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

1072 lines
38 KiB
Python
Raw Normal View History

2023-03-14 18:09:52 +01:00
import datetime
import enum
2023-02-01 11:17:04 +01:00
import logging
2023-11-10 19:23:06 +01:00
import math
2022-08-17 11:19:23 +02:00
import socket
2022-08-16 12:51:31 +02:00
import struct
2022-08-17 11:19:23 +02:00
from socket import AF_INET
2022-10-10 10:44:45 +02:00
from typing import Tuple
2022-08-16 12:51:31 +02:00
from tmtccmd.config.tmtc import (
OpCodeEntry,
2023-11-10 19:23:06 +01:00
TmtcDefinitionWrapper,
tmtc_definitions_provider,
2022-08-16 12:51:31 +02:00
)
2023-05-25 11:31:06 +02:00
from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
2023-11-10 19:23:06 +01:00
from tmtccmd.pus.s8_fsfw_action import create_action_cmd
from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd
from tmtccmd.pus.s20_fsfw_param_defs import (
2023-11-10 19:23:06 +01:00
create_matrix_double_parameter,
create_matrix_float_parameter,
create_scalar_double_parameter,
create_scalar_float_parameter,
create_scalar_i32_parameter,
create_scalar_u8_parameter,
create_scalar_u16_parameter,
create_vector_double_parameter,
2023-11-10 19:23:06 +01:00
create_vector_float_parameter,
)
2023-11-10 19:23:06 +01:00
from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_command
from tmtccmd.pus.tc.s3_fsfw_hk import (
create_request_one_diag_command,
2023-12-05 09:57:07 +01:00
create_request_one_hk_command,
2023-11-10 19:23:06 +01:00
disable_periodic_hk_command,
enable_periodic_hk_command_with_interval,
make_sid,
)
from tmtccmd.tmtc import service_provider
from tmtccmd.tmtc.decorator import ServiceProviderParams
from tmtccmd.tmtc.queue import DefaultPusQueueHelper
2023-11-10 19:23:06 +01:00
from eive_tmtc.config.definitions import CustomServiceList
from eive_tmtc.config.object_ids import ACS_CONTROLLER
from eive_tmtc.pus_tm.defs import PrintWrapper
from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
2022-12-02 18:03:10 +01:00
2023-03-14 18:09:52 +01:00
_LOGGER = logging.getLogger(__name__)
2023-01-16 13:22:41 +01:00
class SetId(enum.IntEnum):
2022-12-02 18:03:10 +01:00
MGM_RAW_SET = 0
MGM_PROC_SET = 1
SUS_RAW_SET = 2
SUS_PROC_SET = 3
GYR_RAW_SET = 4
GYR_PROC_SET = 5
GPS_PROC_SET = 6
2023-12-05 09:57:07 +01:00
ATTITUDE_ESTIMATION_DATA = 7
2022-12-02 18:03:10 +01:00
CTRL_VAL_DATA = 8
ACTUATOR_CMD_DATA = 9
2023-07-21 11:20:20 +02:00
FUSED_ROT_RATE_DATA = 10
2023-12-05 09:57:07 +01:00
FUSED_ROT_RATE_SOURCE_DATA = 11
class DataSetRequest(enum.IntEnum):
ONESHOT = 0
ENABLE = 1
DISABLE = 2
2023-01-20 12:19:57 +01:00
2023-02-24 15:06:54 +01:00
class ActionId(enum.IntEnum):
SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0
RESET_MEKF = 1
RESTORE_MEKF_NONFINITE_RECOVERY = 2
2023-08-07 14:21:58 +02:00
UPDATE_TLE = 3
2023-12-01 13:01:31 +01:00
READ_TLE = 4
2023-03-02 14:41:23 +01:00
CTRL_STRAT_DICT = {
0: "OFF",
1: "NO_MAG_FIELD_FOR_CONTROL",
2: "NO_SENSORS_FOR_CONTROL",
2023-07-26 13:15:08 +02:00
# OBSW <= v6.1.0
10: "LEGACY_SAFE_MEKF",
11: "LEGACY_WITHOUT_MEKF",
12: "LEGACY_ECLIPSE_DAMPING",
13: "LEGACY_ECLIPSE_IDELING",
2023-07-26 13:15:08 +02:00
# Added in OBSW v6.2.0
14: "SAFE_MEKF",
15: "SAFE_GYR",
16: "SAFE_SUSMGM",
17: "SAFE_ECLIPSE_DAMPING_GYR",
18: "SAFE_ECLIPSE_DAMPING_SUSMGM",
19: "SAFE_ECLIPSE_IDELING",
20: "DETUMBLE_FULL",
21: "DETUMBLE_DETERIORATED",
30: "PTG_MEKF",
31: "PTG_RAW",
}
2023-08-07 14:21:58 +02:00
GPS_COURCE_DICT = {
0: "NONE",
1: "GPS",
2023-08-14 12:50:50 +02:00
2: "GPS_EXTRAPOLATED",
2023-08-09 14:58:28 +02:00
3: "SGP4",
2023-08-07 14:21:58 +02:00
}
class OpCodes:
2023-12-05 09:57:07 +01:00
OFF = "off"
SAFE = "safe"
DTBL = "safe_detumble"
IDLE = "ptg_idle"
NADIR = "ptg_nadir"
TARGET = "ptg_target"
GS = "ptg_target_gs"
INERTIAL = "ptg_inertial"
SAFE_PTG = "confirm_deployment"
RESET_MEKF = "reset_mekf"
RESTORE_MEKF_NONFINITE_RECOVERY = "restore_mekf_nonfinite_recovery"
UPDATE_TLE = "update_tle"
READ_TLE = "read_tle"
SET_PARAMETER_SCALAR = "set_scalar_param"
SET_PARAMETER_VECTOR = "set_vector_param"
SET_PARAMETER_MATRIX = "set_matrix_param"
ONE_SHOOT_HK = "one_shot_hk"
ENABLE_HK = "enable_hk"
DISABLE_HK = "disable_hk"
class Info:
