57f7c91..da71d93 100644 --- a/tmtc-utils/Cargo.toml +++ b/tmtc-utils/Cargo.toml @@ -3,7 +3,7 @@ name = "tmtc-utils" description = "Commonly required utilities for writing TMTC clients with Rust" version = "0.1.0" edition = "2024" -homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/" +homepage = "https://robamu.github.io/sat-rs/book/" repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs" license = "Apache-2.0"