eive-tmtc/eive_tmtc/tmtc/acs/star_tracker.py

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2021-08-16 10:03:40 +02:00
# -*- coding: utf-8 -*-
"""
@file star_tracker.py
@brief Star tracker commanding
@author J. Meier
@date 14.08.2021
"""
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import datetime
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import enum
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import logging
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import struct
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from eive_tmtc.config.definitions import CustomServiceList
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from eive_tmtc.utility.input_helper import InputHelper
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from spacepackets.ecss.tc import PusTelecommand
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from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
from tmtccmd.config.tmtc import tmtc_definitions_provider
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from tmtccmd.pus.tc.s3_fsfw_hk import (
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create_request_one_diag_command,
create_request_one_hk_command,
enable_periodic_hk_command_with_interval,
disable_periodic_hk_command,
make_sid,
)
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from tmtccmd.pus.s8_fsfw_action import create_action_cmd
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
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from tmtccmd.util import ObjectIdU32
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from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
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from eive_tmtc.config.object_ids import STR_ASSEMBLY, STAR_TRACKER_ID
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_LOGGER = logging.getLogger(__name__)
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class StarTrackerActionId(enum.IntEnum):
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PING = 0
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BOOT = 1
REQ_VERSION = 2
REQ_INTERFACE = 3
REQ_TIME = 4
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UNLOCK = 6
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SWITCH_TO_BOOTLOADER_PROGRAM = 7
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REQ_POWER = 11
TAKE_IMAGE = 15
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DOWNLOAD_IMAGE = 9
UPLOAD_IMAGE = 10
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DOWNLOAD_CENTROID = 16
UPLOAD_CENTROID = 17
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SUBSCRIPTION = 18
IMAGE_PROCESSOR = 19
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REQ_SOLUTION = 24
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REQ_TEMPERATURE = 25
REQ_HISTOGRAM = 28
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REQ_CONTRAST = 29
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LIMITS = 40
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MOUNTING = 41
CAMERA = 42
BLOB = 43
CENTROIDING = 44
LISA = 45
MATCHING = 46
TRACKING = 47
VALIDATION = 48
ALGO = 49
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CHECKSUM = 50
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FLASH_READ = 51
FLASH_WRITE = 52
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DOWNLOAD_MATCHED_STAR = 53
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STOP_STR_HELPER = 55
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RESET_ERROR = 56
CHANGE_DOWNLOAD_IMAGE = 57
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SET_JSON_FILE_NAME = 58
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SET_FLASH_READ_FILENAME = 59
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DOWNLOAD_DBIMAGE = 61
DOWNLOAD_BLOBPIXEL = 62
DOWNLOAD_FPGA_IMAGE = 63
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CHANGE_FPGA_DOWNLOAD_FILE = 64
UPLOAD_FPGA_IMAGE = 65
FPGA_ACTION = 66
REQ_CAMERA_PARAMS = 67
REQ_LIMITS = 68
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REQ_LOG_LEVEL = 69
REQ_MOUNTING = 70
REQ_IMAGE_PROCESSOR = 71
REQ_CENTROIDING = 72
REQ_LISA = 73
REQ_MATCHING = 74
REQ_TRACKING = 75
REQ_VALIDATION = 76
REQ_ALGO = 77
REQ_SUBSCRIPTION = 78
REQ_LOG_SUBSCRIPTION = 79
REQ_DEBUG_CAMERA = 80
LOGLEVEL = 81
LOG_SUBSCRIPTION = 82
DEBUG_CAMERA = 83
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FIRMWARE_UPDATE = 84
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SET_TIME_FROM_SYS_TIME = 87
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ADD_SECONDARY_TM_TO_NORMAL_MODE = 95
RESET_SECONDARY_TM_SET = 96
READ_SECONDARY_TM_SET = 97
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class OpCodes:
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ON_BOOTLOADER = "on_bootloader"
ON_FIRMWARE = "on_firmware"
NORMAL = "nml"
OFF = "off"
PING = "ping"
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ONE_SHOOT_HK = "one_shot_hk"
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ENABLE_HK = "enable_hk"
DISABLE_HK = "disable_hk"
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ADD_SECONDARY_TM_TO_NORMAL_MODE = "add_secondary_tm"
RESET_SECONDARY_TM_SET = "reset_secondary_tm"
READ_SECONDARY_TM_SET = "read_secondary_tm"
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TAKE_IMAGE = "take_image"
UPLOAD_IMAGE = "upload_image"
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DOWNLOAD_IMAGE = "download_image"
SET_IMG_PROCESSOR_MODE = "set_img_proc_mode"
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FW_UPDATE = "fw_update"
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SET_TIME_FROM_SYS_TIME = "set_time"
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class Info:
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ONE_SHOOT_HK = "One shoot HK Set"
ENABLE_HK = "Enable Periodic HK"
DISABLE_HK = "Disable Periodic HK"
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ADD_SECONDARY_TM_TO_NORMAL_MODE = "Add specific Dataset to secondary TM"
RESET_SECONDARY_TM_SET = "Reset secondary TM to Temperature Set only"
READ_SECONDARY_TM_SET = "Read list of secondary TM Sets"
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UPLOAD_IMAGE = "Upload Optical Image"
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DOWNLOAD_IMAGE = "Download Optical Image"
TAKE_IMAGE = "Take Image"
SET_IMG_PROCESSOR_MODE = "Set Image Processor Mode"
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FW_UPDATE = "Firmware Update"
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SET_TIME_FROM_SYS_TIME = "Set time from system time"
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class SetId(enum.IntEnum):
VERSION = 2
INTERFACE = 3
POWER = 11
TEMPERATURE = 25