2023-01-16 14:48:12 +01:00
OFF = "Switch ACS CTRL off"
2023-03-10 13:37:17 +01:00
SAFE = "Switch ACS CTRL - safe"
DTBL = "Switch ACS CTRL - safe with detumble submode"
IDLE = "Switch ACS CTRL - pointing idle"
2023-02-24 13:56:50 +01:00
NADIR = "Switch ACS CTRL normal - pointing nadir"
TARGET = "Switch ACS CTRL normal - pointing target"
GS = "Switch ACS CTRL normal - pointing target groundstation"
INERTIAL = "Switch ACS CTRL normal - pointing inertial"
2023-02-24 15:06:54 +01:00
SAFE_PTG = "Confirm deployment of both solar arrays"
RESET_MEKF = "Reset the MEKF"
RESTORE_MEKF_NONFINITE_RECOVERY = "Restore MEKF non-finite recovery"
2023-08-07 14:21:58 +02:00
UPDATE_TLE = "Update TLE"
2023-12-01 13:01:31 +01:00
READ_TLE = "Read the currently stored TLE"
SET_PARAMETER_SCALAR = "Set Scalar Parameter"
SET_PARAMETER_VECTOR = "Set Vector Parameter"
SET_PARAMETER_MATRIX = "Set Matrix Parameter"
2023-12-05 09:57:07 +01:00
ONE_SHOOT_HK = "One shoot HK Set"
ENABLE_HK = "Enable Periodic HK"
DISABLE_HK = "Disable Periodic HK"
2022-08-18 11:09:35 +02:00
PERFORM_MGM_CALIBRATION = False
2022-08-17 11:19:23 +02:00
CALIBRATION_SOCKET_HOST = "localhost"
CALIBRATION_SOCKET_PORT = 6677
CALIBRATION_ADDR = (CALIBRATION_SOCKET_HOST, CALIBRATION_SOCKET_PORT)
2022-08-17 15:24:39 +02:00
if PERFORM_MGM_CALIBRATION:
CALIBR_SOCKET = socket.socket(AF_INET, socket.SOCK_STREAM)
CALIBR_SOCKET.setblocking(False)
CALIBR_SOCKET.settimeout(0.2)
CALIBR_SOCKET.connect(CALIBRATION_ADDR)
2022-08-17 11:19:23 +02:00
@tmtc_definitions_provider
def acs_cmd_defs(defs: TmtcDefinitionWrapper):
oce = OpCodeEntry()
2023-01-16 14:48:12 +01:00
oce.add(keys=OpCodes.OFF, info=Info.OFF)
oce.add(keys=OpCodes.SAFE, info=Info.SAFE)
oce.add(keys=OpCodes.DTBL, info=Info.DTBL)
oce.add(keys=OpCodes.IDLE, info=Info.IDLE)
2023-02-24 13:56:50 +01:00
oce.add(keys=OpCodes.NADIR, info=Info.NADIR)
oce.add(keys=OpCodes.TARGET, info=Info.TARGET)
oce.add(keys=OpCodes.GS, info=Info.GS)
oce.add(keys=OpCodes.INERTIAL, info=Info.INERTIAL)
2023-02-24 15:06:54 +01:00
oce.add(keys=OpCodes.SAFE_PTG, info=Info.SAFE_PTG)
oce.add(keys=OpCodes.RESET_MEKF, info=Info.RESET_MEKF)
2023-03-21 23:27:42 +01:00
oce.add(
keys=OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY,
info=Info.RESTORE_MEKF_NONFINITE_RECOVERY,
)
2023-08-07 14:21:58 +02:00
oce.add(keys=OpCodes.UPDATE_TLE, info=Info.UPDATE_TLE)
2023-12-01 13:01:31 +01:00
oce.add(keys=OpCodes.READ_TLE, info=Info.READ_TLE)
oce.add(keys=OpCodes.SET_PARAMETER_SCALAR, info=Info.SET_PARAMETER_SCALAR)
oce.add(keys=OpCodes.SET_PARAMETER_VECTOR, info=Info.SET_PARAMETER_VECTOR)
2023-02-27 15:04:02 +01:00
oce.add(keys=OpCodes.SET_PARAMETER_MATRIX, info=Info.SET_PARAMETER_MATRIX)
2023-12-05 09:57:07 +01:00
oce.add(keys=OpCodes.ONE_SHOOT_HK, info=Info.ONE_SHOOT_HK)
oce.add(keys=OpCodes.ENABLE_HK, info=Info.ENABLE_HK)
oce.add(keys=OpCodes.DISABLE_HK, info=Info.DISABLE_HK)
defs.add_service(
2022-08-16 12:51:31 +02:00
name=CustomServiceList.ACS_CTRL.value, info="ACS Controller", op_code_entry=oce
)
@service_provider(CustomServiceList.ACS_CTRL.value)
2023-06-19 17:16:00 +02:00
def pack_acs_ctrl_command(p: ServiceProviderParams): # noqa C901
2022-08-18 14:08:05 +02:00
op_code = p.op_code
q = p.queue_helper
2023-12-05 09:57:07 +01:00
if op_code == OpCodes.OFF:
2023-01-16 15:05:33 +01:00
q.add_log_cmd(f"{Info.OFF}")
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.SAFE:
q.add_log_cmd(f"{Info.SAFE}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(
pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT)
)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.DTBL:
q.add_log_cmd(f"{Info.DTBL}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(
pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE)
)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.IDLE:
q.add_log_cmd(f"{Info.IDLE}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.NADIR:
2023-02-24 13:56:50 +01:00
q.add_log_cmd(f"{Info.NADIR}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.TARGET:
2023-02-24 13:56:50 +01:00
q.add_log_cmd(f"{Info.TARGET}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.GS:
2023-02-24 13:56:50 +01:00
