#!/usr/bin/env python3
"""Example client for the sat-rs example application"""
import struct
import logging
import sys
import time
from typing import Any, Optional, cast
from prompt_toolkit.history import FileHistory, History
from spacepackets.ecss.tm import CdsShortTimestamp
import tmtccmd
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest
from tmtccmd.core.ccsds_backend import QueueWrapper
from tmtccmd.logging import add_colorlog_console_logger
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.config import (
CmdTreeNode,
default_json_path,
SetupParams,
HookBase,
params_to_procedure_conversion,
)
from tmtccmd.config.com import SerialCfgWrapper
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
from tmtccmd.logging.pus import (
RegularTmtcLogWrapper,
RawTmtcTimedLogWrapper,
TimedLogWhen,
)
from tmtccmd.tmtc import (
TcQueueEntryType,
ProcedureWrapper,
TcProcedureType,
FeedWrapper,
SendCbParams,
DefaultPusQueueHelper,
)
from tmtccmd.pus.s5_fsfw_event import Service5Tm
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT
_LOGGER = logging.getLogger()
EXAMPLE_PUS_APID = 0x02
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
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=None,
)
if cfg is None:
raise ValueError(
f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
)
if cfg.com_if_key == "serial_cobs":
cfg = cast(SerialCfgWrapper, cfg)
cfg.serial_cfg.serial_timeout = 0.5
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()
def create_cmd_definition_tree() -> CmdTreeNode:
root_node = CmdTreeNode.root_node()
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
return root_node
class PusHandler(SpecificApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(EXAMPLE_PUS_APID, None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, 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
tm_packet = None
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)
if service == 3:
_LOGGER.info("No handling for HK packets implemented")
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
pus_tm = PusTelemetry.unpack(packet, 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("received JSON string: " + json_str.decode("utf-8"))
if service == 5:
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if service == 17:
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if tm_packet.subservice == 2:
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
if tm_packet is None:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
self.raw_logger.log_tm(pus_tm)
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
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=7,
seq_cnt_provider=seq_count_provider,
pus_verificator=verif_wrapper.pus_verificator,
default_pus_apid=EXAMPLE_PUS_APID,
)
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()
pus_tc_wrapper.pus_tc.seq_count = (
self.seq_count_provider.get_and_increment()
)
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
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()
cmd_path = def_proc.cmd_path
if cmd_path == "/ping":
q.add_log_cmd("Sending PUS ping telecommand")
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
if cmd_path == "/change_blink_freq":
self.create_change_blink_freq_command(q)
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
q.add_log_cmd("Changing blink frequency")
while True:
blink_freq = int(
input(
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
)
)
if blink_freq < 2 or blink_freq > 10000:
print(
"Invalid blink frequency. Please specify a value between 2 and 10000."
)
continue
break
app_data = struct.pack("!I", blink_freq)
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
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)
params.apid = EXAMPLE_PUS_APID
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=None)
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:
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:
sys.exit(0)
if __name__ == "__main__":
main()