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SOLUTION = 24
HISTOGRAM = 28
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CONTRAST = 29
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CHECKSUM = 50
CAMERA = 67
LIMITS = 68
CENTROIDING = 72
LISA = 73
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AUTO_BLOB = 89
MATCHED_CENTROIDS = 90
BLOB = 91
BLOBS = 92
CENTROID = 93
CENTROIDS = 94
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class DataSetRequest(enum.IntEnum):
ONESHOT = 0
ENABLE = 1
DISABLE = 2
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class FileDefs:
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download_path = "/mnt/sd0/startracker"
json_file = "/mnt/sd0/startracker/full.json"
egse_ground_config = "/home/pi/arcsec/json/ground-config.json"
egse_flight_config = "/home/pi/arcsec/json/flight-config.json"
egse_solution_upload_img_config = "/home/pi/arcsec/json/upload-image-solution.json"
egse_histogram_upload_img_config = (
"/home/pi/arcsec/json/upload-image-histogram.json"
)
q7s_ground_config = "/mnt/sd0/startracker/ground-config.json"
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q7s_flight_config = "/mnt/sd0/startracker/flight-config.json"
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firmware2_1 = "/home/pi/arcsec/firmware/sagitta-2-1.bin"
firmware22_1 = "/home/pi/arcsec/firmware/sagitta-22-1.bin"
firmware_origin = "/home/pi/arcsec/firmware/sagitta-origin.bin"
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FW_SLOT_Q7S = "/mnt/sd0/startracker/updates/sagitta-update.bin"
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json_dict = {
"1": ("Q7S flight config", FileDefs.q7s_flight_config),
"2": ("Q7S ground config", FileDefs.q7s_ground_config),
"3": ("EGSE flight config", FileDefs.egse_flight_config),
"4": ("EGSE ground config", FileDefs.egse_ground_config),
"5": (
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"EGSE get solution, upload image config",
FileDefs.egse_solution_upload_img_config,
),
"6": (
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"EGSE get histogram, upload image config",
FileDefs.egse_solution_upload_img_config,
),
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}
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FW_DICT = {
"0": ("Firmware Update Q7S", FileDefs.FW_SLOT_Q7S),
"1": ("Firmware Major = 2, Minor = 1", FileDefs.firmware2_1),
"2": ("Firmware Major = 22, Minor = 1", FileDefs.firmware22_1),
"3": ("Firmware Origin", FileDefs.firmware_origin),
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}
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UPLOAD_IMAGE_DICT = {
"0": ("custom path", "Custom Path"),
"1": ("q7s gemma", "/mnt/sd0/startracker/gemma.bin"),
"2": ("egse gemma", "/home/pi/arcsec/star-images/gemma.bin"),
"3": ("q7s polaris", "/mnt/sd0/startracker/polaris.bin"),
"4": ("egse polaris", "/home/pi/arcsec/star-images/polaris.bin"),
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}
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class StartRegion:
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# Definition according to datasheet (which turned out to be partially faulty)
BOOTLOADER = 0
STAR_TRACKER_FIRMWARE = 1
class PartitionSize:
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# Size of most recent firmware image
STAR_TRACKER_FIRMWARE = 464572
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class Submode(enum.IntEnum):
DEFAULT = 0
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BOOTLOADER = 1
FIRMWARE = 2
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def prompt_object_id_mode_cmd() -> bytes:
cmd_assy = input("Command Assembly (0) or Device Handler (1) ?: ")
if cmd_assy == "0":
return STR_ASSEMBLY
else:
return STAR_TRACKER_ID
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def pack_star_tracker_commands( # noqa C901
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object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
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):
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q.add_log_cmd(
f"Generate command for star tracker with object id: {object_id.as_hex_string}"
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)
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obyt = object_id.as_bytes
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if op_code == OpCodes.ON_BOOTLOADER:
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q.add_log_cmd("Star tracker: Mode On, Submode Bootloader")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.ON, Submode.BOOTLOADER)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if op_code == OpCodes.ON_FIRMWARE:
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q.add_log_cmd("Star tracker: Mode On, Submode Firmware")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.ON, Submode.FIRMWARE)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if op_code == OpCodes.NORMAL:
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q.add_log_cmd("Star tracker: Mode Normal")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.NORMAL, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if op_code == OpCodes.OFF:
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q.add_log_cmd("Star tracker: Mode Off")
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data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.OFF, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if op_code == OpCodes.ONE_SHOOT_HK:
q.add_log_cmd(Info.ONE_SHOOT_HK)
request_dataset(q, DataSetRequest.ONESHOT)
if op_code == OpCodes.ENABLE_HK:
q.add_log_cmd(Info.ENABLE_HK)
request_dataset(q, DataSetRequest.ENABLE)
if op_code == OpCodes.DISABLE_HK:
q.add_log_cmd(Info.DISABLE_HK)
request_dataset(q, DataSetRequest.DISABLE)
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if op_code == "4":
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q.add_log_cmd("Star tracker: Mode Raw")
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data = pack_mode_data(obyt, Mode.RAW, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
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if op_code == OpCodes.PING:
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q.add_log_cmd("Star tracker: Ping")
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data = obyt + struct.pack("!I", StarTrackerActionId.PING)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "6":
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q.add_log_cmd("Star tracker: Switch to bootloader program")
data = obyt + struct.pack(
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"!I", StarTrackerActionId.SWITCH_TO_BOOTLOADER_PROGRAM
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "7":
