def __init__(self, cmd_schema_filename, cmd_dict_filename, cmd_dict_sheet, \
hs_dict_filename, hs_dict_sheet, \
telm_schema_filename, \
dbFilename="roboSCAT.db",byteSwap=False):
logger.info("Loading ISS Sim Interface Library")
self.dbFilename = dbFilename
self.cmd_schema_filename = cmd_schema_filename
self.cmd_dict_filename = cmd_dict_filename
self.cmd_dict_sheet = cmd_dict_sheet
self.hs_dict_filename = hs_dict_filename
self.hs_dict_sheet = hs_dict_sheet
self.telm_schema_filename = telm_schema_filename
self.cmd_database = CmdDatabase(self.dbFilename)
self.hs_database = HSDatabase(self.dbFilename)
self.telm_database = TelmDatabase(self.dbFilename)
self.byteSwap = byteSwap
self.hsPacketSize = 1024
self.telmPacketSize = 1024
self.viewer = None
def run(self):
print "Starting thread"
self.cmdDatabase = CmdDatabase(self.dbFilename)
hsTableValid = self.cmdDatabase.is_valid_table(self.cmdDatabase.tableName)
if not hsTableValid:
raise RuntimeError("Table %s not found in %s "
% (self.cmdDatabase.tableName,self.dbFilename))
self.hsDatabase = HSDatabase(self.dbFilename)
hsTableValid = self.hsDatabase.is_valid_table(self.hsDatabase.tableName)
if not hsTableValid:
raise RuntimeError("Table %s not found in %s "
% (self.hsDatabase.tableName,self.dbFilename))
self.telm_database = TelmDatabase(self.dbFilename)
telmTableValid = self.telm_database.is_valid_table(self.telm_database.tableName)
if not telmTableValid:
raise RuntimeError("Table %s not found in %s!"
% (self.telm_database.tableName,self.dbFilename))
while True:
readable,writable,errord = select.select(self.rx_socks,[],[],self.timeout)
currTime = time.time()
if self.hs_sock in readable:
buf,addr = self.hs_sock.recvfrom(self.hsPacketSize)
buf = bytearray(buf)
if self.byteSwap:
buf = byte_swap_bytearray(buf)
packet = CCSDS.CCSDSPacket(buf)
self.hsRxSeqCnt = packet.get_seq_cnt()
self.hsAPID = packet.get_APID()
data = packet.get_data()
self.hsDatabase.insert_packet(currTime,self.hsRxSeqCnt,data)
self.recvdHsPackets+=1
self._hsRecvEvent.set()
if self.telm_sock in readable:
buf,addr = self.telm_sock.recvfrom(self.telmPacketSize)
buf = bytearray(buf)
if self.byteSwap:
buf = byte_swap_bytearray(buf)
packet = CCSDS.CCSDSPacket(buf)
self.telmRxSeqCnt = packet.get_seq_cnt()
self.telmAPID = packet.get_APID()
data = packet.get_data()
crcRxd = packet.get_crc()
crcCalcd = packet.compute_crc_checksum()
if crcRxd == crcCalcd:
self.telm_database.insert_packet(currTime,self.telmRxSeqCnt,data)
self.telmDataRate = 1/(currTime - self.telmLastRxTime)
self.telmLastRxTime = currTime
self.recvdTelmPackets+=1
self._telmRecvEvent.set()
else:
print "CRC ERROR"
logger.warn("CRC ERROR!")
