diff --git a/.gitignore b/.gitignore
index 6a2160e6a4af03358cfeebef7471e2753e105836..e79337e8feef5d626089a78b32af08acea338276 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,16 +11,15 @@ _dependencies
.idea
.idea/*
+__pycache__
.project
.cproject
-__pycache__
-
*.lnk
*.tmp
*.open
*.ini
generators/*.csv
-/AT91/
+tmtc_log.txt
\ No newline at end of file
diff --git a/OBSW_Config.py b/OBSW_Config.py
index 7dfe133b9cbf5e65e1cd12f5e6e090cd42d405cf..e555f56be57245bafd1527260f85e2db5f4ad9e8 100644
--- a/OBSW_Config.py
+++ b/OBSW_Config.py
@@ -26,8 +26,13 @@ recAddress = 0
sendAddress = 0
sockSend = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sockReceive = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
+sockSend.setblocking(0)
# Print Settings
printToFile = False
printRawTmData = False
+
+def keyboardInterruptHandler():
+ print("Disconnect registered")
+ disconnect = bytearray([0, 0, 0, 0, 0])
+ sockSend.sendto(disconnect, sendAddress)
diff --git a/OBSW_UdpClient.py b/OBSW_UdpClient.py
index 80e05e9909d8b802fc99ef19346d7ed9520d4f4a..63fa2a2284bf8300efe2ece0172d804d43eb5a11 100644
--- a/OBSW_UdpClient.py
+++ b/OBSW_UdpClient.py
@@ -54,8 +54,10 @@
import sys
import atexit
+import signal
import queue
import socket
+import time
import unittest
import argparse
@@ -80,33 +82,36 @@ modeList = {
def main():
args = parseInputArguments()
setGlobals(args)
+ if g.modeId == "GUIMode":
+ print("GUI not implemented yet")
+ exit()
+
setUpSocket()
+ atexit.register(g.keyboardInterruptHandler)
print("Attempting to connect")
connectToBoard()
- if g.modeId == "GUIMode":
- pass
- elif g.modeId == "ListenerMode":
+ if g.modeId == "ListenerMode":
Receiver = CommandSenderReceiver(g.displayMode, g.tmTimeout, g.tcSendTimeoutFactor, g.printToFile)
Receiver.performListenerMode()
elif g.modeId == "SingleCommandMode":
pusPacketTuple = commandPreparation()
SenderAndReceiver = SingleCommandSenderReceiver(g.displayMode, pusPacketTuple, g.tmTimeout,
- g.tcSendTimeoutFactor, g.printToFile)
+ g.tcSendTimeoutFactor, True, g.printToFile)
SenderAndReceiver.sendSingleTcAndReceiveTm()
elif g.modeId == "ServiceTestMode":
serviceQueue = queue.Queue()
SenderAndReceiver = SequentialCommandSenderReceiver(g.displayMode, g.tmTimeout,
serviceTestSelect(g.service, serviceQueue),
- g.tcSendTimeoutFactor, g.printToFile)
+ g.tcSendTimeoutFactor, True, g.printToFile)
SenderAndReceiver.sendQueueTcAndReceiveTmSequentially()
elif g.modeId == "SoftwareTestMode":
allTcQueue = createTotalTcQueue()
SenderAndReceiver = SequentialCommandSenderReceiver(g.displayMode, g.tmTimeout,
- allTcQueue, g.tcSendTimeoutFactor, g.printToFile)
+ allTcQueue, g.tcSendTimeoutFactor, True, g.printToFile)
SenderAndReceiver.sendQueueTcAndReceiveTmSequentially()
elif g.modeId == "OBSWUnitTest":
@@ -192,13 +197,18 @@ def setUpSocket():
g.sockReceive.setblocking(False)
-def keyboardInterruptHandler():
- print("The End !")