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q.add_log_cmd("Star tracker: Temperature request")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TEMPERATURE)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "8":
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q.add_log_cmd("Star tracker: Request version")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_VERSION)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "9":
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q.add_log_cmd("Star tracker: Request interface")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_INTERFACE)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "10":
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q.add_log_cmd("Star tracker: Request power")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_POWER)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "11":
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q.add_log_cmd("Star tracker: Set subscription parameters")
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json_file = get_config_file()
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.SUBSCRIPTION)
+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "12":
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q.add_log_cmd("Star tracker: Boot")
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data = obyt + struct.pack("!I", StarTrackerActionId.BOOT)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "13":
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q.add_log_cmd("Star tracker: Request time")
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data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TIME)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
if op_code == OpCodes.UPLOAD_IMAGE:
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q.add_log_cmd("Star tracker: Upload image")
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image = get_upload_image()
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.UPLOAD_IMAGE)
+ bytearray(image, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == OpCodes.DOWNLOAD_IMAGE:
q.add_log_cmd(f"STR: {Info.DOWNLOAD_IMAGE}")
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path = input("Specify storage location (default - /mnt/sd0/startracker): ")
if not path:
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path = FileDefs.download_path
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_IMAGE)
+ bytearray(path, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "17":
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q.add_log_cmd("Star tracker: Set limits")
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json_file = get_config_file()
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.LIMITS)
+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "18":
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q.add_log_cmd("Star tracker: Set tracking parameters")
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json_file = get_config_file()
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.TRACKING)
+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "19":
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q.add_log_cmd("Star tracker: Mounting")
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json_file = get_config_file()
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.MOUNTING)
+ bytearray(json_file, "utf-8")
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)
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
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if op_code == "20":
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q.add_log_cmd("Star tracker: Camera")
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json_file = get_config_file()
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data = (
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obyt
+ struct.pack("!I", StarTrackerActionId.CAMERA)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "22":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Centroiding")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.CENTROIDING)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "23":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: LISA")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.LISA)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "24":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Matching")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.MATCHING)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "25":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Validation")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.VALIDATION)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "26":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Algo")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.ALGO)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2023-03-21 17:00:53 +01:00
if op_code == OpCodes.TAKE_IMAGE:
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Take image")
actionid = int(
input("Specify parameter ID (4: take image, 7: get histogram): ")
)
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.TAKE_IMAGE)
+ struct.pack("!B", actionid)
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "28":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Stop str helper")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.STOP_STR_HELPER)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "30":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Set name of download image")
2021-12-13 07:55:34 +01:00
filename = input("Specify download image name: ")
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.CHANGE_DOWNLOAD_IMAGE)
+ bytearray(filename, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "31":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request histogram")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_HISTOGRAM)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "32":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request contrast")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CONTRAST)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "33":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Set json filename")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.SET_JSON_FILE_NAME)
+ bytearray(json_file, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "35":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Flash read")
data = pack_read_command(obyt)
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "36":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Set flash read filename")
2021-12-24 07:32:35 +01:00