if self.cmdQ.empty() == False:
currEpochTime = time.time()
cmd = self.cmdQ.get()
cmdPacket = CCSDS.CCSDSPacket(dataLength=len(cmd))
if self.fieldToCorrupt == "Headers":
cmdPacket.set_primary_header(seqCnt=42,version=1,type=0,
APID=1234,secHdrFlag=0,seqFlags=2,
packetLen=10)
cmdPacket.set_secondary_header(timeUnix=currEpochTime,chkSumInd=0,spare=1)
else:
cmdPacket.set_primary_header(self.txSeqCnt)
cmdPacket.set_secondary_header(timeUnix=currEpochTime)
if self.fieldToCorrupt == "Data":
buf = bytearray("Phillip is a 133t H4x0r")
cmdPacket.set_data(buf)
else:
buf = bytearray()
buf = zero_pad(4)
buf.extend(cmd)
cmdPacket.set_data(buf)
if not self.fieldToCorrupt == "Checksum":
cmdPacket.compute_checksum()
if self.enableCorruption:
self.fieldToCorrupt = ""
if self.byteSwap:
cmdPacket.raw = byte_swap_bytearray(cmdPacket.raw)
cmdPacket.raw = cmdPacket.raw.ljust(128,"\00")
cmd_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
cmd_sock.sendto(cmdPacket.raw,(self.cmd_ip,self.cmd_port))
cmd_sock.close()
self.cmdQ.task_done()
self.cmdDatabase.insert(currTime,self.txSeqCnt,cmd)
self.txSeqCnt+=1
if self._stop.isSet():
break
return
class ISSSimIfaceLib:
ROBOT_LIBRARY_SCOPE = "TEST SUITE"
cmd_port = 10000
hs_port = 11000
telm_port = 12000
cmd_ip = '127.0.0.1'
hs_ip = '127.0.0.1'
telm_ip = '127.0.0.1'
hs_sock = None
telm_sock = None
txSeqCnt = 0
session = None
def __init__(self, cmd_schema_filename, cmd_dict_filename, cmd_dict_sheet, \
hs_dict_filename, hs_dict_sheet, \
telm_schema_filename, \
dbFilename="roboSCAT.db",byteSwap=False):
logger.info("Loading ISS Sim Interface Library")
self.dbFilename = dbFilename
self.cmd_schema_filename = cmd_schema_filename
self.cmd_dict_filename = cmd_dict_filename
self.cmd_dict_sheet = cmd_dict_sheet
self.hs_dict_filename = hs_dict_filename
self.hs_dict_sheet = hs_dict_sheet
self.telm_schema_filename = telm_schema_filename
self.cmd_database = CmdDatabase(self.dbFilename)
self.hs_database = HSDatabase(self.dbFilename)
self.telm_database = TelmDatabase(self.dbFilename)
self.byteSwap = byteSwap
self.hsPacketSize = 1024
self.telmPacketSize = 1024
self.viewer = None
def load_cmd_database(self,reload='False'):
cmdDatabaseLoaded = self.cmd_database.is_valid_table(self.cmd_database.tableName)
if (not cmdDatabaseLoaded) or reload=='RELOAD':
self.cmd_database.drop_table()
self.cmd_database.load_schema(self.cmd_schema_filename)
self.cmd_database.create_table()
self.cmd_database.load_cmds(self.cmd_dict_filename,self.cmd_dict_sheet,True)
else:
self.cmd_database.load_cmds(self.cmd_dict_filename,self.cmd_dict_sheet)
def load_hs_database(self,reload='False'):
hsDatabaseLoaded = self.hs_database.is_valid_table(self.hs_database.tableName)
if (not hsDatabaseLoaded) or reload=='RELOAD':
self.hs_database.drop_table()
self.hs_database.load_schema(self.hs_dict_filename, self.hs_dict_sheet,True)
self.hs_database.create_table()
else:
self.hs_database.load_schema(self.hs_dict_filename, self.hs_dict_sheet)
def load_telm_database(self,reload='False'):
telmDatabaseLoaded = self.telm_database.is_valid_table(self.telm_database.tableName)
if (not telmDatabaseLoaded) or reload=='RELOAD':
self.telm_database.drop_table()
self.telm_database.load_schema()
self.telm_database.create_table()
def set_byte_swap(self,byteSwapEnable):
if byteSwapEnable == '1':
logger.info("Enabling byte swapping")
self.byteSwap = True
def set_telm_packet_size(self,sizeInBytes):
self.telmPacketSize = sizeInBytes
def set_hs_packet_size(self,sizeInBytes):
self.hsPackdetSize = sizeInBytes
def drop_tables(self):
logger.warn("Dropping tables!!!!!!!!!!!!!!!!!!!")