- disconnect = bytearray([0, 0, 0, 0, 0])
- g.sockSend.sendto(disconnect, g.sendAddress)
+class GracefulKiller:
+ kill_now = False
+
+ def __init__(self):
+ signal.signal(signal.SIGINT, self.exit_gracefully)
+ signal.signal(signal.SIGTERM, self.exit_gracefully)
+
+ def exit_gracefully(self):
+ self.kill_now = True
+ print("I was killed")
if __name__ == "__main__":
- atexit.register(keyboardInterruptHandler)
main()
diff --git a/sendreceive/OBSW_CommandSenderReceiver.py b/sendreceive/OBSW_CommandSenderReceiver.py
index 7c8259b3abde80d4bbacb47cb314489a0b297130..b127803f6e121ee241d6db2e4873f8849b0a796d 100644
--- a/sendreceive/OBSW_CommandSenderReceiver.py
+++ b/sendreceive/OBSW_CommandSenderReceiver.py
@@ -15,6 +15,7 @@ This is still experimental.
import OBSW_Config as g
import select
import time
+import atexit
from utility.OBSW_TmTcPrinter import TmtcPrinter
from tm.OBSW_TmPacket import PUSTelemetryFactory
@@ -22,10 +23,11 @@ from tm.OBSW_TmPacket import PUSTelemetryFactory
# Generic TMTC SendReceive class which is implemented
# by specific implementations (e.g. SingleCommandSenderReceiver)
class CommandSenderReceiver:
- def __init__(self, displayMode, tmTimeout, tcSendTimeoutFactor, doPrintToFile):
+ def __init__(self, displayMode, tmTimeout, tcSendTimeoutFactor, printTc, doPrintToFile):
self.displayMode = displayMode
- # TODO: Make this variable modifiable !
- self.timeoutInSeconds = tmTimeout
+ self.tmTimeout = tmTimeout
+ self.printTc = printTc
+
self.replyReceived = False
self.tmReady = False
self.pusPacketInfo = []
@@ -36,10 +38,11 @@ class CommandSenderReceiver:
self.timeoutCounter = 0
self.tcSendTimeoutFactor = tcSendTimeoutFactor
self.doPrintToFile = doPrintToFile
+ self.queueEntryIsTelecommand = True
# checks for replies. if no reply is received, send telecommand again
def checkForFirstReply(self):
- self.tmReady = select.select([g.sockReceive], [], [], self.timeoutInSeconds * self.tcSendTimeoutFactor)
+ self.tmReady = select.select([g.sockReceive], [], [], self.tmTimeout * self.tcSendTimeoutFactor)
if self.tmReady[0]:
self.checkForOneTelemetrySequence()
self.replyReceived = True
@@ -54,10 +57,23 @@ class CommandSenderReceiver:
while self.tmReady[0]:
packet = self.receiveTelemetry()
self.tmtcPrinter.printTelemetry(packet)
- self.tmReady = select.select([g.sockReceive], [], [], self.timeoutInSeconds / 1.5)
+ self.tmReady = select.select([g.sockReceive], [], [], self.tmTimeout / 1.5)
+
+ def checkQueueEntry(self, tcQueueEntry):
+ (self.pusPacketInfo, self.pusPacket) = tcQueueEntry
+ self.queueEntryIsTelecommand = False
+ if self.pusPacketInfo == "wait":
+ waitTime = self.pusPacket
+ time.sleep(waitTime)
+ elif self.pusPacketInfo == "print":
+ printString = self.pusPacket
+ self.tmtcPrinter.printString(printString)
+ else:
+ self.queueEntryIsTelecommand = True
def sendTelecommand(self):
- self.tmtcPrinter.displaySentCommand(self.pusPacketInfo, self.pusPacket, self.displayMode)
+ if self.printTc:
+ self.tmtcPrinter.displaySentCommand(self.pusPacketInfo, self.pusPacket, self.displayMode)
g.sockSend.sendto(self.pusPacket, g.sendAddress)
def performListenerMode(self):
