#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on 17/10/2019
Tom Mladenov, European Space Agency
"""
__author__ = 'Tom Mladenov, European Space Operations Centre ESA/ESOC'
__email__ = 'Tom.Mladenov@esa.int'
import os
import struct
import zmq
import sys
import time
from threading import Thread, Lock
from PyQt5.QtCore import (QCoreApplication, QObject, QRunnable, QThread, pyqtSignal, QEvent, Qt, QVariant)
from PyQt5.QtWidgets import QApplication, QMainWindow, QDialog, QWidget, QListWidgetItem, QFileDialog, QTableWidgetItem
from PyQt5.uic import loadUi
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtGui import QImage, QIcon, QPixmap, QFont, QSyntaxHighlighter, QTextCharFormat, QColor, QBrush
import numpy as np
import argparse
import datetime
import collections
from crccheck.crc import Crc32c
import logging
NODES = {
"1": "Nanomind",
"2": "EPS dock",
"3": "EPS ACU1",
"4": "EPS ACU2",
"5": "Nanocom",
"6": "EPS PDU1",
"7": "EPS PDU2"
}
class Main(QMainWindow):
def __init__(self, parent=None):
super(Main, self).__init__(parent)
eventLogger.info('Starting OPS-SAT UHF Desktop')
gui = path + '/gui/gui.ui'
eventLogger.info('Loading GUI file {GUI}'.format(GUI=gui))
loadUi(gui, self)
self.setWindowTitle('OPS-SAT Telemetry Desktop')
self.setFixedSize(self.size())
self.logo.setScaledContents(True)
ops_sat_logo = QPixmap(path + '/gui/img/ESA_OPS_SAT.png')
self.logo.setPixmap(ops_sat_logo)
self.clear_tm_button.clicked.connect(self.clearTM)
self.packet_history_table.setColumnCount(10)
self.packet_history_table.setHorizontalHeaderLabels(['RX Time (UTC)', 'Type','Length', 'CRC OK', 'pri', 'src', 'dst', 'dst port', 'src port', 'flags'])
packet_history_header = self.packet_history_table.horizontalHeader()
packet_history_header.setSectionResizeMode(0, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(1, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(2, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(3, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(4, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(5, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(6, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(7, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(8, QtWidgets.QHeaderView.ResizeToContents)
packet_history_header.setSectionResizeMode(9, QtWidgets.QHeaderView.ResizeToContents)
self.raw_history_table.setColumnCount(3)
self.raw_history_table.setHorizontalHeaderLabels(['RX Time (UTC)', 'RAW data', 'Bytes'])
raw_history_table_header = self.raw_history_table.horizontalHeader()
raw_history_table_header.setSectionResizeMode(0, QtWidgets.QHeaderView.ResizeToContents)
raw_history_table_header.setSectionResizeMode(1, QtWidgets.QHeaderView.ResizeToContents)
raw_history_table_header.setSectionResizeMode(2, QtWidgets.QHeaderView.ResizeToContents)
self.adapter = TMadapter(self, "127.0.0.1", 38211)
self.adapter.link.connect(self.updateLink)
self.adapter.packet.connect(self.update)
self.adapter.packet_count.connect(self.updatePacketCounter)
self.adapter.start()
self.host_label.setText(self.adapter.host)
self.packet_counter_label.setText('Received packets: 0')
eventLogger.info('GUI Thread started')
def clearTM(self):
self.adapter.recvd_packets = 0
self.packet_history_table.clearContents()
self.packet_history_table.setRowCount(0)
self.raw_history_table.clearContents()
self.raw_history_table.setRowCount(0)
eventLogger.info('Telemetry counter has been reset to 0')
def updatePacketCounter(self, count):
self.packet_counter_label.setText('Received packets: ' + str(count))
def updateLink(self, up):
if up:
self.link_label.setText('TM FLOW')
self.link_label.setStyleSheet('background-color: rgb(0, 255, 0)')
else:
self.link_label.setText('NO TM')
self.link_label.setStyleSheet('background-color: rgb(255, 0, 0)')
def update(self, csp, crc):
try:
csp_crc = csp.getCRC32C() #calculate the CRC of the CSP packet
sent_crc = int.from_bytes(crc, byteorder='big') #Check what was attached as a CRC
if csp_crc == sent_crc: #Compare
crc_ok = True
if csp.isBeacon():
temp_brd,\
temp_pa,\
last_rssi,\
last_rferr,\
tx_count,\
rx_count,\
tx_bytes,\
rx_bytes,\
active_conf,\
boot_count,\
boot_cause,\
last_contact,\
bgnd_rssi,\
tx_duty,\
tot_tx_count,\
tot_rx_count,\
tot_tx_bytes,\
tot_rx_bytes = csp.getBeaconContents()
self.temp_brd_label.setText(str(temp_brd/10.0))
self.temp_pa_label.setText(str(temp_pa/10.0))
self.last_rssi_label.setText(str(last_rssi))
self.last_rferr_label.setText(str(last_rferr))
self.tx_count_label.setText(str(tx_count))
self.rx_count_label.setText(str(rx_count))
self.tx_bytes_label.setText(str(tx_bytes))
self.rx_bytes_label.setText(str(rx_bytes))
self.active_conf_label.setText(str(active_conf))
self.boot_count_label.setText(str(boot_count))
self.boot_cause_label.setText(str(boot_cause))
self.last_contact_label.setText(str(last_contact))
self.bgnd_rssi_label.setText(str(bgnd_rssi))
self.tx_duty_label.setText(str(tx_duty))
self.tot_tx_count_label.setText(str(tot_tx_count))
self.tot_rx_count_label.setText(str(tot_rx_count))
self.tot_tx_bytes_label.setText(str(tot_tx_bytes))
self.tot_rx_bytes_label.setText(str(tot_rx_bytes))
current_packet_count = self.packet_history_table.rowCount()
self.packet_history_table.insertRow(current_packet_count)
self.packet_history_table.setItem(current_packet_count, 0, QTableWidgetItem(str(datetime.datetime.utcnow())))
self.packet_history_table.setItem(current_packet_count, 1, QTableWidgetItem('Beacon'))
self.packet_history_table.setItem(current_packet_count, 2, QTableWidgetItem(str(csp.getLength())))
self.packet_history_table.setItem(current_packet_count, 3, QTableWidgetItem(str(crc_ok)))
self.packet_history_table.setItem(current_packet_count, 4, QTableWidgetItem(str(csp.priority)))
self.packet_history_table.setItem(current_packet_count, 5, QTableWidgetItem(NODES[str(csp.source)]))
self.packet_history_table.setItem(current_packet_count, 6, QTableWidgetItem(str(csp.destination)))
self.packet_history_table.setItem(current_packet_count, 7, QTableWidgetItem(str(csp.dest_port)))
self.packet_history_table.setItem(current_packet_count, 8, QTableWidgetItem(str(csp.source_port)))
self.packet_history_table.setItem(current_packet_count, 9, QTableWidgetItem(str(csp.flags)))
self.packet_history_table.item(current_packet_count, 3).setBackground(QtGui.QColor(0, 255, 0))
self.packet_history_table.scrollToBottom()
self.raw_history_table.insertRow(current_packet_count)
self.raw_history_table.setItem(current_packet_count, 0, QTableWidgetItem(str(datetime.datetime.utcnow())))
self.raw_history_table.setItem(current_packet_count, 1, QTableWidgetItem(str(csp.getHex())))
self.raw_history_table.setItem(current_packet_count, 2, QTableWidgetItem(str(csp.getLength())))
self.raw_history_table.scrollToBottom()
parsed_data = '{iso_time},{temp_brd},{temp_pa},{last_rssi},{last_rferr},{tx_count},{rx_count},{tx_bytes},{rx_bytes},{active_conf},{boot_count},{boot_cause},{last_contact},{bgnd_rssi},{tx_duty},{tot_tx_count},{tot_rx_count},{tot_tx_bytes},{tot_rx_bytes}'.format(iso_time=datetime.datetime.utcnow().isoformat(),\
temp_brd=temp_brd,\
temp_pa=temp_pa,\
last_rssi=last_rssi,\
last_rferr=last_rferr,\
tx_count=tx_count,\
rx_count=rx_count,\
tx_bytes=tx_bytes,\
rx_bytes=rx_bytes,\
active_conf=active_conf,\
boot_count=boot_count,\
boot_cause=boot_cause,\
last_contact=last_contact,\
bgnd_rssi=bgnd_rssi,\
tx_duty=tx_duty,\
tot_tx_count=tot_tx_count,\
tot_rx_count=tot_rx_count,\
tot_tx_bytes=tot_tx_bytes,\
tot_rx_bytes=tot_rx_bytes)
eventLogger.info('Received CSP beacon packet of length {LEN} bytes + 4 byte CRC32C check: OK'.format(LEN=csp.getLength()))
raw_data = str(csp.getHex()) + str(crc.hex())