q.add_log_cmd(f"{Info.GS}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.INERTIAL:
2023-02-24 13:56:50 +01:00
q.add_log_cmd(f"{Info.INERTIAL}")
2023-03-10 13:37:17 +01:00
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.SAFE_PTG:
2023-02-24 15:06:54 +01:00
q.add_log_cmd(f"{Info.SAFE_PTG}")
2023-03-02 14:41:23 +01:00
q.add_pus_tc(
create_action_cmd(
ACS_CONTROLLER, ActionId.SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL
)
)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.RESET_MEKF:
2023-02-24 15:06:54 +01:00
q.add_log_cmd(f"{Info.RESET_MEKF}")
q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.RESET_MEKF))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY:
q.add_log_cmd(f"{Info.RESTORE_MEKF_NONFINITE_RECOVERY}")
2023-03-21 23:27:42 +01:00
q.add_pus_tc(
create_action_cmd(ACS_CONTROLLER, ActionId.RESTORE_MEKF_NONFINITE_RECOVERY)
)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.UPDATE_TLE:
2023-08-07 14:21:58 +02:00
q.add_log_cmd(f"{Info.UPDATE_TLE}")
while True:
line1 = input("Please input the first line of the TLE: ")
if len(line1) == 69:
break
else:
print("The line does not have the required length of 69 characters")
while True:
line2 = input("Please input the second line of the TLE: ")
if len(line2) == 69:
break
else:
print("The line does not have the required length of 69 characters")
2023-08-15 11:47:07 +02:00
tle = line1.encode() + line2.encode()
q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.UPDATE_TLE, tle))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.READ_TLE:
2023-12-01 13:01:31 +01:00
q.add_log_cmd(f"{Info.READ_TLE}")
q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.READ_TLE))
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.SET_PARAMETER_SCALAR:
q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}")
set_acs_ctrl_param_scalar(q)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.SET_PARAMETER_VECTOR:
q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}")
set_acs_ctrl_param_vector(q)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.SET_PARAMETER_MATRIX:
2023-02-27 15:04:02 +01:00
q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}")
set_acs_ctrl_param_matrix(q)
2023-12-05 09:57:07 +01:00
elif op_code == OpCodes.ONE_SHOOT_HK:
q.add_log_cmd(Info.ONE_SHOOT_HK)
request_dataset(q, DataSetRequest.ONESHOT)
elif op_code == OpCodes.ENABLE_HK:
q.add_log_cmd(Info.ENABLE_HK)
request_dataset(q, DataSetRequest.ENABLE)
elif op_code == OpCodes.DISABLE_HK:
q.add_log_cmd(Info.DISABLE_HK)
request_dataset(q, DataSetRequest.DISABLE)
2022-08-16 11:56:06 +02:00
else:
2023-02-01 11:17:04 +01:00
logging.getLogger(__name__).info(f"Unknown op code {op_code}")
2022-08-16 12:51:31 +02:00
2023-12-05 09:57:07 +01:00
def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest):
for val in SetId:
print("{:<2}: {:<20}".format(val, val.name))
set_id = int(input("Specify the dataset \n" ""))
if set_id in [
SetId.GYR_RAW_SET,
SetId.GPS_PROC_SET,
SetId.ATTITUDE_ESTIMATION_DATA,
]:
is_diag = True
else:
is_diag = False
match req_type:
case DataSetRequest.ONESHOT:
if is_diag:
q.add_pus_tc(
create_request_one_diag_command(make_sid(ACS_CONTROLLER, set_id))
)
else:
q.add_pus_tc(
create_request_one_hk_command(make_sid(ACS_CONTROLLER, set_id))
)
case DataSetRequest.ENABLE:
interval = float(
input("Please specify interval in floating point seconds: ")
)
if is_diag:
cmd_tuple = enable_periodic_hk_command_with_interval(
True, make_sid(ACS_CONTROLLER, set_id), interval
)
else:
cmd_tuple = enable_periodic_hk_command_with_interval(
False, make_sid(ACS_CONTROLLER, set_id), interval
)
q.add_pus_tc(cmd_tuple[0])
q.add_pus_tc(cmd_tuple[1])
case DataSetRequest.DISABLE:
if is_diag:
q.add_pus_tc(
disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, set_id))
)
else:
q.add_pus_tc(
disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, set_id))
)
def set_acs_ctrl_param_scalar(q: DefaultPusQueueHelper):
2023-03-02 14:41:23 +01:00
pt = int(
input(
2023-09-12 13:48:38 +02:00
'Specify parameter type to set {0: "uint8", 1: "uint16", 2: "int32", 3:'
' "float", 4: "double"}: '
2023-03-02 14:41:23 +01:00
)
)
sid = int(input("Specify parameter struct ID to set: "))