self.cmd_database.drop_table()
self.hs_database.drop_table()
def set_cmd_port(self,cmd_port):
self.cmd_port = int(cmd_port)
logger.info("Setting command port to %d" % self.cmd_port)
def set_hs_port(self,hs_port):
self.hs_port = int(hs_port)
logger.info("Setting health and status port to %d" % self.hs_port)
def set_telm_port(self,telm_port):
self.telm_port = int(telm_port)
logger.info("Setting telemetry port to %d" % self.telm_port)
def set_cmd_ip(self,cmd_ip):
logger.info("Setting command port to %s" % cmd_ip)
self.cmd_ip = cmd_ip
def set_hs_ip(self,hs_ip):
logger.info("Setting health and status port to %s" % hs_ip)
self.hs_ip = hs_ip
def set_telm_ip(self,telm_ip):
logger.info("Setting telemetry port to %s" % telm_ip)
self.telm_ip = telm_ip
def corrupt_next_cmd(self,fieldToCorrupt):
logger.info("Setting cmd packet %s to be corrupted")
self.session.corrupt_next_cmd(fieldToCorrupt)
def create_sock(self,ip,port,bind=False,connect=False):
try:
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
if bind:
sock.bind((ip,port))
elif connect:
sock.connect((ip,port))
except:
raise RuntimeError("Can't open socket IP=%s port=%d" % (ip, port))
return sock
def set_viewer(self,viewerObj):
self.viewer = viewerObj
def start_session(self):
logger.info("Starting session with the ISS sim")
self.hs_sock = self.create_sock(self.hs_ip,self.hs_port,bind=True)
self.telm_sock = self.create_sock(self.telm_ip,self.telm_port,bind=True)
self.cmdQ = Queue.Queue()
hsRecvEvent = threading.Event()
telmRecvEvent = threading.Event()
self.session = SessionThread(self.cmdQ,self.hs_sock,self.telm_sock,\
self.dbFilename,hsRecvEvent,telmRecvEvent)
self.session.set_cmd_addr(self.cmd_ip,self.cmd_port)
self.session.set_packet_sizes(self.hsPacketSize,self.telmPacketSize)
self.session.set_byte_swap(self.byteSwap)
if self.viewer:
self.viewer.start()
self.session.start()
logger.info("Session started")
def stop_session(self):
logger.info("Stopping session with the ISS sim")
if self.session != None:
self.session.stop()
self.session.join()
logger.info("Session stopped")
def terminate_session(self):
logger.info("Terminating session with the ISS sim")
if self.session != None:
self.session.stop()
self.session.join()
if self.hs_sock != None:
self.hs_sock.close()
if self.telm_sock != None:
self.telm_sock.close()
logger.info("Session terminated")
def send_cmd(self,cmd_name,*args):
cmdFormat = self.cmd_database.get_cmd_format(cmd_name)
cmd = self.cmd_database.build_cmd(cmdFormat,args)
self.cmdQ.put(cmd)
logger.info("Sending cmd %s" % cmd_name)
def read_hs_field(self,field_name):
ret = self.hs_database.read_hs_field(field_name)
return ret
def get_received_hs_packet_count(self):
return self.session.recvdHsPackets
def get_received_telm_packet_count(self):
return self.session.recvdTelmPackets
def get_hs_seq_count(self):
return self.session.hsRxSeqCnt
def get_telm_seq_count(self):
return self.session.telmRxSeqCnt
def get_cmd_seq_count(self):
return self.session.txSeqCnt
def get_cmd_opCode(self,cmdName):
return self.cmd_database.get_opCode_from_cmdName(cmdName)
def get_hs_APID(self):
return self.session.hsAPID
def get_telm_APID(self):
return self.session.telmAPID
def get_telm_data_rate(self):
return self.session.telmDataRate
def get_last_telm_packet(self):
return self.telm_database.read_packet()
def wait_for_hs_packet(self,timeoutSecs=60):
if not self.session.isAlive():
logger.warn("Can't wait for packet if session not open!")