filename = input("Specify filename: ")
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.SET_FLASH_READ_FILENAME)
+ bytearray(filename, "utf-8")
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "37":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Get checksum")
data = pack_checksum_command(obyt)
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2023-07-13 10:53:42 +02:00
if op_code == OpCodes.SET_TIME_FROM_SYS_TIME:
q.add_log_cmd(Info.SET_TIME_FROM_SYS_TIME)
2023-07-19 14:41:19 +02:00
data = obyt + struct.pack("!I", StarTrackerActionId.SET_TIME_FROM_SYS_TIME)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "39":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Download Centroid")
2021-12-29 20:33:49 +01:00
id = 0
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_CENTROID)
+ struct.pack("!B", id)
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "41":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Download matched star")
2021-12-29 20:33:49 +01:00
id = 0
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_MATCHED_STAR)
+ struct.pack("!B", id)
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "42":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Download DB Image")
2021-12-29 20:33:49 +01:00
id = 0
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_DBIMAGE)
+ struct.pack("!B", id)
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "43":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Download Blob Pixel")
2021-12-29 20:33:49 +01:00
id = 0
2022-01-18 14:03:56 +01:00
type = 1 # 0 - normal, 1 - fast
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.DOWNLOAD_BLOBPIXEL)
+ struct.pack("!B", id)
+ struct.pack("!B", type)
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "47":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: FPGA action")
2021-12-30 12:55:24 +01:00
id = 3
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.FPGA_ACTION)
+ struct.pack("!B", id)
2022-01-18 14:03:56 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "48":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Unlock")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.UNLOCK)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "49":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request camera parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CAMERA_PARAMS)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "50":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request limits")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LIMITS)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
if op_code == OpCodes.SET_IMG_PROCESSOR_MODE:
q.add_log_cmd(Info.SET_IMG_PROCESSOR_MODE)
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.IMAGE_PROCESSOR)
+ bytearray(json_file, "utf-8")
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "52":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: EGSE load ground config camera parameters")
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.CAMERA)
+ bytearray(FileDefs.egse_ground_config, "utf-8")
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "53":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: EGSE load flight config camera parameters")
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.CAMERA)
+ bytearray(FileDefs.egse_flight_config, "utf-8")
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "54":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request log level parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LOG_LEVEL)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "55":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request mounting parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_MOUNTING)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "56":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request image processor parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_IMAGE_PROCESSOR)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "57":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request centroiding parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CENTROIDING)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "58":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request lisa parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LISA)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "59":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request matching parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_MATCHING)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "60":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request tracking parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TRACKING)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "61":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request validation parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_VALIDATION)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "62":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request algo parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_ALGO)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "63":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request subscription parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_SUBSCRIPTION)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "64":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request log subscription parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LOG_SUBSCRIPTION)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "65":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Request debug camera parameters")
2023-01-16 14:13:06 +01:00
data = obyt + struct.pack("!I", StarTrackerActionId.REQ_DEBUG_CAMERA)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "66":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Set log level parameters")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.LOGLEVEL)
+ bytearray(json_file, "utf-8")
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "67":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Set log subscription parameters")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.LOG_SUBSCRIPTION)
+ bytearray(json_file, "utf-8")
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2022-02-23 18:16:10 +01:00
if op_code == "68":
2022-07-04 17:59:09 +02:00
q.add_log_cmd("Star tracker: Set debug camera parameters")
2022-02-27 16:17:24 +01:00
json_file = get_config_file()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.DEBUG_CAMERA)
+ bytearray(json_file, "utf-8")
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2023-04-13 12:08:00 +02:00
if op_code == OpCodes.FW_UPDATE:
q.add_log_cmd(Info.FW_UPDATE)