pid = int(input("Specify parameter ID to set: "))
match pt:
case 0:
param = int(input("Specify parameter value to set: "))
q.add_pus_tc(
create_load_param_cmd(
create_scalar_u8_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameter=param,
2023-06-19 17:16:00 +02:00
)
)
)
case 1:
param = int(input("Specify parameter value to set: "))
q.add_pus_tc(
create_load_param_cmd(
create_scalar_u16_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameter=param,
2023-06-19 17:16:00 +02:00
)
)
)
case 2:
param = int(input("Specify parameter value to set: "))
q.add_pus_tc(
create_load_param_cmd(
2023-02-28 11:02:59 +01:00
create_scalar_i32_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameter=param,
2023-06-19 17:16:00 +02:00
)
)
)
case 3:
param = float(input("Specify parameter value to set: "))
q.add_pus_tc(
create_load_param_cmd(
create_scalar_float_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameter=param,
2023-06-19 17:16:00 +02:00
)
)
)
case 4:
param = float(input("Specify parameter value to set: "))
q.add_pus_tc(
create_load_param_cmd(
create_scalar_double_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameter=param,
2023-06-19 17:16:00 +02:00
)
)
)
def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper):
2023-03-02 14:41:23 +01:00
pt = int(input('Specify parameter type to set {0: "float", 1: "double"}: '))
sid = int(input("Specify parameter struct ID to set: "))
pid = int(input("Specify parameter ID to set: "))
match pt:
case 0:
2023-02-27 15:04:02 +01:00
elms = int(input("Specify number of elements in vector to set: "))
param = []
2023-02-27 15:04:02 +01:00
for _ in range(elms):
2023-03-02 14:41:23 +01:00
param.append(
float(input("Specify parameter vector entry value to set: "))
)
print(param)
2023-02-27 15:04:02 +01:00
if input("Confirm selected parameter values (Y/N): ") == "Y":
q.add_pus_tc(
create_load_param_cmd(
create_vector_float_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameters=param,
).pack()
)
)
else:
2023-02-28 11:02:59 +01:00
q.add_log_cmd("Aborted by user input")
return
case 1:
2023-02-27 15:04:02 +01:00
elms = int(input("Specify number of elements in vector to set: "))
param = []
2023-02-27 15:04:02 +01:00
for _ in range(elms):
2023-03-02 14:41:23 +01:00
param.append(
float(input("Specify parameter vector entry value to set: "))
)
print(param)
2023-02-27 15:04:02 +01:00
if input("Confirm selected parameter values (Y/N): ") == "Y":
q.add_pus_tc(
create_load_param_cmd(
create_vector_double_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameters=param,
2023-06-19 17:16:00 +02:00
)
)
)
else:
2023-02-28 11:02:59 +01:00
q.add_log_cmd("Aborted by user input")
return
2023-02-27 15:04:02 +01:00
def set_acs_ctrl_param_matrix(q: DefaultPusQueueHelper):
2023-03-02 14:41:23 +01:00
pt = int(input('Specify parameter type to set {0: "float", 1: "double"}: '))
2023-02-27 15:04:02 +01:00
sid = int(input("Specify parameter struct ID to set: "))
pid = int(input("Specify parameter ID to set: "))
match pt:
case 0:
rows = int(input("Specify number of rows in matrix to set: "))
cols = int(input("Specify number of columns in matrix to set: "))
row = []
param = []
for _ in range(rows):
for _ in range(cols):
2023-03-02 14:41:23 +01:00
row.append(
float(input("Specify parameter vector entry value to set: "))
)
2023-02-27 15:04:02 +01:00
param.append(row)
print(param)
if input("Confirm selected parameter values (Y/N): ") == "Y":
q.add_pus_tc(
create_load_param_cmd(
create_matrix_float_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameters=param,
2023-06-19 17:16:00 +02:00
)
2023-02-27 15:04:02 +01:00
)
)
else:
2023-02-28 11:02:59 +01:00
q.add_log_cmd("Aborted by user input")
2023-02-27 15:04:02 +01:00
return
case 1:
rows = int(input("Specify number of rows in matrix to set: "))
cols = int(input("Specify number of columns in matrix to set: "))
row = []
param = []
for _ in range(rows):
for _ in range(cols):
2023-03-02 14:41:23 +01:00
row.append(
float(input("Specify parameter vector entry value to set: "))
)
2023-02-27 15:04:02 +01:00
param.append(row)
row = []
print(param)
if input("Confirm selected parameter values (Y/N): ") == "Y":
