openc3-cosmos-geosim 1.0.0

data/microservices/GEOSIM/targets/GEOSAT/lib/sim_sat.rb

@@ -0,0 +1,624 @@
+# encoding: ascii-8bit
+
+# Copyright 2022 OpenC3, Inc.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU Affero General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Affero General Public License for more details.
+
+# Simulates the fake satellite used in COSMOS User Training
+
+require 'openc3'
+
+module OpenC3
+  MAX_PWR_WATT_SECONDS = 100000
+  INIT_PWR_WATT_SECONDS = 25000
+  HYSTERESIS = 2.0
+
+  # Simulated satellite for the training. Populates several packets and cycles
+  # the telemetry to simulate a real satellite.
+  class SimSat < SimulatedTarget
+    def initialize(target_name)
+      super(target_name)
+
+      @target = System.targets[target_name]
+      position_filename = File.join(@target.dir, 'data', 'position.bin')
+      attitude_filename = File.join(@target.dir, 'data', 'attitude.bin')
+      @position_file = File.open(position_filename, 'rb')
+      @attitude_file = File.open(attitude_filename, 'rb')
+      @position_file_size = File.size(position_filename)
+      @attitude_file_size = File.size(attitude_filename)
+      @position_file_bytes_read = 0
+      @attitude_file_bytes_read = 0
+
+      @pos_packet = Structure.new(:BIG_ENDIAN)
+      @pos_packet.append_item('DAY', 16, :UINT)
+      @pos_packet.append_item('MSOD', 32, :UINT)
+      @pos_packet.append_item('USOMS', 16, :UINT)
+      @pos_packet.append_item('POSX', 32, :FLOAT)
+      @pos_packet.append_item('POSY', 32, :FLOAT)
+      @pos_packet.append_item('POSZ', 32, :FLOAT)
+      @pos_packet.append_item('SPARE1', 16, :UINT)
+      @pos_packet.append_item('SPARE2', 32, :UINT)
+      @pos_packet.append_item('SPARE3', 16, :UINT)
+      @pos_packet.append_item('VELX', 32, :FLOAT)
+      @pos_packet.append_item('VELY', 32, :FLOAT)
+      @pos_packet.append_item('VELZ', 32, :FLOAT)
+      @pos_packet.append_item('SPARE4', 32, :UINT)
+      @pos_packet.enable_method_missing
+
+      @att_packet = Structure.new(:BIG_ENDIAN)
+      @att_packet.append_item('DAY', 16, :UINT)
+      @att_packet.append_item('MSOD', 32, :UINT)
+      @att_packet.append_item('USOMS', 16, :UINT)
+      @att_packet.append_item('Q1', 32, :FLOAT)
+      @att_packet.append_item('Q2', 32, :FLOAT)
+      @att_packet.append_item('Q3', 32, :FLOAT)
+      @att_packet.append_item('Q4', 32, :FLOAT)
+      @att_packet.append_item('BIASX', 32, :FLOAT)
+      @att_packet.append_item('BIASY', 32, :FLOAT)
+      @att_packet.append_item('BIASZ', 32, :FLOAT)
+      @att_packet.append_item('SPARE', 32, :FLOAT)
+      @att_packet.enable_method_missing
+
+      # Initialize fixed parts of packets
+      packet = @tlm_packets['HEALTH_STATUS']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      packet = @tlm_packets['THERMAL']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      packet = @tlm_packets['EVENT']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength   = packet.buffer.length - 7
+
+      packet = @tlm_packets['ADCS']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength   = packet.buffer.length - 7
+
+      packet = @tlm_packets['IMAGE']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.image = ("\x05" * 10000) + "The Secret is Astral Body"
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      packet = @tlm_packets['MECH']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      packet = @tlm_packets['IMAGER']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      @get_count = 0
+      @queue = Queue.new
+
+      # ADCS
+      @trackStars = Array.new
+      @trackStars[0] = 1237
+      @trackStars[1] = 1329
+      @trackStars[2] = 1333
+      @trackStars[3] = 1139
+      @trackStars[4] = 1161
+      @trackStars[5] = 682
+      @trackStars[6] = 717
+      @trackStars[7] = 814
+      @trackStars[8] = 583
+      @trackStars[9] = 622
+      @adcs_ctrl = 'OFF'
+      @sr_ang_to_sun = 0
+
+      # HEALTH_STATUS