rawLogger.info('{iso_time},{data}'.format(iso_time=datetime.datetime.utcnow().isoformat(), data=raw_data))
parsedBeaconLogger.info(parsed_data)
else:
current_packet_count = self.packet_history_table.rowCount()
self.packet_history_table.insertRow(current_packet_count)
self.packet_history_table.setItem(current_packet_count, 0, QTableWidgetItem(str(datetime.datetime.utcnow())))
self.packet_history_table.setItem(current_packet_count, 1, QTableWidgetItem('SPP over CSP'))
self.packet_history_table.setItem(current_packet_count, 2, QTableWidgetItem(str(csp.getLength())))
self.packet_history_table.setItem(current_packet_count, 3, QTableWidgetItem(str(crc_ok)))
self.packet_history_table.setItem(current_packet_count, 4, QTableWidgetItem(str(csp.priority)))
self.packet_history_table.setItem(current_packet_count, 5, QTableWidgetItem(NODES[str(csp.source)]))
self.packet_history_table.setItem(current_packet_count, 6, QTableWidgetItem(str(csp.destination)))
self.packet_history_table.setItem(current_packet_count, 7, QTableWidgetItem(str(csp.dest_port)))
self.packet_history_table.setItem(current_packet_count, 8, QTableWidgetItem(str(csp.source_port)))
self.packet_history_table.setItem(current_packet_count, 9, QTableWidgetItem(str(csp.flags)))
self.packet_history_table.item(current_packet_count, 3).setBackground(QtGui.QColor(0, 255, 0))
self.packet_history_table.scrollToBottom()
self.raw_history_table.insertRow(current_packet_count)
self.raw_history_table.setItem(current_packet_count, 0, QTableWidgetItem(str(datetime.datetime.utcnow())))
self.raw_history_table.setItem(current_packet_count, 1, QTableWidgetItem(str(csp.getHex())))
self.raw_history_table.setItem(current_packet_count, 2, QTableWidgetItem(str(csp.getLength())))
self.raw_history_table.scrollToBottom()
eventLogger.info('Received SPP over CSP packet of length {LEN} bytes + 4 byte CRC32C check: OK'.format(LEN=csp.getLength()))
data = str(csp.getHex()) + str(crc.hex())
rawLogger.info('{iso_time},{data}'.format(iso_time=datetime.datetime.utcnow().isoformat(), data=data))
else:
crc_ok = False
current_packet_count = self.packet_history_table.rowCount()
self.packet_history_table.insertRow(current_packet_count)
self.packet_history_table.setItem(current_packet_count, 0, QTableWidgetItem(str(datetime.datetime.utcnow())))
self.packet_history_table.setItem(current_packet_count, 1, QTableWidgetItem('--'))
self.packet_history_table.setItem(current_packet_count, 2, QTableWidgetItem(str(csp.getLength())))
self.packet_history_table.setItem(current_packet_count, 3, QTableWidgetItem(str(crc_ok)))
self.packet_history_table.setItem(current_packet_count, 4, QTableWidgetItem(str(csp.priority)))
self.packet_history_table.setItem(current_packet_count, 5, QTableWidgetItem(str(csp.source)))
self.packet_history_table.setItem(current_packet_count, 6, QTableWidgetItem(str(csp.destination)))
self.packet_history_table.setItem(current_packet_count, 7, QTableWidgetItem(str(csp.dest_port)))
self.packet_history_table.setItem(current_packet_count, 8, QTableWidgetItem(str(csp.source_port)))
self.packet_history_table.setItem(current_packet_count, 9, QTableWidgetItem(str(csp.flags)))
self.packet_history_table.item(current_packet_count, 3).setBackground(QtGui.QColor(255, 0, 0))
self.packet_history_table.scrollToBottom()
self.raw_history_table.insertRow(current_packet_count)
self.raw_history_table.setItem(current_packet_count, 0, QTableWidgetItem(str(datetime.datetime.utcnow())))
self.raw_history_table.setItem(current_packet_count, 1, QTableWidgetItem(str(csp.getHex())))
self.raw_history_table.setItem(current_packet_count, 2, QTableWidgetItem(str(csp.getLength())))
self.raw_history_table.scrollToBottom()
eventLogger.error('Received CSP packet of length {LEN} bytes - Failed CRC32C!'.format(LEN=str(csp.getLength())))
#Don't write to any logs.