q.add_pus_tc(
create_load_param_cmd(
create_matrix_double_parameter(
object_id=ACS_CONTROLLER,
domain_id=sid,
unique_id=pid,
parameters=param,
2023-06-19 17:16:00 +02:00
)
2023-02-27 15:04:02 +01:00
)
)
else:
2023-02-28 11:02:59 +01:00
q.add_log_cmd("Aborted by user input")
2023-02-27 15:04:02 +01:00
return
2023-03-14 18:09:52 +01:00
def handle_acs_ctrl_hk_data(
2023-05-24 13:44:45 +02:00
pw: PrintWrapper,
2023-03-14 18:09:52 +01:00
set_id: int,
hk_data: bytes,
packet_time: datetime.datetime,
):
pw.ilog(_LOGGER, f"Received ACS CTRL HK with packet time {packet_time}")
2022-12-21 15:15:55 +01:00
match set_id:
2023-01-16 13:22:41 +01:00
case SetId.MGM_RAW_SET:
2022-12-21 15:15:55 +01:00
handle_raw_mgm_data(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.MGM_PROC_SET:
2022-12-21 15:15:55 +01:00
handle_mgm_data_processed(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.SUS_RAW_SET:
2022-12-21 15:15:55 +01:00
handle_acs_ctrl_sus_raw_data(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.SUS_PROC_SET:
2022-12-21 15:15:55 +01:00
handle_acs_ctrl_sus_processed_data(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.GYR_RAW_SET:
2022-12-21 15:15:55 +01:00
handle_gyr_data_raw(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.GYR_PROC_SET:
2022-12-21 15:15:55 +01:00
handle_gyr_data_processed(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.GPS_PROC_SET:
2022-12-21 15:15:55 +01:00
handle_gps_data_processed(pw, hk_data)
2023-12-05 09:57:07 +01:00
case SetId.ATTITUDE_ESTIMATION_DATA:
2022-12-21 15:15:55 +01:00
handle_mekf_data(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.CTRL_VAL_DATA:
2022-12-21 15:15:55 +01:00
handle_ctrl_val_data(pw, hk_data)
2023-01-16 13:22:41 +01:00
case SetId.ACTUATOR_CMD_DATA:
2022-12-21 15:15:55 +01:00
handle_act_cmd_data(pw, hk_data)
2023-07-21 11:20:20 +02:00
case SetId.FUSED_ROT_RATE_DATA:
handle_fused_rot_rate_data(pw, hk_data)
2022-12-02 18:03:10 +01:00
def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
2022-12-02 17:22:15 +01:00
if len(hk_data) < 6 * 2 * 12:
2022-12-02 17:53:42 +01:00
pw.dlog(
f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
f" of {6 * 2 * 12} bytes"
)
2022-12-02 17:22:15 +01:00
return
current_idx = 0
2022-12-21 16:07:49 +01:00
vec_fmt = "["
for _ in range(5):
vec_fmt += "{:#06x}, "
vec_fmt += "{:#06x}]"
2022-12-02 17:22:15 +01:00
for idx in range(12):
fmt_str = "!HHHHHH"
length = struct.calcsize(fmt_str)
2022-12-02 17:53:42 +01:00
sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
2022-12-21 16:07:49 +01:00
sus_list_formatted = vec_fmt.format(*sus_list)
2022-12-02 17:22:15 +01:00
current_idx += length
pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=12)
2022-12-02 17:22:15 +01:00
2022-12-02 18:03:10 +01:00
def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
if len(hk_data) < 3 * 4 * 12 + 3 * 8 * 3:
2022-12-02 17:53:42 +01:00
pw.dlog(
2023-09-12 13:48:38 +02:00
f"SUS Processed dataset with size {len(hk_data)} does not have expected"
f" size of {3 * 4 * 12 + 3 * 8 * 3} bytes"
2022-12-02 17:53:42 +01:00
)
2022-12-02 17:22:15 +01:00
return
current_idx = 0
2023-02-08 21:09:24 +01:00
vec_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
2022-12-02 17:22:15 +01:00
for idx in range(12):
fmt_str = "!fff"
length = struct.calcsize(fmt_str)
2022-12-02 17:53:42 +01:00
sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
2023-02-08 21:09:24 +01:00
sus_list_formatted = vec_fmt.format(*sus_list)
2022-12-02 17:22:15 +01:00
current_idx += length
2023-02-08 21:09:24 +01:00
pw.dlog(f"{f'SUS {idx} CALIB'.ljust(25)}: {sus_list_formatted}")
2022-12-02 17:22:15 +01:00
fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str)
sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 21:09:24 +01:00
sus_vec_tot = vec_fmt.format(*sus_vec_tot)
2022-12-02 17:22:15 +01:00
current_idx += inc_len
2023-02-08 21:09:24 +01:00
pw.dlog(f"{'SUS Vector Total'.ljust(25)}: {sus_vec_tot}")
2022-12-02 17:53:42 +01:00
sus_vec_tot_deriv = struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
2023-02-08 21:09:24 +01:00
sus_vec_tot_deriv = vec_fmt.format(*sus_vec_tot_deriv)