+      @cmd_acpt_cnt = 0
+      @cmd_rjct_cnt = 0
+      @mode = 'SAFE'
+      @cpu_pwr = 100
+      @table_data = "\x00" * 10
+
+      # THERMAL
+      @temp1 = 0
+      @temp2 = 0
+      @heater1_ctrl = 'OFF'
+      @heater1_state = 'OFF'
+      @heater1_setpt = 0.0
+      @heater1_pwr = 0.0
+      @heater2_ctrl = 'OFF'
+      @heater2_state = 'OFF'
+      @heater2_setpt = 0.0
+      @heater2_pwr = 0.0
+
+      # MECH
+      @slrpnl1_ang = 180.0
+      @slrpnl2_ang = 180.0
+      @slrpnl1_state = 'STOWED'
+      @slrpnl2_state = 'STOWED'
+      @slrpnl1_pwr = 0.0
+      @slrpnl2_pwr = 0.0
+      @pwr_watt_seconds = INIT_PWR_WATT_SECONDS
+      @battery = (@pwr_watt_seconds.to_f / MAX_PWR_WATT_SECONDS.to_f) * 100.0
+
+      # IMAGER
+      @collects = 0
+      @duration = 10
+      @collect_type = 'NORMAL'
+      @imager_state = 'OFF'
+      @imager_pwr = 0.0
+      @collect_end_time = nil
+    end
+
+    def set_rates
+      set_rate('ADCS', 10)
+      set_rate('HEALTH_STATUS', 100)
+      set_rate('THERMAL', 100)
+      set_rate('MECH', 100)
+      set_rate('IMAGER', 100)
+    end
+
+    def accept_cmd(message = nil)
+      if message
+        event_packet = @tlm_packets['EVENT']
+        event_packet.message = message
+        time = Time.now
+        event_packet.timesec = time.tv_sec
+        event_packet.timeus  = time.tv_usec
+        event_packet.ccsdsseqcnt += 1
+        @queue << event_packet.dup
+      end
+      @cmd_acpt_cnt += 1
+    end
+
+    def reject_cmd(message)
+      event_packet = @tlm_packets['EVENT']
+      event_packet.message = message
+      time = Time.now
+      event_packet.timesec = time.tv_sec
+      event_packet.timeus  = time.tv_usec
+      event_packet.ccsdsseqcnt += 1
+      @queue << event_packet.dup
+      @cmd_rjct_cnt += 1
+    end
+
+    def write(packet)
+      name = packet.packet_name.upcase
+
+      case name
+      when 'COLLECT'
+        if @mode == 'OPERATE'
+          @collects += 1
+          @duration = packet.read('duration')
+          @collect_type = packet.read("type")
+          @collect_end_time = Time.now + @duration
+          accept_cmd()
+        else
+          reject_cmd("Mode must be OPERATE to collect images")
+        end
+
+      when 'ABORT'
+        @collect_end_time = nil
+        accept_cmd()
+
+      when 'CLEAR'
+        accept_cmd()
+        @collects = 0
+        @cmd_acpt_cnt = 0
+        @cmd_rjct_cnt = 0
+
+      when 'SET_MODE'
+        mode = packet.read('mode')
+        case mode
+        when 'SAFE'
+          @mode = mode
+          accept_cmd()
+        when 'CHECKOUT'
+          if @battery >= 50.0
+            @mode = mode
+            accept_cmd()
+          else
+            reject_cmd("Cannot enter checkout if battery < 50.0%")
+          end
+        when 'OPERATE'
+          if @temp1 < 35.0 and @temp1 > 25.0 and @temp2 < 35.0 and @temp2 > 25.0
+            @mode = mode
+            accept_cmd()
+          else
+            reject_cmd("Cannot enter OPERATE unless temperatures are stable near 30.0")
+          end
+        else
+          reject_cmd("Invalid Mode: #{mode}")
+        end
+
+      when 'SLRPNLDEPLOY'
+        num = packet.read('NUM')
+        case num
+        when 1
+          @slrpnl1_state = 'DEPLOYED'
+          accept_cmd()
+        when 2
+          @slrpnl2_state = 'DEPLOYED'
+          accept_cmd()
+        else
+          reject_cmd("Invalid Solar Array Number: #{num}")
+        end
+
+      when 'SLRPNLSTOW'
+        num = packet.read('NUM')
+        case num
+        when 1
+          @slrpnl1_state = 'STOWED'
+          accept_cmd()
+        when 2
+          @slrpnl2_state = 'STOWED'
+          accept_cmd()
+        else
+          reject_cmd("Invalid Solar Array Number: #{num}")
+        end
+
+      when 'SLRPNLANG'
+        num = packet.read('NUM')
+        ang = packet.read('ANG')
+        case num
+        when 1
+          case ang
+          when 0..360
+            @slrpnl1_ang = ang
