66 lines
2.2 KiB
Python
66 lines
2.2 KiB
Python
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# -*- coding: utf-8 -*-
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"""
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@file imtq.py
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@brief Tests for the ISIS IMTQ (Magnettorquer) device handler
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@author J. Meier
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@date 25.03.2021
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"""
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from tmtccmd.config.definitions import QueueCommands
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from tmtccmd.pus_tc.packer import TcQueueT
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from tmtccmd.ecss.tc import PusTelecommand
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from tmtccmd.pus_tc.service_3_housekeeping import make_sid, generate_one_hk_command
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class RwSetIds:
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STATUS_SET_ID = 4
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TEMPERATURE_SET_ID = 8
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class RwCommandIds:
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RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
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# Reads status information from reaction wheel into dataset with id 4
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GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
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SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
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# Reads temperature from reaction wheel into dataset with id 8
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GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
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class SpeedDefinitions:
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RPM_100 = 1000
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RPM_5000 = 5000
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class RampTime:
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MS_100 = 100
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def pack_single_rw_test_into(object_id: bytearray, tc_queue: TcQueueT, op_code: str) -> TcQueueT:
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tc_queue.appendleft(
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(QueueCommands.PRINT,
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"Testing reaction wheel handler with object id: 0x" + object_id.hex())
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)
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if op_code == "0" or op_code == "1":
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tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Set speed"))
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command = pack_set_speed_command(SpeedDefinitions.RPM_100, RampTime.MS_100)
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command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
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tc_queue.appendleft(command.pack_command_tuple())
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return tc_queue
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def pack_set_speed_command(object_id: bytearray, speed: int, ramp_time: int) -> bytearray:
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""" With this function a command is packed to set the speed of a reaction wheel
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@param object_id The object id of the reaction wheel handler.
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@param speed Valid speeds are [-65000, -1000] and [1000, 65000]. Values are specified in 0.1 * RPM
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@param ramp_time The time after which the reaction wheel will reached the commanded speed. Valid times are
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10 - 10000 ms
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"""
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command_id = RwCommandIds.SET_SPEED
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command = bytearray()
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command = object_id + command_id
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command.extend(speed.to_bytes(length=4, byteorder='big'))
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command.extend(ramp_time.to_bytes(length=2, byteorder='big'))
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return command
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