2022-12-02 17:22:15 +01:00
current_idx += inc_len
2023-02-08 21:09:24 +01:00
pw.dlog(f"{'SUS Vector Derivative'.ljust(25)}: {sus_vec_tot_deriv}")
sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 21:09:24 +01:00
sun_ijk_model = vec_fmt.format(*sun_ijk_model)
2022-12-02 17:22:15 +01:00
current_idx += inc_len
2023-02-08 21:09:24 +01:00
pw.dlog(f"{'SUS ijk Model'.ljust(25)}: {sun_ijk_model}")
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=15)
2022-12-02 17:22:15 +01:00
2022-12-02 18:03:10 +01:00
def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
2022-08-16 12:51:31 +02:00
current_idx = 0
if len(hk_data) < 61:
pw.dlog(
2023-09-12 13:48:38 +02:00
f"ACS CTRL HK: MGM HK data with length {len(hk_data)} shorter than expected"
" 61 bytes"
2022-08-16 12:51:31 +02:00
)
pw.dlog(f"Raw Data: {hk_data.hex(sep=',')}")
return
def unpack_float_tuple(idx: int) -> (tuple, int):
f_tuple = struct.unpack(
float_tuple_fmt_str,
hk_data[idx : idx + struct.calcsize(float_tuple_fmt_str)],
)
idx += struct.calcsize(float_tuple_fmt_str)
return f_tuple, idx
float_tuple_fmt_str = "!fff"
mgm_0_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx)
mgm_1_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx)
mgm_2_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx)
mgm_3_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx)
2022-08-18 18:15:48 +02:00
isis_floats_nt, current_idx = unpack_float_tuple(current_idx)
imtq_mgm_ut = tuple(val / 1000.0 for val in isis_floats_nt)
2022-08-16 12:53:05 +02:00
pw.dlog("ACS CTRL HK: MGM values [X,Y,Z] in floating point uT: ")
2022-08-16 12:51:31 +02:00
mgm_lists = [
mgm_0_lis3_floats_ut,
mgm_1_rm3100_floats_ut,
mgm_2_lis3_floats_ut,
mgm_3_rm3100_floats_ut,
imtq_mgm_ut,
]
formatted_list = []
# Reserve 8 decimal digits, use precision 3
float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
for mgm_entry in mgm_lists[0:4]:
formatted_list.append(float_str_fmt.format(*mgm_entry))
formatted_list.append(float_str_fmt.format(*mgm_lists[4]))
formatted_list.append(hk_data[current_idx])
2022-08-16 12:51:31 +02:00
print_str_list = [
"ACS Board MGM 0 LIS3MDL",
"ACS Board MGM 1 RM3100",
"ACS Board MGM 2 LIS3MDL",
"ACS Board MGM 3 RM3100",
"IMTQ MGM:",
2022-12-21 15:15:55 +01:00
"IMTQ Actuation Status:",
2022-08-16 12:51:31 +02:00
]
for entry in zip(print_str_list, formatted_list):
pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}")
current_idx += 1
assert current_idx == 61
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
2022-08-17 11:19:23 +02:00
2022-12-02 17:53:42 +01:00
def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received Processed MGM Set")
fmt_str = "!fffffddd"
inc_len = struct.calcsize(fmt_str)
if len(hk_data) < inc_len:
pw.dlog("Recieved HK set too small")
return
current_idx = 0
fmt_str = "!fff"
2023-02-08 22:55:22 +01:00
vec_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
inc_len = struct.calcsize(fmt_str)
2023-02-07 15:21:48 +01:00
mgm_0 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 22:55:22 +01:00
mgm_0_str = vec_fmt.format(*mgm_0)
pw.dlog(f"{'MGM 0 Vec'.ljust(25)}: {mgm_0_str}")
current_idx += inc_len
2023-02-07 15:21:48 +01:00
mgm_1 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 22:55:22 +01:00
mgm_1_str = vec_fmt.format(*mgm_1)
pw.dlog(f"{'MGM 1 Vec'.ljust(25)}: {mgm_1_str}")
current_idx += inc_len
2023-02-07 15:21:48 +01:00
mgm_2 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 22:55:22 +01:00
mgm_2_str = vec_fmt.format(*mgm_2)
pw.dlog(f"{'MGM 2 Vec'.ljust(25)}: {mgm_2_str}")
current_idx += inc_len
2023-02-07 15:21:48 +01:00
mgm_3 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 22:55:22 +01:00
mgm_3_str = vec_fmt.format(*mgm_3)
pw.dlog(f"{'MGM 3 Vec'.ljust(25)}: {mgm_3_str}")
current_idx += inc_len
2023-02-07 15:21:48 +01:00
mgm_4 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 22:55:22 +01:00
mgm_4_str = vec_fmt.format(*mgm_4)
pw.dlog(f"{'MGM 4 Vec'.ljust(25)}: {mgm_4_str}")
current_idx += inc_len
2022-12-02 17:53:42 +01:00
fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str)
2023-02-07 15:21:48 +01:00
mgm_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