+            accept_cmd()
+          else
+            reject_cmd("Invalid Solar Array Angle: #{setpt}")
+          end
+        when 2
+          case ang
+          when 0..360
+            @slrpnl2_ang = ang
+            accept_cmd()
+          else
+            reject_cmd("Invalid Solar Array Angle: #{setpt}")
+          end
+        else
+          reject_cmd("Invalid Solar Array Number: #{num}")
+        end
+
+      when 'TABLE_LOAD'
+        @table_data = packet.read('DATA')
+
+      when 'HTR_CTRL'
+        num = packet.read('NUM')
+        state = packet.read('STATE')
+        case num
+        when 1
+          case state
+          when 'ON', 'OFF'
+            @heater1_ctrl = state
+            accept_cmd()
+          else
+            reject_cmd("Invalid Heater Control: #{state}")
+          end
+        when 2
+          case state
+          when 'ON', 'OFF'
+            @heater2_ctrl = state
+            accept_cmd()
+          else
+            reject_cmd("Invalid Heater Control: #{state}")
+          end
+        else
+          reject_cmd("Invalid Heater Number: #{num}")
+        end
+
+      when 'HTR_STATE'
+        num = packet.read('NUM')
+        state = packet.read('STATE')
+        case num
+        when 1
+          case state
+          when 'ON', 'OFF'
+            @heater1_state = state
+            accept_cmd()
+          else
+            reject_cmd("Invalid Heater State: #{state}")
+          end
+        when 2
+          case state
+          when 'ON', 'OFF'
+            @heater2_state = state
+            accept_cmd()
+          else
+            reject_cmd("Invalid Heater State: #{state}")
+          end
+        else
+          reject_cmd("Invalid Heater Number: #{num}")
+        end
+
+      when 'HTR_SETPT'
+        num = packet.read('NUM')
+        setpt = packet.read('SETPT')
+        case num
+        when 1
+          case setpt
+          when -100..100
+            @heater1_setpt = setpt
+            accept_cmd()
+          else
+            reject_cmd("Invalid Heater Setpoint: #{setpt}")
+          end
+        when 2
+          case setpt
+          when -100..100
+            @heater2_setpt = setpt
+            accept_cmd()
+          else
+            reject_cmd("Invalid Heater Setpoint: #{setpt}")
+          end
+        else
+          reject_cmd("Invalid Heater Number: #{num}")
+        end
+
+      when 'ADCS_CTRL'
+        state = packet.read('STATE')
+        case state
+        when 'ON', 'OFF'
+          @adcs_ctrl = state
+          accept_cmd()
+        else
+          reject_cmd("Invalid ADCS Control: #{state}")
+        end
+      end
+    end
+
+    def graceful_kill
+    end
+
+    def get_pending_packets(count_100hz)
+      pending_packets = super(count_100hz)
+      while @queue.length > 0
+        pending_packets << @queue.pop
+      end
+      pending_packets
+    end
+
+    def read(count_100hz, time)
+      pending_packets = get_pending_packets(count_100hz)
+
+      pending_packets.each do |packet|
+        case packet.packet_name
+        when 'ADCS'
+          # Read 44 Bytes for Position Data
+          pos_data = nil
+          begin
+            pos_data = @position_file.read(44)
+            @position_file_bytes_read += 44
+          rescue
+            # Do Nothing
+          end
+
+          if pos_data.nil? or pos_data.length == 0
+            # Assume end of file - close and reopen
+            @position_file.close
+            @position_file = File.open(File.join(@target.dir, 'data', 'position.bin'), 'rb')
+            pos_data = @position_file.read(44)
+            @position_file_bytes_read = 44
+          end
+
+          @pos_packet.buffer = pos_data
+          packet.posx = @pos_packet.posx
+          packet.posy = @pos_packet.posy
+          packet.posz = @pos_packet.posz
+          packet.velx = @pos_packet.velx
+          packet.vely = @pos_packet.vely
+          packet.velz = @pos_packet.velz
+