@@ -75,7 +91,7 @@ class CommandSenderReceiver:
exit()
if self.start_time != 0:
self.elapsed_time = time.time() - self.start_time
- if self.elapsed_time > self.timeoutInSeconds * self.tcSendTimeoutFactor:
+ if self.elapsed_time > self.tmTimeout * self.tcSendTimeoutFactor:
print("Timeout ! Sending Telecommand again")
self.sendTelecommand()
self.timeoutCounter = self.timeoutCounter + 1
diff --git a/sendreceive/OBSW_MultipleCommandsSenderReceiver.py b/sendreceive/OBSW_MultipleCommandsSenderReceiver.py
index 55c62d0f03d1240802d73f3e4d7fb6cbc724f973..1b0ca479638db99644630120a426844f6b639901 100644
--- a/sendreceive/OBSW_MultipleCommandsSenderReceiver.py
+++ b/sendreceive/OBSW_MultipleCommandsSenderReceiver.py
@@ -19,7 +19,7 @@ import select
class MultipleCommandSenderReceiver(SequentialCommandSenderReceiver):
def __init__(self, displayMode, tcQueue, tmTimeout, waitIntervals,
waitTime, printTm, printTc, tcTimeoutFactor, doPrintToFile):
- super().__init__(displayMode, tmTimeout, tcQueue, tcTimeoutFactor, doPrintToFile)
+ super().__init__(displayMode, tmTimeout, tcQueue, tcTimeoutFactor, printTc, doPrintToFile)
self.waitIntervals = waitIntervals
self.waitTime = waitTime
self.printTm = printTm
@@ -32,18 +32,18 @@ class MultipleCommandSenderReceiver(SequentialCommandSenderReceiver):
def sendTcQueueAndReturnTcInfo(self):
receiverThread = threading.Thread(target=self.checkForMultipleReplies)
receiverThread.start()
- self.sendAllQueue()
+ time.sleep(1)
try:
- self.handleTcSending()
+ self.sendAllQueue()
+ self.handleTcResending()
except (KeyboardInterrupt, SystemExit):
super().handleInterrupt(receiverThread)
return self.tcInfoQueue, self.tmInfoQueue
- def handleTcSending(self):
+ def handleTcResending(self):
while not self.allRepliesReceived:
if self.tcQueue.empty():
if self.start_time == 0:
- print("TC queue empty")
self.start_time = time.time()
self.checkForTimeout()
if self.doPrintToFile:
@@ -56,11 +56,10 @@ class MultipleCommandSenderReceiver(SequentialCommandSenderReceiver):
waitCounter = self.handleWaiting(waitCounter)
def sendAndPrintTc(self):
- (self.pusPacketInfo, self.pusPacket) = self.tcQueue.get()
- if self.printTc:
- self.tmtcPrinter.displaySentCommand(self.pusPacketInfo, self.pusPacket, self.displayMode)
- self.tcInfoQueue.put(self.pusPacketInfo)
- g.sockSend.sendto(self.pusPacket, g.sendAddress)
+ self.checkQueueEntry(self.tcQueue.get())
+ if self.queueEntryIsTelecommand:
+ self.tcInfoQueue.put(self.pusPacketInfo)
+ self.sendTelecommand()
def handleWaiting(self, waitCounter):
time.sleep(0.5)
@@ -73,26 +72,14 @@ class MultipleCommandSenderReceiver(SequentialCommandSenderReceiver):
super().checkForMultipleReplies()
def handleReplyListening(self):
- super().handleReplyListening()
-
- def handleTelemetrySequence(self):
- if self.run_event.is_set():
- self.checkForOneTelemetrySequence()
- if self.tcQueue.empty():
- print("Setting flag all reply received in handleTelemetrySequence")
- self.allRepliesReceived = True
-
- def handleFirstReplyListening(self):
- super().handleFirstReplyListening()
-
- # check for one sequence of replies for a telecommand (e.g. TM[1,1] , TM[1,7] ...)