except Exception as e:
eventLogger.error('Error occured: {ERR}'.format(ERR=e))
class CSP(object):
"""
Reused from:
https://github.com/daniestevez/gr-satellites/blob/master/python/csp_header.py
"""
def __init__(self, csp_bytes):
if len(csp_bytes) < 4:
raise ValueError("Malformed CSP packet (too short)")
self.csp_bytes = csp_bytes
csp = struct.unpack(">I", csp_bytes[0:4])[0]
self.priority = (csp >> 30) & 0x3
self.source = (csp >> 25) & 0x1f
self.destination = (csp >> 20) & 0x1f
self.dest_port = (csp >> 14) & 0x3f
self.source_port = (csp >> 8) & 0x3f
self.reserved = (csp >> 4) & 0xf
self.hmac = (csp >> 3) & 1
self.xtea = (csp >> 2) & 1
self.rdp = (csp >> 1) & 1
self.crc = csp & 1
self.flags=int('{HMAC}{XTEA}{RDP}{CRC}'.format(HMAC=self.hmac, XTEA=self.xtea, RDP=self.rdp, CRC=self.crc))
def toString(self):
return ("""CSP header:
Priority:\t\t{}
Source:\t\t\t{}
Destination:\t\t{}
Destination port:\t{}
Source port:\t\t{}
Reserved field:\t\t{}
HMAC:\t\t\t{}
XTEA:\t\t\t{}
RDP:\t\t\t{}
CRC:\t\t\t{}""".format(
self.priority, self.source, self.destination, self.dest_port,
self.source_port, self.reserved, self.hmac, self.xtea, self.rdp,
self.crc))
def isBeacon(self):
if self.priority == 3 and self.source == 5 and self.destination == 10 and self.dest_port == 31 and self.source_port==0 and self.getLength() == 58:
return True
else:
return False
def getCRC32C(self):
calculated_CRC32C = Crc32c.calc(self.csp_bytes)
return calculated_CRC32C
def getLength(self):
return len(self.csp_bytes)
def getHex(self):
return self.csp_bytes.hex()
def getBeaconContents(self):
if self.isBeacon():
payload = struct.unpack('>4h 4I B H 2I h B 4I', self.csp_bytes[4:]) #nanocom beacon format
return payload
class TMadapter(QThread):
packet = pyqtSignal(object, object)
link = pyqtSignal(bool)
packet_count = pyqtSignal(int)
recvd_packets = 0
active = False
host = None
def __init__(self, parent, ip, port):
QtCore.QThread.__init__(self, parent)
self.parent = parent
self.active = True
self.context = zmq.Context()
self.socket = self.context.socket(zmq.SUB)
self.host = 'tcp://' + ip + ':' + str(port)
self.socket.connect(self.host)
self.socket.setsockopt_string(zmq.SUBSCRIBE, "")
self.socket.setsockopt(zmq.RCVTIMEO, 15000) #Timeout set to 15s, beacon frame is radiated every 10s by the spacecraft
eventLogger.info('Started listening on {HOST} for incoming packets from GR flowgraph'.format(HOST=self.host))
def run(self):
while self.active:
try:
data = self.socket.recv()
crc = data[-4:] #4 last bytes are CRC32-C
csp = CSP(data[:(len(data)-4)])#Everything but the last 4 bytes belongs to the CSP packet
self.packet.emit(csp, crc)
self.recvd_packets = self.recvd_packets + 1
self.packet_count.emit(self.recvd_packets)
self.link.emit(True)
except Exception as e:
eventLogger.warning('No packets received in the last 15 seconds...{ERR}'.format(ERR=e))
self.link.emit(False)
def setup_logger(name, log_file, formatter, level=logging.INFO):
fileHandler = logging.FileHandler(log_file)
streamHandler = logging.StreamHandler()
fileHandler.setFormatter(formatter)
streamHandler.setFormatter(formatter)
logger = logging.getLogger(name)
logger.setLevel(level)
logger.addHandler(fileHandler)
logger.addHandler(streamHandler)
return logger
if __name__ == '__main__':
path = os.path.dirname(os.path.abspath(__file__))
formatter = logging.Formatter('%(asctime)s %(levelname)s %(message)s')
eventLogger = setup_logger('first_logger', path + '/log/gui_event.log', formatter, level=logging.INFO)
plainFormatter = logging.Formatter('%(message)s')
rawLogger = setup_logger('second_logger', path + '/log/raw.log', plainFormatter, level=logging.INFO)
parsedBeaconLogger = setup_logger('third_logger', path + '/log/parsed_beacon.log', plainFormatter, level=logging.INFO)
a = QApplication(sys.argv)
a.setWindowIcon(QIcon(path + '/gui/img/1200px-ESA_logo_simple.png'))
app = Main()
app.show()
a.exec_()
os._exit(0)