2022-02-14 16:52:32 +01:00
firmware = get_firmware()
2022-07-04 17:59:09 +02:00
data = (
2023-03-10 13:38:21 +01:00
obyt
+ struct.pack("!I", StarTrackerActionId.FIRMWARE_UPDATE)
2023-04-13 12:08:00 +02:00
+ firmware.encode()
2022-02-27 16:17:24 +01:00
)
2022-07-04 17:59:09 +02:00
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
2023-10-19 16:52:08 +02:00
if op_code == OpCodes.ADD_SECONDARY_TM_TO_NORMAL_MODE:
2023-10-26 13:15:51 +02:00
q.add_log_cmd(Info.ADD_SECONDARY_TM_TO_NORMAL_MODE)
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for val in SetId:
print("{:<2}: {:<20}".format(val, val.name))
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set_id = int(input("Specify the dataset \n" ""))
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q.add_pus_tc(
create_action_cmd(
STAR_TRACKER_ID,
StarTrackerActionId.ADD_SECONDARY_TM_TO_NORMAL_MODE,
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struct.pack("!I", set_id),
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)
)
if op_code == OpCodes.RESET_SECONDARY_TM_SET:
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q.add_log_cmd(Info.RESET_SECONDARY_TM_SET)
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q.add_pus_tc(
create_action_cmd(
STAR_TRACKER_ID,
StarTrackerActionId.RESET_SECONDARY_TM_SET,
)
)
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if op_code == OpCodes.READ_SECONDARY_TM_SET:
q.add_log_cmd(Info.READ_SECONDARY_TM_SET)
q.add_pus_tc(
create_action_cmd(
STAR_TRACKER_ID, StarTrackerActionId.READ_SECONDARY_TM_SET
)
)
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def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest):
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for val in SetId:
print("{:<2}: {:<20}".format(val, val.name))
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set_id = int(input("Specify the dataset \n" ""))
if set_id in [SetId.SOLUTION, SetId.TEMPERATURE]:
is_diag = True
else:
is_diag = False
match req_type:
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case DataSetRequest.ONESHOT:
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if is_diag:
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q.add_pus_tc(
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create_request_one_diag_command(make_sid(STAR_TRACKER_ID, set_id))
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)
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else:
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q.add_pus_tc(
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create_request_one_hk_command(make_sid(STAR_TRACKER_ID, set_id))
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)
case DataSetRequest.ENABLE:
interval = float(
input("Please specify interval in floating point seconds: ")
)
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if is_diag:
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cmd_tuple = enable_periodic_hk_command_with_interval(
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True, make_sid(STAR_TRACKER_ID, set_id), interval
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)
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else:
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(STAR_TRACKER_ID, set_id), interval
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)
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q.add_pus_tc(cmd_tuple[0])
q.add_pus_tc(cmd_tuple[1])
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case DataSetRequest.DISABLE:
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if is_diag:
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q.add_pus_tc(
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disable_periodic_hk_command(True, make_sid(STAR_TRACKER_ID, set_id))
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)
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else:
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q.add_pus_tc(
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disable_periodic_hk_command(
False, make_sid(STAR_TRACKER_ID, set_id)
)
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)
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def pack_read_command(object_id: bytes) -> bytearray:
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start_region = StartRegion.STAR_TRACKER_FIRMWARE
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size = PartitionSize.STAR_TRACKER_FIRMWARE
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path = input("Specify storage location (default - /mnt/sd0/startracker): ")
if not path:
path = FileDefs.download_path
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data = (
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object_id
+ struct.pack("!I", StarTrackerActionId.FLASH_READ)
+ struct.pack("!B", start_region)
+ struct.pack("!I", size)
+ bytearray(path, "utf-8")
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)
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return bytearray(data)
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def pack_checksum_command(object_id: bytes) -> bytearray:
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start_region = StartRegion.STAR_TRACKER_FIRMWARE
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address = 0
size = PartitionSize.STAR_TRACKER_FIRMWARE
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data = (
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object_id
+ struct.pack("!I", StarTrackerActionId.CHECKSUM)
+ struct.pack("!B", start_region)
+ struct.pack("!I", address)
+ struct.pack("!I", size)
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)
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return bytearray(data)
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def get_config_file() -> str:
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_LOGGER.info("Specify json file")
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input_helper = InputHelper(json_dict)
key = input_helper.get_key()
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json_file = json_dict[key][1]
return json_file
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def get_firmware() -> str:
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_LOGGER.info("Specify firmware file")
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bin_select = int(input("Use hardcoded paths (0) or specify path manually (1) ?: "))
if bin_select == 0:
input_helper = InputHelper(FW_DICT)
key = input_helper.get_key()
firmware = FW_DICT[key][1]
else:
firmware = input("Specify absolute path of the firmware update file: ")
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return firmware
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def get_upload_image() -> str:
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_LOGGER.info("Specify image to upload")
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input_helper = InputHelper(UPLOAD_IMAGE_DICT)
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key = input_helper.get_key()
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if UPLOAD_IMAGE_DICT[key][0] == "custom path":
image = input("Please specify custom absolute path: ")
else:
image = UPLOAD_IMAGE_DICT[key][1]
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return image
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def handle_str_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
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pw.dlog(f"Received STR HK set with set ID {set_id}")
if set_id == SetId.SOLUTION:
handle_solution_set(hk_data, pw)
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elif set_id == SetId.HISTOGRAM:
handle_histogram_set(hk_data, pw)
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elif set_id == SetId.TEMPERATURE:
handle_temperature_set(hk_data, pw)
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elif set_id == SetId.AUTO_BLOB:
handle_auto_blob_set(hk_data, pw)
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elif set_id == SetId.MATCHED_CENTROIDS:
handle_matched_centroids_set(hk_data, pw)
elif set_id == SetId.BLOB:
handle_blob_set(hk_data, pw)
elif set_id == SetId.BLOBS:
handle_blobs_set(hk_data, pw)
elif set_id == SetId.CENTROID:
handle_centroid_set(hk_data, pw)
elif set_id == SetId.CENTROIDS:
handle_centroids_set(hk_data, pw)
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elif set_id == SetId.CONTRAST:
handle_contrast_set(hk_data, pw)
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else:
_LOGGER.warning(f"HK parsing for Star Tracker set ID {set_id} unimplemented")
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def unpack_time_hk(hk_data: bytes, current_idx: int, pw: PrintWrapper) -> int:
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ticks_time_fmt = "!IQ"
fmt_len = struct.calcsize(ticks_time_fmt)
(ticks, unix_time) = struct.unpack(
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ticks_time_fmt, hk_data[current_idx : current_idx + fmt_len]
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)
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try:
unix_as_dt = datetime.datetime.fromtimestamp(
int(round(unix_time / 1e6)), tz=datetime.timezone.utc
)
pw.dlog(f"Ticks: {ticks} | UNIX time: {unix_time}")
pw.dlog(f"UNIX as datetime: {unix_as_dt}")
except ValueError as e:
_LOGGER.exception(e)
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current_idx += fmt_len
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return current_idx
def handle_temperature_set(hk_data: bytes, pw: PrintWrapper):
pw.dlog("Received temperature set")
if len(hk_data) < 24:
_LOGGER.warning(f"Temperature dataset HK with length {len(hk_data)} too short")
current_idx = unpack_time_hk(hk_data, 0, pw)
temps_fmt = "!fff"
fmt_len = struct.calcsize(temps_fmt)
(mcu_temp, cmos_temp, fpga_temp) = struct.unpack(
temps_fmt, hk_data[current_idx : current_idx + fmt_len]
)
pw.dlog(f"MCU Temperature: {mcu_temp}")
pw.dlog(f"CMOS Temperature: {cmos_temp}")
pw.dlog(f"FPGA Temperature: {fpga_temp}")
current_idx += fmt_len
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 5)
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def handle_solution_set(hk_data: bytes, pw: PrintWrapper):
pw.dlog("Received solution set")
if len(hk_data) < 78:
_LOGGER.warning(
f"Solution dataset HK data with length {len(hk_data)} too short"
)
return
current_idx = unpack_time_hk(hk_data, 0, pw)
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calib_quaternions_fmt = "!ffff"
fmt_len = struct.calcsize(calib_quaternions_fmt)
(calib_q_w, calib_q_x, calib_q_y, calib_q_z) = struct.unpack(
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calib_quaternions_fmt, hk_data[current_idx : current_idx + fmt_len]
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)
pw.dlog("Calibrated Quaternions")
pw.dlog(f"Quaternion w: {calib_q_w}")
pw.dlog(f"Quaternion x: {calib_q_x}")
pw.dlog(f"Quaternion y: {calib_q_y}")
pw.dlog(f"Quaternion z: {calib_q_z}")
current_idx += fmt_len
track_fmt = "!fffff"
fmt_len = struct.calcsize(track_fmt)
(track_confidence, track_q_w, track_q_x, track_q_y, track_q_z) = struct.unpack(
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track_fmt, hk_data[current_idx : current_idx + fmt_len]
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)
pw.dlog(f"Track Confidence: {track_confidence}")
pw.dlog(f"Track QW: {track_q_w}")
pw.dlog(f"Track QX: {track_q_x}")
pw.dlog(f"Track QY: {track_q_y}")
pw.dlog(f"Track QZ: {track_q_z}")
current_idx += fmt_len
track_removed = hk_data[current_idx]
pw.dlog(f"Number of stars removed from tracking solution: {track_removed}")
current_idx += 1
stars_centroided = hk_data[current_idx]
pw.dlog(f"Centroided stars: {stars_centroided}")
current_idx += 1
stars_matched_database = hk_data[current_idx]
pw.dlog(f"Stars matched: {stars_matched_database}")
current_idx += 1
# Result of LISA: Lost in space algorithm
lisa_fmt = "!fffffB"
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fmt_len = struct.calcsize(lisa_fmt)
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(
lisa_q_w,
lisa_q_x,
lisa_q_y,
lisa_q_z,
lisa_percentage_close_stars,
lisa_number_close_stars,
) = struct.unpack(lisa_fmt, hk_data[current_idx : current_idx + fmt_len])
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pw.dlog(f"LISA QW: {lisa_q_w}")
pw.dlog(f"LISA QX: {lisa_q_x}")
pw.dlog(f"LISA QY: {lisa_q_y}")
pw.dlog(f"LISA QZ: {lisa_q_z}")
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pw.dlog(
f"Percentage of close stars in LISA solution: {lisa_percentage_close_stars}"
)
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pw.dlog(f"Number of close stars in LISA solution: {lisa_number_close_stars}")
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current_idx += fmt_len
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str_mode = hk_data[current_idx]
pw.dlog(f"STR mode: {str_mode}")
current_idx += 1
is_trustworthy = hk_data[current_idx]
pw.dlog(f"Trustworthy solution: {is_trustworthy}")
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current_idx += 1
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stable_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
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pw.dlog(f"Stable count: {stable_count}")
current_idx += 4
solution_strategy = hk_data[current_idx]
pw.dlog(f"Solution strategy: {solution_strategy}")
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current_idx += 1