raise RuntimeError("Session not open!")
logger.info("Waiting for HS packet with a timeout of %d s" % timeoutSecs)
if not self.session.wait_for_next_hs_packet(timeoutSecs):
raise RuntimeError("Didn't recieve packet in %s secs" % timeoutSecs)
return True
def wait_for_telm_packet(self,timeoutSecs=60):
if not self.session.isAlive():
logger.warn("Can't wait for packet if session not open!")
raise RuntimeError("Session not open!")
logger.info("Waiting for HS packet with a timeout of %d s" % timeoutSecs)
if not self.session.wait_for_next_telm_packet(timeoutSecs):
raise RuntimeError("Didn't recieve packet in %s secs" % timeoutSecs)
return True
def convert_temp_to_celsius(self,value,calibration):
value = float(value)
calibration = float(calibration)
return convert_to_celsius(value,calibration)
def convert_ccsds_time_to_unix(self,ccsdsTime):
ccsdsTime = bytearray(ccsdsTime)
timeFine,timeCoarse = unpack_ISS_time(ccsdsTime)
timeUnix = convert_ISS_to_unix_time(timeFine,timeCoarse,leapSecs=0,
gpsEpochStart=( 1970,1,1,0,0,0,3,6,-1))
return timeUnix
class SessionThread(threading.Thread):
ROBOT_LIBRARY_SCOPE = "TEST SUITE"
def __init__(self,cmdQ,hs_sock,telm_sock,dbFilename,hsRecvEvent,telmRecvEvent):
threading.Thread.__init__(self)
self.cmdQ = cmdQ
self.cmd_ip = '127.0.0.1'
self.cmd_port = 2001
self.hs_sock = hs_sock
self.telm_sock = telm_sock
self.rx_socks = [self.hs_sock,self.telm_sock]
self.dbFilename=dbFilename
self._stop = threading.Event()
self._hsRecvEvent = hsRecvEvent
self._telmRecvEvent = telmRecvEvent
self.byteSwap = False
self.hsPacketSize = 1024
self.telmPacketSize = 1024
self.txSeqCnt = 0
self.timeout = 0.1
self.recvdHsPackets = 0
self.recvdTelmPackets = 0
self.hsRxSeqCnt = 0
self.telmRxSeqCnt = 0
self.hsAPID=0
self.telmAPID=0
self.telmDataRate = 0.0
self.telmLastRxTime = 0.0
self.enableCorruption = False
self.fieldToCorrupt = ""
#TODO these need mutexes....
def set_packet_sizes(self,hsPacketSize,telmPacketSize):
self.hsPacketSize = hsPacketSize
self.telmPacketSize = telmPacketSize
def set_byte_swap(self,byteSwap):
self.byteSwap=byteSwap
def set_cmd_addr(self,cmdIp,cmdPort):
self.cmd_ip = cmdIp
self.cmd_port = cmdPort
def set_select_timeout(self,timeout):
self.timeout = timeout
def run(self):
print "Starting thread"
self.cmdDatabase = CmdDatabase(self.dbFilename)
hsTableValid = self.cmdDatabase.is_valid_table(self.cmdDatabase.tableName)
if not hsTableValid:
raise RuntimeError("Table %s not found in %s "
% (self.cmdDatabase.tableName,self.dbFilename))
self.hsDatabase = HSDatabase(self.dbFilename)
hsTableValid = self.hsDatabase.is_valid_table(self.hsDatabase.tableName)
if not hsTableValid:
raise RuntimeError("Table %s not found in %s "
% (self.hsDatabase.tableName,self.dbFilename))
self.telm_database = TelmDatabase(self.dbFilename)
telmTableValid = self.telm_database.is_valid_table(self.telm_database.tableName)
if not telmTableValid:
raise RuntimeError("Table %s not found in %s!"
