def on_reset():
gnrl_services.console_print(" [on_reset]")
gnrl_services.console_print(" Updating state vars ..")
#--------------------
# ppc_resetCounter
# read
val = data.PersistenMem.read_state_var(StateVar.ppc_resetCounter.name)
# write new val
val = int(val)
val += 1
data.PersistenMem.write_state_var(StateVar.ppc_resetCounter.name, val)
#check
val = data.PersistenMem.read_state_var(StateVar.ppc_resetCounter.name)
if val == 1:
gnrl_services.console_print(
" First time on, ppc_resetCounter = %s" % val)
else:
gnrl_services.console_print(" ppc_resetCounter = %s" %
val)
#--------------------
# state_var_x
#--------------------
# state_var_y
#--------------------
verbose = False
if verbose:
for j in range(0, len(StateVar)):
arg = " %s(%s) => %s" % (StateVar.__name__, j,
StateVar(j))
gnrl_services.console_print(arg)
logger.debug(arg)
def init_suchai_repos():
arg = " [init_suchai_repo]"
logger.debug(arg)
gnrl_services.console_print(arg)
# /* Repositories */
init_state_repo() # modify specific reset-dependant STA_StateVar vars
init_command_repo() # loads cmdXXX repos to be used
init_data_repo() # prepares permanent memory to be used by bus and paylaods
def init_data_repo():
# prepares permanent memory to be used by bus and paylaods
arg = " [init_data_repo]"
logger.debug(arg)
gnrl_services.console_print(arg)
data.init()
def init_state_repo():
# modify specific reset-dependant STA_StateVar vars
arg = " [init_state_repo]"
logger.debug(arg)
gnrl_services.console_print(arg)
state.StateVar.on_reset()
def take_photo(param):
name = str(datetime.datetime.now())
gnrl_services.console_print("cmdName %s" % name)
camera.RaspiCamIf.init()
camera.RaspiCamIf.take_picture(SUCHAI_config.SCH_DATA_FOLDER + name)
camera.RaspiCamIf.stop()
gnrl_services.console_print("done")
return True
def listener_console(fileno):
sys.stdin = os.fdopen(fileno) # open stdin in this process
verbose = False
if verbose:
gnrl_services.console_print("main stdin %s" % sys.stdin)
gnrl_services.console_print("main stdout %s" % sys.stdout)
arg = "cmdName %s, pid %s, is_alive %s, exitcode %s" %\
(listenerHandler.name, listenerHandler.pid, listenerHandler.is_alive(), listenerHandler.exitcode)
logger.debug(arg)
while True:
# time.sleep(0.1) # give time for short commands ( < 0.1 seg) to execute, before the promt
# /* Parsing command - return CmdDisp structure*/
new_disp_cmd = con_cmd_handler()
# /* cmdId = 0xFFFF means no new command */
if new_disp_cmd.cmdId != command.CmdRepo.cmdnull.cmdId:
# /* Print the command code */
gnrl_services.console_print(
" con_cmd_handler spawns command 0x%0.4X %s" %
(new_disp_cmd.cmdId, new_disp_cmd.cmdParam))
# /* Queue NewCmd - Blocking */
#send cmd to Dispatcher (blocking call)
disp_cmd = dispatcherhandler.DispCmd(
cmdid=new_disp_cmd.cmdId,
cmdparam=new_disp_cmd.cmdParam,
taskorigid=new_disp_cmd.taskorigId)
disp_cmd.send_to_dispatcher() # blocking by default
else:
gnrl_services.console_print(
" con_cmd_handler error. No command was spawn")
def launch_listeners():
arg = "[launch_listeners]"
logger.debug(arg)
gnrl_services.console_print(arg)
handler = dispatcher.listenerHandler
arg = "%s, %s, %s, %s" % (handler.name, handler.pid, handler.is_alive(), handler.exitcode)
logger.debug(arg)
handler = comunications.listenerHandler
arg = "%s, %s, %s, %s" % (handler.name, handler.pid, handler.is_alive(), handler.exitcode)
logger.debug(arg)
handler = console.listenerHandler
arg = "%s, %s, %s, %s" % (handler.name, handler.pid, handler.is_alive(), handler.exitcode)
logger.debug(arg)
handler = flightplan.listenerHandler
arg = "%s, %s, %s, %s" % (handler.name, handler.pid, handler.is_alive(), handler.exitcode)
logger.debug(arg)
handler = housekeeping.listenerHandler
arg = "%s, %s, %s, %s" % (handler.name, handler.pid, handler.is_alive(), handler.exitcode)
logger.debug(arg)
# time.sleep(2)
logger.info("Starting nominal operations ..")