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 23)
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def handle_blob_set(hk_data: bytes, pw: PrintWrapper):
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pw.dlog("Received Blob Set")
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if len(hk_data) < 14:
_LOGGER.warning(f"Blob dataset HK data with length {len(hk_data)} too short")
return
current_idx = unpack_time_hk(hk_data, 0, pw)
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blob_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
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pw.dlog(f"Blob count: {blob_count}")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx + 4 :], num_vars=3)
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def handle_blobs_set(hk_data: bytes, pw: PrintWrapper):
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pw.dlog("Received Blobs Set")
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if len(hk_data) < 6 + 2 * 2 * 8:
_LOGGER.warning(f"Blobs dataset HK data with length {len(hk_data)} too short")
return
current_idx = unpack_time_hk(hk_data, 0, pw)
fmt_str = "!HHH"
inc_len = struct.calcsize(fmt_str)
count, count_used, nr_4lines_skipped = struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
current_idx += inc_len
pw.dlog(
f"Count {count} | Count Used {count_used} | Number of skipped 4lines {nr_4lines_skipped}"
)
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fmt_coords = "!HHHHHHHH"
inc_len = struct.calcsize(fmt_coords)
x_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
y_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
pw.dlog("{:<8} {:<8}".format("X", "Y"))
for idx in range(8):
pw.dlog("{:<8} {:<8}".format(x_coords[idx], y_coords[idx]))
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assert current_idx == len(hk_data) - 1
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=7)
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def handle_centroid_set(hk_data: bytes, pw: PrintWrapper):
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pw.dlog("Received Centroid Set")
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if len(hk_data) < 14:
raise ValueError(
f"Centroid dataset HK data with length {len(hk_data)} too short"
)
current_idx = unpack_time_hk(hk_data, 0, pw)
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centroid_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
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current_idx += 4
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pw.dlog(f"Centroid count: {centroid_count}")
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assert current_idx == len(hk_data) - 1
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
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def handle_centroids_set(hk_data: bytes, pw: PrintWrapper):
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pw.dlog("Received Centroids Set")
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current_idx = unpack_time_hk(hk_data, 0, pw)
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centroids_count = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
current_idx += 2
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pw.dlog(f"Centroids count: {centroids_count}")
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fmt_coords = "!ffffffffffffffff"
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inc_len = struct.calcsize(fmt_coords)
x_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
y_coords = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
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fmt_coords = "!BBBBBBBBBBBBBBBB"
inc_len = struct.calcsize(fmt_coords)
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magnitude = struct.unpack(fmt_coords, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
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pw.dlog("{:<8} {:<8} {:<8} {:<8}".format("Index", "X", "Y", "Magnitude"))
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for idx in range(16):
pw.dlog(
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"{:<8} {:<8.3f} {:<8.3f} {:<8}".format(
idx, x_coords[idx], y_coords[idx], magnitude[idx]
)
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)
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assert current_idx == len(hk_data) - 1
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
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def handle_matched_centroids_set(hk_data: bytes, pw: PrintWrapper):
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pw.dlog("Received Matched Centroids Set")
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if len(hk_data) < 4 + 8 + 1 + 4 * 16 * 5:
raise ValueError(
f"Matched Centroids dataset HK data with length {len(hk_data)} too short. Expected 333 bytes."
)
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current_idx = unpack_time_hk(hk_data, 0, pw)
num_matched_centroids = hk_data[current_idx]
current_idx += 1
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pw.dlog(f"Number of matched centroids {num_matched_centroids}")
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fmt_ids = "!IIIIIIIIIIIIIIII"
inc_len = struct.calcsize(fmt_ids)
star_id = struct.unpack(fmt_ids, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
fmt_floats = "!ffffffffffffffff"
inc_len = struct.calcsize(fmt_floats)
x_coords = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
y_coords = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
x_errors = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
y_errors = struct.unpack(fmt_floats, hk_data[current_idx : current_idx + inc_len])
current_idx += inc_len
pw.dlog(
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"{:<8} {:<10} {:<10} {:<10} {:<10} {:<10}".format(
"Index", "Star ID", "X", "Y", "X Error", "Y Error"
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)
)
for idx in range(16):
pw.dlog(
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"{:<8} {:<10} {:<10.3f} {:<10.3f} {:<10.3f} {:<10.3f}".format(
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idx,
star_id[idx],
x_coords[idx],
y_coords[idx],
x_errors[idx],
y_errors[idx],
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)
)
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assert current_idx == len(hk_data) - 1
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8)
def handle_auto_blob_set(hk_data: bytes, pw: PrintWrapper):
pw.dlog("Received Auto Blob Set")
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if len(hk_data) < 4 + 8 + 4:
raise ValueError(
f"Matched Centroids dataset HK data with length {len(hk_data)} too short. Expected 16 bytes."