% (self.telm_database.tableName,self.dbFilename))
while True:
readable,writable,errord = select.select(self.rx_socks,[],[],self.timeout)
currTime = time.time()
if self.hs_sock in readable:
buf,addr = self.hs_sock.recvfrom(self.hsPacketSize)
buf = bytearray(buf)
if self.byteSwap:
buf = byte_swap_bytearray(buf)
packet = CCSDS.CCSDSPacket(buf)
self.hsRxSeqCnt = packet.get_seq_cnt()
self.hsAPID = packet.get_APID()
data = packet.get_data()
self.hsDatabase.insert_packet(currTime,self.hsRxSeqCnt,data)
self.recvdHsPackets+=1
self._hsRecvEvent.set()
if self.telm_sock in readable:
buf,addr = self.telm_sock.recvfrom(self.telmPacketSize)
buf = bytearray(buf)
if self.byteSwap:
buf = byte_swap_bytearray(buf)
packet = CCSDS.CCSDSPacket(buf)
self.telmRxSeqCnt = packet.get_seq_cnt()
self.telmAPID = packet.get_APID()
data = packet.get_data()
crcRxd = packet.get_crc()
crcCalcd = packet.compute_crc_checksum()
if crcRxd == crcCalcd:
self.telm_database.insert_packet(currTime,self.telmRxSeqCnt,data)
self.telmDataRate = 1/(currTime - self.telmLastRxTime)
self.telmLastRxTime = currTime
self.recvdTelmPackets+=1
self._telmRecvEvent.set()
else:
print "CRC ERROR"
logger.warn("CRC ERROR!")
if self.cmdQ.empty() == False:
currEpochTime = time.time()
cmd = self.cmdQ.get()
cmdPacket = CCSDS.CCSDSPacket(dataLength=len(cmd))
if self.fieldToCorrupt == "Headers":
cmdPacket.set_primary_header(seqCnt=42,version=1,type=0,
APID=1234,secHdrFlag=0,seqFlags=2,
packetLen=10)
cmdPacket.set_secondary_header(timeUnix=currEpochTime,chkSumInd=0,spare=1)
else:
cmdPacket.set_primary_header(self.txSeqCnt)
cmdPacket.set_secondary_header(timeUnix=currEpochTime)
if self.fieldToCorrupt == "Data":
buf = bytearray("Phillip is a 133t H4x0r")
cmdPacket.set_data(buf)
else:
buf = bytearray()
buf = zero_pad(4)
buf.extend(cmd)
cmdPacket.set_data(buf)
if not self.fieldToCorrupt == "Checksum":
cmdPacket.compute_checksum()
if self.enableCorruption:
self.fieldToCorrupt = ""
if self.byteSwap:
cmdPacket.raw = byte_swap_bytearray(cmdPacket.raw)
cmdPacket.raw = cmdPacket.raw.ljust(128,"\00")
cmd_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
cmd_sock.sendto(cmdPacket.raw,(self.cmd_ip,self.cmd_port))
cmd_sock.close()
self.cmdQ.task_done()
self.cmdDatabase.insert(currTime,self.txSeqCnt,cmd)
self.txSeqCnt+=1
if self._stop.isSet():
break
return
def stop(self):
self._stop.set()
def corrupt_next_cmd(self,fieldToCorrupt):
self.enableCorruption = True
self.fieldToCorrupt = fieldToCorrupt
def wait_for_next_hs_packet(self,timeoutSecs):
self._hsRecvEvent.clear()
self._hsRecvEvent.wait(timeoutSecs)
ret = self._hsRecvEvent.is_set()
self._hsRecvEvent.clear()
return ret
def wait_for_next_telm_packet(self,timeoutSecs):
self._telmRecvEvent.clear()
self._telmRecvEvent.wait(timeoutSecs)
ret = self._hsRecvEvent.is_set()
self._telmRecvEvent.clear()
return ret