2023-02-08 22:55:22 +01:00
mgm_vec_tot = vec_fmt.format(*mgm_vec_tot)
2022-12-02 17:53:42 +01:00
current_idx += inc_len
2023-02-08 22:55:22 +01:00
pw.dlog(f"{'MGM Total Vec'.ljust(25)}: {mgm_vec_tot}")
2022-12-02 17:53:42 +01:00
mgm_vec_tot_deriv = struct.unpack(
2023-02-07 15:21:48 +01:00
fmt_str, hk_data[current_idx : current_idx + inc_len]
2022-12-02 17:53:42 +01:00
)
2023-02-08 22:55:22 +01:00
mgm_vec_tot_deriv = vec_fmt.format(*mgm_vec_tot_deriv)
pw.dlog(f"{'MGM Total Vec Deriv'.ljust(25)}: {mgm_vec_tot_deriv}")
2022-12-02 17:53:42 +01:00
current_idx += inc_len
mag_igrf_model = struct.unpack(
2023-02-07 15:21:48 +01:00
fmt_str, hk_data[current_idx : current_idx + inc_len]
2022-12-02 17:53:42 +01:00
)
2023-02-08 22:55:22 +01:00
mag_igrf_model = vec_fmt.format(*mag_igrf_model)
pw.dlog(f"{'MAG IGRF Model'.ljust(25)}: {mag_igrf_model}")
2022-12-02 17:53:42 +01:00
current_idx += inc_len
if PERFORM_MGM_CALIBRATION:
perform_mgm_calibration(pw, mgm_3)
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8)
2022-12-02 17:53:42 +01:00
def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
2022-12-21 15:15:55 +01:00
pw.dlog("Received GYR Raw Set with rotation rates in deg per second")
2022-12-02 17:53:42 +01:00
float_fmt = "!fff"
double_fmt = "!ddd"
inc_len_flt = struct.calcsize(float_fmt)
inc_len_double = struct.calcsize(double_fmt)
if len(hk_data) < 2 * inc_len_double + 2 * inc_len_flt:
pw.dlog("HK data too small")
return
current_idx = 0
2022-12-21 16:07:49 +01:00
float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
gyr_0_adis = struct.unpack(
double_fmt, hk_data[current_idx : current_idx + inc_len_double]
)
2022-12-02 17:53:42 +01:00
current_idx += inc_len_double
2022-12-21 16:07:49 +01:00
gyr_1_l3 = struct.unpack(
float_fmt, hk_data[current_idx : current_idx + inc_len_flt]
)
2022-12-02 17:53:42 +01:00
current_idx += inc_len_flt
2022-12-21 16:07:49 +01:00
gyr_2_adis = struct.unpack(
double_fmt, hk_data[current_idx : current_idx + inc_len_double]
)
current_idx += inc_len_double
gyr_3_l3 = struct.unpack(
float_fmt, hk_data[current_idx : current_idx + inc_len_flt]
)
2022-12-02 17:53:42 +01:00
current_idx += inc_len_flt
2022-12-21 16:07:49 +01:00
pw.dlog(f"{'GYR 0 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_0_adis)}")
pw.dlog(f"{'GYR 1 L3'.ljust(15)}: {float_str_fmt.format(*gyr_1_l3)}")
pw.dlog(f"{'GYR 2 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_2_adis)}")
pw.dlog(f"{'GYR 3 L3'.ljust(15)}: {float_str_fmt.format(*gyr_3_l3)}")
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4)
2022-12-02 17:53:42 +01:00
2022-12-21 15:15:55 +01:00
GYR_NAMES = ["GYR 0 ADIS", "GYR 1 L3", "GYR 2 ADIS", "GYR 3 L3"]
2022-12-02 17:53:42 +01:00
def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
2022-12-21 15:15:55 +01:00
pw.dlog("Received GYR Processed Set with rotation rates in deg per second")
2022-12-02 17:53:42 +01:00
fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str)
current_idx = 0
for i in range(4):
gyr_vec = [
2023-03-07 11:07:01 +01:00
f"{val*180/math.pi:8.3f}"
2022-12-02 17:53:42 +01:00
for val in struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
]
2022-12-21 15:15:55 +01:00
pw.dlog(f"{GYR_NAMES[i]}: {gyr_vec}")
2022-12-02 17:53:42 +01:00
current_idx += inc_len
gyr_vec_tot = [
2023-03-07 11:07:01 +01:00
f"{val*180/math.pi:8.3f}"
2022-12-02 17:53:42 +01:00
for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
]
2022-12-21 15:15:55 +01:00
pw.dlog(f"GYR Vec Total: {gyr_vec_tot}")
2022-12-02 17:53:42 +01:00
current_idx += inc_len
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)
2022-12-02 17:53:42 +01:00
2022-12-21 15:15:55 +01:00
def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received GPS Processed Set")
2023-08-07 14:21:58 +02:00
fmt_source = "!B"
2022-12-21 15:15:55 +01:00
fmt_scalar = "!d"
fmt_vec = "!ddd"
2023-08-07 14:21:58 +02:00
inc_len_source = struct.calcsize(fmt_source)
2022-12-21 15:15:55 +01:00
inc_len_scalar = struct.calcsize(fmt_scalar)
inc_len_vec = struct.calcsize(fmt_vec)
2023-08-16 13:25:29 +02:00
if len(hk_data) < 3 * inc_len_scalar + 2 * inc_len_vec + inc_len_source:
2022-12-21 15:15:55 +01:00