)
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current_idx = unpack_time_hk(hk_data, 0, pw)
fmt_threshold = "!f"
inc_len = struct.calcsize(fmt_threshold)
threshold = struct.unpack(
fmt_threshold, hk_data[current_idx : current_idx + inc_len]
)[0]
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current_idx += inc_len
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assert current_idx == len(hk_data) - 1
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pw.dlog(f"Threshold {threshold}")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
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def handle_histo_or_contrast_set(name: str, hk_data: bytes, pw: PrintWrapper):
pw.dlog(f"Received {name} Set")
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current_idx = unpack_time_hk(hk_data, 0, pw)
fmt_str = "!IIIIIIIII"
bins_list = []
inc_len = struct.calcsize(fmt_str)
a_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
bins_list.append(a_bins)
current_idx += inc_len
b_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
bins_list.append(b_bins)
current_idx += inc_len
c_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
bins_list.append(c_bins)
current_idx += inc_len
d_bins = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
bins_list.append(d_bins)
pw.dlog(
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f"{name} Sections: A Upper Left | B Upper Right | C Lower Left | D Lower Right"
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)
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pw.dlog("{:<12} {:<10} {:<10} {:<10} {:<10}".format("Range", "A", "B", "C", "D"))
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for idx in range(9):
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if idx == 0:
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val_range = "0 (0-0)"
elif idx == 1:
val_range = "1 (1-1)"
else:
val_range = f"{idx} ({pow(2, idx - 1)}-{pow(2, idx) - 1})"
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pw.dlog(
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"{:<12} {:<10} {:<10} {:<10} {:<10}".format(
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val_range,
bins_list[0][idx],
bins_list[1][idx],
bins_list[2][idx],
bins_list[3][idx],
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)
)
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def handle_histogram_set(hk_data: bytes, pw: PrintWrapper):
handle_histo_or_contrast_set("Histogram", hk_data, pw)
def handle_contrast_set(hk_data: bytes, pw: PrintWrapper):
handle_histo_or_contrast_set("Contrast", hk_data, pw)
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def handle_star_tracker_action_replies(
action_id: int, pw: PrintWrapper, custom_data: bytes
):
if action_id == StarTrackerActionId.CHECKSUM:
handle_checksum(pw, custom_data)
elif action_id == StarTrackerActionId.READ_SECONDARY_TM_SET:
handle_read_secondary_tm_set(pw, custom_data)
def handle_checksum(pw: PrintWrapper, custom_data: bytes):
if len(custom_data) != 5:
_LOGGER.warning(
"Star tracker reply has invalid length {0}".format(len(custom_data))
)
return
header_list = ["Checksum", "Checksum valid"]
print(custom_data[4])
checksum_valid_flag = custom_data[4] >> 8
content_list = ["0x" + custom_data[:4].hex(), checksum_valid_flag]
pw.dlog(f"{header_list}")
pw.dlog(f"{content_list}")
def handle_read_secondary_tm_set(pw: PrintWrapper, custom_data: bytes):
pw.dlog("Received secondary TM Sets")
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if len(custom_data) % 4 != 0:
raise ValueError(f"Received data of unexpected length {len(custom_data)}")
data_length = int(len(custom_data) / 4)
fmt_str = "!" + "I" * data_length
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inc_len = struct.calcsize(fmt_str)
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set_ids = struct.unpack(fmt_str, custom_data[:inc_len])
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pw.dlog("The following Datasets are currently Part of the secondary TM list")
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for set_id in set_ids:
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if set_id in SetId._value2member_map_:
pw.dlog(SetId(set_id).name)
else:
pw.dlog(f"Unknown Set ID {set_id}")
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@tmtc_definitions_provider
def add_str_cmds(defs: TmtcDefinitionWrapper):
oce = OpCodeEntry()
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oce.add(OpCodes.ON_BOOTLOADER, "Mode On, Submode Bootloader")
oce.add(OpCodes.ON_FIRMWARE, "Mode On, Submode Firmware")
oce.add(OpCodes.NORMAL, "Mode Normal")
oce.add(OpCodes.OFF, "Mode Off")
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oce.add(OpCodes.PING, "Star Tracker: Ping")
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oce.add(OpCodes.TAKE_IMAGE, "Take Image")
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oce.add(OpCodes.UPLOAD_IMAGE, Info.UPLOAD_IMAGE)
oce.add(OpCodes.DOWNLOAD_IMAGE, Info.DOWNLOAD_IMAGE)
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oce.add(OpCodes.ONE_SHOOT_HK, Info.ONE_SHOOT_HK)
oce.add(OpCodes.ENABLE_HK, Info.ENABLE_HK)
oce.add(OpCodes.DISABLE_HK, Info.DISABLE_HK)
oce.add(OpCodes.SET_IMG_PROCESSOR_MODE, Info.SET_IMG_PROCESSOR_MODE)
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oce.add(
OpCodes.ADD_SECONDARY_TM_TO_NORMAL_MODE, Info.ADD_SECONDARY_TM_TO_NORMAL_MODE
)
oce.add(OpCodes.READ_SECONDARY_TM_SET, Info.READ_SECONDARY_TM_SET)
oce.add(OpCodes.RESET_SECONDARY_TM_SET, Info.RESET_SECONDARY_TM_SET)
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oce.add(OpCodes.FW_UPDATE, Info.FW_UPDATE)
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oce.add(OpCodes.SET_TIME_FROM_SYS_TIME, Info.SET_TIME_FROM_SYS_TIME)
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defs.add_service(CustomServiceList.STAR_TRACKER.value, "Star Tracker", oce)