+          # Read 40 Bytes for Attitude Data
+          att_data = nil
+          begin
+            att_data = @attitude_file.read(40)
+            @attitude_file_bytes_read += 40
+          rescue
+            # Do Nothing
+          end
+
+          if att_data.nil? or att_data.length == 0
+            @attitude_file.close
+            @attitude_file = File.open(File.join(@target.dir, 'data', 'attitude.bin'), 'rb')
+            att_data = @attitude_file.read(40)
+            @attitude_file_bytes_read = 40
+          end
+
+          @att_packet.buffer = att_data
+          packet.q1 = @att_packet.q1
+          packet.q2 = @att_packet.q2
+          packet.q3 = @att_packet.q3
+          packet.q4 = @att_packet.q4
+          packet.biasx = @att_packet.biasx
+          packet.biasy = @att_packet.biasy
+          packet.biasy = @att_packet.biasz
+
+          packet.star1id = @trackStars[((@get_count / 100) + 0) % 10]
+          packet.star2id = @trackStars[((@get_count / 100) + 1) % 10]
+          packet.star3id = @trackStars[((@get_count / 100) + 2) % 10]
+          packet.star4id = @trackStars[((@get_count / 100) + 3) % 10]
+          packet.star5id = @trackStars[((@get_count / 100) + 4) % 10]
+
+          packet.posprogress = (@position_file_bytes_read.to_f / @position_file_size.to_f) * 100.0
+          packet.attprogress = (@attitude_file_bytes_read.to_f / @attitude_file_size.to_f) * 100.0
+          @sr_ang_to_sun = packet.posprogress * 3.6
+          packet.sr_ang_to_sun = @sr_ang_to_sun
+          packet.adcs_ctrl = @adcs_ctrl
+
+          packet.timesec = time.tv_sec
+          packet.timeus  = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+        when 'HEALTH_STATUS'
+          packet.timesec = time.tv_sec
+          packet.timeus  = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+          packet.cmd_acpt_cnt = @cmd_acpt_cnt
+          packet.cmd_rjct_cnt = @cmd_rjct_cnt
+          packet.mode = @mode
+          packet.cpu_pwr = @cpu_pwr
+          packet.table_data = @table_data
+
+        when 'THERMAL'
+          packet.timesec = time.tv_sec
+          packet.timeus  = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+          if @heater1_ctrl == 'ON'
+            if @temp1 < (@heater1_setpt - HYSTERESIS)
+              @heater1_state = 'ON'
+            elsif @temp1 > (@heater1_setpt + HYSTERESIS)
+              @heater1_state = 'OFF'
+            end
+          end
+
+          if @heater2_ctrl == 'ON'
+            if @temp2 < (@heater2_setpt - HYSTERESIS)
+              @heater2_state = 'ON'
+            elsif @temp2 > (@heater2_setpt + HYSTERESIS)
+              @heater2_state = 'OFF'
+            end
+          end
+
+          if @heater1_state == 'ON'
+            @heater1_pwr = 300
+            @temp1 += 0.5
+            if @temp1 > 50.0
+              @temp1 = 50.0
+            end
+          else
+            @heater1_pwr = 0
+            @temp1 -= 0.1
+            if @temp1 < -20.0
+              @temp1 = -20.0
+            end
+          end
+
+          if @heater2_state == 'ON'
+            @heater2_pwr = 300
+            @temp2 += 0.5
+            if @temp2 > 100.0
+              @temp2 = 100.0
+            end
+          else
+            @heater2_pwr = 0
+            @temp2 -= 0.1
+            if @temp2 < -20.0
+              @temp2 = -20.0
+            end
+          end
+
+          packet.heater1_ctrl = @heater1_ctrl
+          packet.heater1_state = @heater1_state
+          packet.heater1_setpt = @heater1_setpt
+          packet.heater1_pwr = @heater1_pwr
+          packet.heater2_ctrl = @heater2_ctrl
+          packet.heater2_state = @heater2_state
+          packet.heater2_setpt = @heater2_setpt
+          packet.heater2_pwr = @heater2_pwr
+          packet.temp1 = @temp1
+          packet.temp2 = @temp2
+
+        when 'MECH'
+          if @adcs_ctrl == 'ON'
+            @slrpnl1_ang = @sr_ang_to_sun
+            @slrpnl2_ang = @sr_ang_to_sun