- def checkForOneTelemetrySequence(self):
- while self.tmReady[0]:
+ self.tmReady = select.select([g.sockReceive], [], [], 2.0)
+ if self.tmReady[0]:
self.receiveTelemetryAndStoreInformation()
- self.tmReady = select.select([g.sockReceive], [], [], self.timeoutInSeconds / 1.5)
- print("I checked the sequence")
+ time.sleep(0.5)
if self.tcQueue.empty():
- print("After checking, the TC queue is empty")
+ print("TC queue empty. Listening for a few more seconds ... ")
+ start_time = time.time()
+ self.handleLastRepliesListening(start_time)
self.allRepliesReceived = True
def receiveTelemetryAndStoreInformation(self):
@@ -102,3 +89,15 @@ class MultipleCommandSenderReceiver(SequentialCommandSenderReceiver):
tmInfo = packet.packTmInformation()
self.tmInfoQueue.put(tmInfo)
+ def handleLastRepliesListening(self, start_time):
+ elapsed_time_seconds = 0
+ while elapsed_time_seconds < self.tmTimeout:
+ elapsed_time_seconds = time.time() - start_time
+ self.tmReady = select.select([g.sockReceive], [], [], 2.0)
+ if self.tmReady[0]:
+ self.receiveTelemetryAndStoreInformation()
+
+
+
+
+
diff --git a/sendreceive/OBSW_SequentialSenderReceiver.py b/sendreceive/OBSW_SequentialSenderReceiver.py
index 0ec83305fbc44d57616c98e29e723afcdb479413..10eef52789d1c73150f24f54218ffbc7460841ab 100644
--- a/sendreceive/OBSW_SequentialSenderReceiver.py
+++ b/sendreceive/OBSW_SequentialSenderReceiver.py
@@ -17,8 +17,8 @@ import select
# Specific implementation of CommandSenderReceiver to send multiple telecommands in sequence
class SequentialCommandSenderReceiver(CommandSenderReceiver):
- def __init__(self, displayMode, tmTimeout, tcQueue, tcTimeoutFactor, doPrintToFile):
- super().__init__(displayMode, tmTimeout, tcTimeoutFactor, doPrintToFile)
+ def __init__(self, displayMode, tmTimeout, tcQueue, tcTimeoutFactor, printTc, doPrintToFile):
+ super().__init__(displayMode, tmTimeout, tcTimeoutFactor, printTc, doPrintToFile)
self.tcQueue = tcQueue
self.firstReplyReceived = False
self.allRepliesReceived = False
@@ -66,20 +66,21 @@ class SequentialCommandSenderReceiver(CommandSenderReceiver):
self.checkForTimeout()
def sendAndReceiveFirstPacket(self):
- (self.pusPacketInfo, self.pusPacket) = self.tcQueue.get()
- self.sendTelecommand()
+ self.checkQueueEntry(self.tcQueue.get())
+ if self.queueEntryIsTelecommand:
+ self.sendTelecommand()
+ else:
+ self.sendAndReceiveFirstPacket()
def sendNextTelecommand(self):
- (self.pusPacketInfo, self.pusPacket) = self.tcQueue.get()
- if self.pusPacketInfo == "wait":
- waitTime = self.pusPacket
- time.sleep(waitTime)
- else:
- self.tmtcPrinter.displaySentCommand(self.pusPacketInfo, self.pusPacket, self.displayMode)
+ self.checkQueueEntry(self.tcQueue.get())
+ if self.queueEntryIsTelecommand:
+ self.sendTelecommand()
self.replyReceived = False
- g.sockSend.sendto(self.pusPacket, g.sendAddress)
+ else:
+ self.sendNextTelecommand()
- # this function runs is a separate thread andchecks for replies. If the first reply has not been received,
+ # this function runs is a separate thread and checks for replies. If the first reply has not been received,