dispatcher.listenerHandler.start()
comunications.listenerHandler.start()
console.listenerHandler.start()
flightplan.listenerHandler.start()
housekeeping.listenerHandler.start()
# time.sleep(2) # give time for every process to start
# logger.debug("-------------------------")
dispatcher.listenerHandler.join()
comunications.listenerHandler.join()
console.listenerHandler.join()
flightplan.listenerHandler.join()
housekeeping.listenerHandler.join()
def init_command_repo():
# loads cmdXXX repos to be used
arg = " [init_command_repo]"
logger.debug(arg)
gnrl_services.console_print(arg)
# add cmds to cmdRepo
cmdgroup_j = cmdcon.CmdgroupCON()
command.CmdRepo.add_cmdgroup(cmdgroup_j)
arg = " Attaching %s to CmdRepo .." % cmdgroup_j.cmdgroupName
logger.debug(arg)
gnrl_services.console_print(arg)
cmdgroup_j = cmdrtc.CmdgroupRTC()
command.CmdRepo.add_cmdgroup(cmdgroup_j)
arg = " Attaching %s to CmdRepo .." % cmdgroup_j.cmdgroupName
logger.debug(arg)
gnrl_services.console_print(arg)
if SUCHAI_config.SCH_CAM_ONBOARD == 1:
cmdgroup_j = cmdcam.CmdgroupCAM()
command.CmdRepo.add_cmdgroup(cmdgroup_j)
arg = " Attaching %s to CmdRepo .." % cmdgroup_j.cmdgroupName
logger.debug(arg)
gnrl_services.console_print(arg)
else:
pass
# debug info
arg = " Commands successfully loaded to CmdRepo: "
logger.debug(arg)
gnrl_services.console_print(arg)
for j in range(0, command.CmdRepo.get_num_cmdgroups()):
cmdgroup_j = command.CmdRepo.get_cmdgroup(j)
for i in range(0, cmdgroup_j.get_num_cmds()):
cmd_i = cmdgroup_j.get_cmd(i)
arg = " %s.get_cmd(%s) => cmdId: 0x%0.4X, cmdName: %s, " %\
(cmdgroup_j.cmdgroupName, i, cmd_i.cmdId, cmd_i.cmdName)
gnrl_services.console_print(arg)
logger.debug(arg)
def init_hw_configs():
arg = " [init_hw_configs] Internal configs .."
gnrl_services.console_print(arg)
logger.debug(arg)
def listener_dispatcher():
arg = "cmdName %s, pid %s, is_alive %s, exitcode %s" %\
(listenerHandler.name, listenerHandler.pid, listenerHandler.is_alive(), listenerHandler.exitcode)
logger.debug(arg)
while True:
msg = dispatcherhandler.DispCmd.receive_from_listeners(
) # blocking call
disp_cmd = dispatcherhandler.DispCmd(cmdid=msg.cmdId,
cmdparam=msg.cmdParam,
taskorigid=msg.taskorigId)
# recover command from CmdRepo
dispatched_cmd = command.CmdRepo.get_cmd_by_id(disp_cmd.cmdId)
dispatched_cmd_cmdid = dispatched_cmd.cmdId
dispatched_cmd_cmdname = dispatched_cmd.cmdName
dispatched_cmd_cmdsysreq = dispatched_cmd.cmdSysReq
# recover metadata from requesting Listener (DispCmd)
dispatched_cmd_cmdparam = disp_cmd.cmdParam
dispatched_cmd_taskorig = disp_cmd.taskorigId
#report received Cmd
arg = "[listener_dispatcher]"
logger.info(arg)
gnrl_services.console_print(arg)
arg = " Cmdid: 0x%0.4X, CmdName: %s, Listener: 0x%0.4X" %\
(dispatched_cmd_cmdid, dispatched_cmd_cmdname, dispatched_cmd_taskorig)
gnrl_services.console_print(arg)
logger.info(arg)
#check cmdSysReq
system_soc = state.StateVar.get_value(state.StateVar.eps_soc)
executable = check_if_executable(system_soc, dispatched_cmd_cmdsysreq)
arg = " Cmd cmdSysReq: %s, System soc: %s, executable: %s" %\
(dispatched_cmd_cmdsysreq, system_soc, executable)
logger.info(arg)
gnrl_services.console_print(arg)
#execute
if executable:
arg = " >>"
logger.info(arg)
gnrl_services.console_print(arg)
i_time = datetime.datetime.now()
exitcode = dispatched_cmd.exect(dispatched_cmd_cmdparam)
f_time = datetime.datetime.now()
arg = " <<"
logger.info(arg)
gnrl_services.console_print(arg)
#report time, return status, etc
d_time = f_time - i_time
