148 lines
6.0 KiB
Python
148 lines
6.0 KiB
Python
from ..lib1553 import messages as msgs
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from ..lib1553.constants import (
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TargetHistory, RadarMode, AltitudeBlock,
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RWSSubmode, GMSubmode, RangeScale, BarScan, AzimuthScan,
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StandbyStatus, DesignationControl
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)
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import logging
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logger = logging.getLogger(__name__)
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class RadarController:
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"""
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High-level controller for the Radar state.
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FUTURE EXTENSION POINTS:
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- add validate_command(msg, field, value) for ICD range checking
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- add queue_command(msg) for rate-limited transmission
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- add apply_config(profile) to replace hardcoded defaults
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- add state change callbacks for GUI synchronization
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Holds the instances of 1553 messages (A-Transmit / B-Receive).
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Acts as the interface for the GUI or Scripts to modify radar behavior.
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"""
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def __init__(self):
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# --- TX Messages (BC -> RT) ---
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# These are the commands we send to the Radar
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self.msg_a1 = msgs.MsgA1() # Settings
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self.msg_a2 = msgs.MsgA2() # Commands
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self.msg_a3 = msgs.MsgA3() # Graphics
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self.msg_a4 = msgs.MsgA4() # Nav Data
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self.msg_a5 = msgs.MsgA5() # INU Data
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self.msg_a7 = msgs.MsgA7() # Data Link 1
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self.msg_a8 = msgs.MsgA8() # Data Link 2
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# --- RX Messages (RT -> BC) ---
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# These are placeholders/requests we send to get data back
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self.msg_b1 = msgs.MsgB1() # TWS 1-2
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self.msg_b2 = msgs.MsgB2() # TWS 3-5
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self.msg_b3 = msgs.MsgB3() # TWS 6-8
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self.msg_b4 = msgs.MsgB4() # SPT
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self.msg_b5 = msgs.MsgB5() # Tracked Target
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self.msg_b6 = msgs.MsgB6() # Settings Tell-back
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self.msg_b7 = msgs.MsgB7() # Status Tell-back
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self.msg_b8 = msgs.MsgB8() # BIT Report
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# NOTE: Defaults are NOT applied automatically
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# Call apply_defaults() explicitly when needed (e.g., when RUN button is pressed)
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def apply_defaults(self):
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"""
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Sets the default values for the radar commands.
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Based on legacy initialization logic from working test_1553.py.
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"""
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logger.info("Applying default radar configuration...")
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# --- A1: Settings ---
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# Legacy: settings.set_history_level(TARGET_HISTORY_LEVEL_04)
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self.msg_a1.target_history = TargetHistory.LEVEL_4
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# Legacy: rdr_symbology_intensity = 127
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self.msg_a1.symbol_intensity = 127
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# Additional safe defaults for A1
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self.msg_a1.altitude_block = AltitudeBlock.NORMAL
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self.msg_a1.beacon_delay = 0.0
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# Frequency agility and other A1 fields initialized to 0 by default (safe)
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# --- A2: Operation Command ---
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# Legacy: set_master_mode(RWS)
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self.msg_a2.master_mode = RadarMode.RWS
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# CRITICAL: Ensure STANDBY is OFF to allow radar operation
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self.msg_a2.standby_cmd = StandbyStatus.OFF
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# Legacy: set_gm_submode(0) -> RBM
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self.msg_a2.gm_submode = GMSubmode.RBM
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# Ensure other modes are in a known state
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self.msg_a2.rws_submode = RWSSubmode.NAM
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# Set reasonable scan parameters for RWS mode
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self.msg_a2.range_scale = RangeScale.NM_20 # 20 NM default
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self.msg_a2.bar_scan = BarScan.BAR_1 # 1 bar
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self.msg_a2.azimuth_scan = AzimuthScan.DEG_60 # 60 deg scan
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# Designation control = NOT_VALID (no designation active)
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self.msg_a2.designation_ctrl = DesignationControl.NOT_VALID
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# --- A3: Graphic ---
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# Legacy: just instantiated (all zeros)
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# A3 controls symbology display. 0 usually means nothing displayed initially.
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# Can be configured via GUI later if needed.
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# --- A4: Nav Data ---
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# Legacy: validity_and_slew.raw = 0
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# CRITICAL: validity bits = 0 means data is VALID (inverse logic!)
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# Set all validity flags to 0 (data valid)
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self.msg_a4.nav_data_invalid = 0
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self.msg_a4.attitude_data_invalid = 0
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self.msg_a4.baro_inertial_alt_invalid = 0
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self.msg_a4.corr_baro_alt_invalid = 0
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self.msg_a4.radalt_invalid = 0
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self.msg_a4.spoi_alt_invalid = 0
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self.msg_a4.spoi_pos_invalid = 0
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self.msg_a4.tas_invalid = 0
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self.msg_a4.cas_invalid = 0
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self.msg_a4.ppos_invalid = 0
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self.msg_a4.cursor_rates_invalid = 0
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# Provide some dummy nav data (radar needs valid nav context)
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self.msg_a4.baro_inertial_alt = 10000.0 # 10,000 ft
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self.msg_a4.tas = 300.0 # 300 knots
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self.msg_a4.cas = 250 # 250 knots
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self.msg_a4.true_heading = 0.0 # North
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# --- A5: INU Data ---
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# Legacy: timetag.raw = 0
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self.msg_a5.time_tag = 0.0
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# Note: velocity_x/y/z are read-only properties (32-bit fields)
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# They're calculated from underlying words, initialized to 0 by default
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# To set them, we'd need to write directly to _data[2-7]
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# For now, leave as 0 (default initialization is fine)
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# Angular rates (zero = stable platform) - these ARE settable
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self.msg_a5.pitch_rate = 0.0
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self.msg_a5.roll_rate = 0.0
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self.msg_a5.yaw_rate = 0.0
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logger.info("Radar defaults applied:")
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logger.info(f" → Master Mode: {self.msg_a2.master_mode.name}")
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logger.info(f" → Standby: {self.msg_a2.standby_cmd.name}")
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logger.info(f" → Range Scale: {self.msg_a2.range_scale.name}")
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logger.info(f" → Nav Data Valid: YES (all validity flags = 0)")
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logger.info(f" → Altitude: {self.msg_a4.baro_inertial_alt} ft")
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logger.info(f" → TAS: {self.msg_a4.tas} kts")
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def set_master_mode(self, mode: RadarMode):
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"""API to change the Radar Master Mode."""
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self.msg_a2.master_mode = mode
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logger.info(f"Master Mode set to: {mode.name}")
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def update_navigation_data(self, alt=None, tas=None):
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"""Example API to update navigation data."""
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if alt is not None:
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self.msg_a4.baro_inertial_alt = alt
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if tas is not None:
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self.msg_a4.tas = tas |