# it attempts to send the telecommand again.
# if the tc queue is empty and the last telemetry sequence has been received,
# a flag is set to transition into listener mode
@@ -87,10 +88,10 @@ class SequentialCommandSenderReceiver(CommandSenderReceiver):
while not self.allRepliesReceived and self.run_event.is_set():
# listen for duration timeoutInSeconds for replies
self.handleReplyListening()
- self.tmReady = select.select([g.sockReceive], [], [], 5.0)
def handleReplyListening(self):
if self.firstReplyReceived:
+ self.tmReady = select.select([g.sockReceive], [], [], 2.0)
if self.tmReady[0]:
self.handleTelemetrySequence()
else:
diff --git a/tc/OBSW_TcPacker.py b/tc/OBSW_TcPacker.py
index 8c49f4f54f13e9d8834312816c6ae55aee69b2e7..a6a8bda55d6bb698199817718d45ac915dc00714 100644
--- a/tc/OBSW_TcPacker.py
+++ b/tc/OBSW_TcPacker.py
@@ -133,12 +133,15 @@ def packService8TestInto(tcQueue):
def packService17TestInto(tcQueue):
# ping test
+ tcQueue.put(("print", "Testing Service 17: Ping Test"))
command = PUSTelecommand(service=17, subservice=1, SSC=1700)
tcQueue.put(command.packCommandTuple())
# enable event
+ tcQueue.put(("print", "Testing Service 17: Enable Event"))
command = PUSTelecommand(service=5, subservice=5, SSC=52)
tcQueue.put(command.packCommandTuple())
# test event
+ tcQueue.put(("print", "Testing Service 17: Trigger event"))
command = PUSTelecommand(service=17, subservice=128, SSC=1701)
tcQueue.put(command.packCommandTuple())
return tcQueue
diff --git a/test/OBSW_UnitTest.py b/test/OBSW_UnitTest.py
index 52633cbe65efffad8cc704004af18f2cbdb7f84e..de96f5fa5575d0f2b4e350cf28fc2086b6b64bf7 100644
--- a/test/OBSW_UnitTest.py
+++ b/test/OBSW_UnitTest.py
@@ -34,7 +34,7 @@ class TestService(unittest.TestCase):
def setUpClass(cls):
cls.displayMode = "long"
# default timeout for receiving TM, set in subclass manually
- cls.tmTimeout = 15
+ cls.tmTimeout = 3
# wait intervals between tc send bursts.
# Example: [2,4] sends to send 2 tc from queue and wait, then sends another 2 and wait again
cls.waitIntervals = []
@@ -43,7 +43,7 @@ class TestService(unittest.TestCase):
# default wait time between tc send bursts
cls.waitTime = 5.0
cls.testQueue = queue.Queue()
- cls.tcTimeoutFactor = 2.0
+ cls.tcTimeoutFactor = 3.0
connectToBoard()
def performTestingAndGenerateAssertionDict(self):
@@ -203,6 +203,7 @@ class TestService17(TestService):
print("Testing Service 17")
cls.waitIntervals = [2]
cls.waitTime = 2
+ cls.tmTimeout = 2
packService17TestInto(cls.testQueue)
def test_Service17(self):
diff --git a/utility/OBSW_TmTcPrinter.py b/utility/OBSW_TmTcPrinter.py
index 8e41f0013cda5b975de8ea4581dcb81f814587e1..b61113d02ceb275f9b63bddc1c267d1ae3a7895a 100644
--- a/utility/OBSW_TmTcPrinter.py
+++ b/utility/OBSW_TmTcPrinter.py
@@ -105,6 +105,12 @@ class TmtcPrinter:
strToPrint += ']'
return strToPrint
+ def printString(self, string):
+ self.printBuffer = string
+ print(self.printBuffer)
+ if self.doPrintToFile:
+ self.addPrintBufferToFileBuffer()
+
def addPrintBufferToFileBuffer(self):
if self.doPrintToFile:
self.fileBuffer = self.fileBuffer + self.printBuffer + "\n"