+          end
+
+          delta_ang = (@sr_ang_to_sun - @slrpnl1_ang).abs
+          if delta_ang > 180.0
+            delta_ang = 360 - delta_ang
+          end
+          if @slrpnl1_state == 'DEPLOYED'
+            @slrpnl1_pwr = 500 * (1 - (delta_ang / 180.0))
+          else
+            @slrpnl1_pwr = 0
+          end
+
+          delta_ang = (@sr_ang_to_sun - @slrpnl2_ang).abs
+          if delta_ang > 180.0
+            delta_ang = 360 - delta_ang
+          end
+          if @slrpnl2_state == 'DEPLOYED'
+            @slrpnl2_pwr = 500 * (1 - (delta_ang / 180.0))
+          else
+            @slrpnl2_pwr = 0
+          end
+
+          incoming_pwr = @slrpnl1_pwr + @slrpnl2_pwr # Upto 1000 per second
+
+          used_pwr = @cpu_pwr + @imager_pwr + @heater1_pwr + @heater2_pwr # Up to 900 per second
+          delta_pwr = incoming_pwr - used_pwr
+          @pwr_watt_seconds += delta_pwr
+          if @pwr_watt_seconds < 0
+            @pwr_watt_seconds = 100
+          elsif @pwr_watt_seconds > MAX_PWR_WATT_SECONDS
+            @pwr_watt_seconds = MAX_PWR_WATT_SECONDS
+          end
+          @battery = (@pwr_watt_seconds.to_f / MAX_PWR_WATT_SECONDS.to_f) * 100.0
+          if @battery < 50.0
+            @mode = 'SAFE'
+          end
+
+          packet.timesec = time.tv_sec
+          packet.timeus = time.tv_usec
+          packet.ccsdsseqcnt += 1
+          packet.slrpnl1_ang = @slrpnl1_ang
+          packet.slrpnl2_ang = @slrpnl2_ang
+          packet.slrpnl1_state = @slrpnl1_state
+          packet.slrpnl2_state = @slrpnl2_state
+          packet.slrpnl1_pwr = @slrpnl1_pwr
+          packet.slrpnl2_pwr = @slrpnl2_pwr
+          packet.battery = @battery
+
+        when 'IMAGER'
+          if @collect_end_time
+            if @collect_end_time < Time.now
+              @imager_state = 'OFF'
+              @collect_end_time = nil
+              @imager_pwr = 0
+              image_packet = @tlm_packets['IMAGE']
+              time = Time.now
+              image_packet.timesec = time.tv_sec
+              image_packet.timeus  = time.tv_usec
+              image_packet.ccsdsseqcnt += 1
+              @queue << image_packet.dup
+            else
+              @imager_state = 'ON'
+              @imager_pwr = 200
+            end
+          else
+            @imager_pwr = 0
+          end
+
+          packet.timesec = time.tv_sec
+          packet.timeus = time.tv_usec
+          packet.ccsdsseqcnt += 1
+          packet.collects = @collects
+          packet.duration = @duration
+          packet.collect_type = @collect_type
+          packet.imager_state = @imager_state
+          packet.imager_pwr = @imager_pwr
+
+        end
+      end
+
+      @get_count += 1
+      pending_packets
+    end
+  end
+end

data/microservices/GEOSIM/targets/GEOSAT/target.txt

@@ -0,0 +1,30 @@
+# Ignored Parameters
+IGNORE_PARAMETER CCSDSVER
+IGNORE_PARAMETER CCSDSTYPE
+IGNORE_PARAMETER CCSDSSHF
+IGNORE_PARAMETER CCSDSAPID
+IGNORE_PARAMETER CCSDSSEQFLAGS
+IGNORE_PARAMETER CCSDSSEQCNT
+IGNORE_PARAMETER CCSDSLENGTH
+IGNORE_PARAMETER PKTID
+
+# Ignored Items
+IGNORE_ITEM CCSDSVER
+IGNORE_ITEM CCSDSTYPE
+IGNORE_ITEM CCSDSSHF
+IGNORE_ITEM CCSDSAPID
+IGNORE_ITEM CCSDSSEQFLAGS
+IGNORE_ITEM CCSDSSEQCNT
+IGNORE_ITEM CCSDSLENGTH
+IGNORE_ITEM PACKET_TIME
+IGNORE_ITEM PACKET_TIMESECONDS
+IGNORE_ITEM RECEIVED_TIMESECONDS
+IGNORE_ITEM TIMESEC
+IGNORE_ITEM TIMEUS
+IGNORE_ITEM PKTID
+
+# Explicitly define command and telemetry files
+# If not given then all the files in cmd/tlm will be processed in
+# alphabetical order
+COMMANDS cmds.txt
+TELEMETRY tlm.txt

data/plugin.txt

@@ -0,0 +1,9 @@
+# Set VARIABLEs here to allow variation in your plugin
+# See https://openc3.com/docs/v5/plugins for more information
+VARIABLE geosim_port 7272
+VARIABLE geosim_microservice_name GEOSIM
+
+MICROSERVICE GEOSIM <%= geosim_microservice_name %>
+  WORK_DIR .
+  PORT <%= geosim_port %>
+  CMD ruby geosat_target.rb <%= geosim_port %>