arg = " d_time: %s, exitcode: %s" % (d_time, exitcode)
logger.info(arg)
gnrl_services.console_print(arg)
else:
#report time, soc, etc
arg = " command NOT executed (not executable)"
logger.info(arg)
gnrl_services.console_print(arg)
arg = " Cmd cmdSysReq: %s, System soc: %s" % (
dispatched_cmd_cmdsysreq, system_soc)
logger.info(arg)
gnrl_services.console_print(arg)
arg = "----------------------"
logger.info(arg)
gnrl_services.console_print(arg)
# gnrl_services.console_print("priorityEmulatorSem will be released (cmd sent by %s is done)"
# % disp_cmd.taskorigId)
# Necesario para emular prioridades de procesos de Listener (Listeners) y Dispatcher
dispatcherhandler.DispCmd.priorityEmulatorSem.release()
def con_cmd_handler():
""" Search every cmdName inside cmdgroup_j for a match/hit
if successful returns a DispCmd containing the corresponding command """
# line = gnrl_services.console_input("r>>")
line = gnrl_services.console_input("")
# gnrluse.console_print(line)
line = line.split()
#if no match or another error
hit_flag = False
hit_cmd_cmdid = ""
hit_cmd_cmdparam = ""
disp_cmd = dispatcherhandler.DispCmd(
cmdid=SUCHAI_config.GnrlCmds.CMD_NULL,
cmdparam=0,
taskorigid=SUCHAI_config.ConfigTaskorig.TCONSOLE)
if len(line) != 2:
gnrl_services.console_print("Bad syntax: cmdId cmdParam")
return disp_cmd
# Without the 0x prefix, you need to specify the base explicitly, otherwise there's no way to tell:
# int("A12FFE12", 16)
# With the 0x prefix, Python can distinguish hex and decimal automatically:
# int("0xA12FFE12")
try:
user_cmd_id = int(line[0], 16) # 0x prefix needed
user_cmd_param = int(line[1]) # No prefix if Decimal is used
except ValueError:
gnrl_services.console_print("ValueError: cmdId cmdParam")
return disp_cmd
verbose = False
gnrl_services.console_print("[listener_console]")
gnrl_services.console_print(" Searching a match for user input " +
str(line) + " ..")
# gnrl_services.console_print("user_cmd_id = %s" % user_cmd_id)
# gnrl_services.console_print("user_cmd_param = %s" % user_cmd_param)
# gnrl_services.console_print("-------------------")
for j in range(0, command.CmdRepo.get_num_cmdgroups()):
cmdgroup_j = command.CmdRepo.get_cmdgroup(j)
if verbose:
gnrl_services.console_print(" cmdgroup_j.cmdgroupName => %s" %
cmdgroup_j.cmdgroupName)
for i in range(0, cmdgroup_j.get_num_cmds()):
cmd_i = cmdgroup_j.get_cmd(i)
cmd_i_cmdid = cmd_i.cmdId
cmd_i_cmdname = cmd_i.cmdName
if verbose:
arg = " cmdId: 0x%0.4X, cmdName: %s, " % (cmd_i_cmdid,
cmd_i_cmdname)
gnrl_services.console_print(arg)
if user_cmd_id == cmd_i_cmdid:
hit_cmd_cmdid = user_cmd_id
hit_cmd_cmdparam = user_cmd_param
hit_flag = True
break
# reevaluate condition to break again (nested loops)
if hit_flag:
break
#check for a hit
if hit_flag:
gnrl_services.console_print(
" cmdId \"0x%0.4X\" and cmdParam \"%s\" identified as valid command"
% (hit_cmd_cmdid, hit_cmd_cmdparam))
disp_cmd = dispatcherhandler.DispCmd(
cmdid=hit_cmd_cmdid,
cmdparam=hit_cmd_cmdparam,
taskorigid=SUCHAI_config.ConfigTaskorig.TCONSOLE)
return disp_cmd
else:
gnrl_services.console_print(" \"%s\" was NOT identified as command" %
user_cmd_id)
return disp_cmd
def con_help(param):
gnrl_services.console_print("This is the useless %s command" %
CmdFunctCON.con_help.__name__)
gnrl_services.console_print("Used with cmdParam %s" % param)
return True
def cmdnull(param):
arg = "cmdnull used with cmdParam: %s" % param
logger.error(arg)
gnrl_services.console_print(arg)
return True
def get_time_now(param):
gnrl_services.console_print(datetime.datetime.now())
return True