pw.dlog("Received HK set too small")
return
current_idx = 0
2022-12-21 16:07:49 +01:00
lat = [
2023-03-07 11:07:01 +01:00
f"{val*180/math.pi:8.3f}"
2022-12-21 16:07:49 +01:00
for val in struct.unpack(
fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
)
]
2022-12-21 15:15:55 +01:00
current_idx += inc_len_scalar
2022-12-21 16:07:49 +01:00
long = [
2023-03-07 11:07:01 +01:00
f"{val*180/math.pi:8.3f}"
2022-12-21 16:07:49 +01:00
for val in struct.unpack(
fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
)
]
2022-12-21 15:15:55 +01:00
current_idx += inc_len_scalar
2023-03-07 11:07:01 +01:00
alt = [
f"{val:8.3f}"
for val in struct.unpack(
2023-03-13 10:31:27 +01:00
fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
2023-03-07 11:07:01 +01:00
)
]
current_idx += inc_len_scalar
pos = [
2022-12-21 16:07:49 +01:00
f"{val:8.3f}"
for val in struct.unpack(
fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
)
]
2023-02-13 15:44:42 +01:00
current_idx += inc_len_vec
velo = [
f"{val:8.3f}"
for val in struct.unpack(
2023-02-02 18:20:50 +01:00
fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
)
]
current_idx += inc_len_vec
2023-08-15 11:47:07 +02:00
source = struct.unpack(
fmt_source, hk_data[current_idx : current_idx + inc_len_source]
)[0]
2023-08-07 14:21:58 +02:00
current_idx += inc_len_source
2023-08-08 10:01:50 +02:00
if GPS_COURCE_DICT.get(source) is not None:
pw.dlog(f"GPS Source: {GPS_COURCE_DICT[source]}")
else:
pw.dlog(f"'GPS Source (key unknown)': {source}")
2023-03-07 11:07:01 +01:00
pw.dlog(f"GPS Latitude: {lat} [deg]")
pw.dlog(f"GPS Longitude: {long} [deg]")
pw.dlog(f"GPS Altitude: {alt} [m]")
pw.dlog(f"GPS Position: {pos} [m]")
2022-12-21 15:15:55 +01:00
pw.dlog(f"GPS Velocity: {velo} [m/s]")
2023-08-07 14:21:58 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
2022-12-21 15:15:55 +01:00
2022-12-21 16:07:49 +01:00
2022-12-21 15:15:55 +01:00
def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
2023-03-02 14:41:23 +01:00
mekf_status = {
0: "UNINITIALIZED",
1: "NO_GYR_DATA",
2: "NO_MODEL_VECTORS",
3: "NO_SUS_MGM_STR_DATA",
4: "COVARIANCE_INVERSION_FAILED",
2023-04-01 11:48:22 +02:00
5: "NOT_FINITE",
2023-03-02 14:41:23 +01:00
10: "INITIALIZED",
11: "RUNNING",
}
2022-12-21 15:15:55 +01:00
pw.dlog("Received MEKF Set")
fmt_quat = "!dddd"
2023-02-08 22:55:22 +01:00
fmt_str_4 = "[{:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}]"
fmt_str_3 = "[{:8.3f}, {:8.3f}, {:8.3f}]"
2022-12-21 15:15:55 +01:00
fmt_vec = "!ddd"
2023-02-24 14:53:09 +01:00
fmt_sts = "!B"
2022-12-21 15:15:55 +01:00
inc_len_quat = struct.calcsize(fmt_quat)
inc_len_vec = struct.calcsize(fmt_vec)
2023-02-24 14:53:09 +01:00
inc_len_sts = struct.calcsize(fmt_sts)
if len(hk_data) < inc_len_quat + inc_len_vec + inc_len_sts:
2022-12-21 15:15:55 +01:00
pw.dlog("Received HK set too small")
return
current_idx = 0
2023-02-08 22:55:22 +01:00
quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])
2022-12-21 15:15:55 +01:00
current_idx += inc_len_quat
2023-03-14 18:09:52 +01:00
rates = [
rate * 180 / math.pi
for rate in struct.unpack(
fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
)
]
current_idx += inc_len_vec
2023-02-24 14:53:09 +01:00
status = struct.unpack(fmt_sts, hk_data[current_idx : current_idx + inc_len_sts])[0]
current_idx += inc_len_sts
2023-04-01 11:48:22 +02:00
if mekf_status.get(status) is not None:
pw.dlog(f"{'MEKF Status'.ljust(25)}: {mekf_status[status]}")
else:
pw.dlog(f"{'MEKF Raw Status (key unknown)'.ljust(25)}: {status}")
2023-02-08 22:55:22 +01:00
pw.dlog(f"{'MEKF Quaternion'.ljust(25)}: {fmt_str_4.format(*quat)}")
2023-03-14 18:09:52 +01:00
pw.dlog(f"{'MEKF Rotational Rate'.ljust(25)}: {fmt_str_3.format(*rates)}")
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
2022-12-21 15:15:55 +01:00
def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received CTRL Values Set")
2023-04-14 20:24:21 +02:00
fmt_strat = "!B"
2022-12-21 15:15:55 +01:00
fmt_quat = "!dddd"
fmt_scalar = "!d"
2023-02-24 14:01:39 +01:00
fmt_vec = "!ddd"
2023-04-14 20:24:21 +02:00
inc_len_strat = struct.calcsize(fmt_strat)
2022-12-21 15:15:55 +01:00
inc_len_quat = struct.calcsize(fmt_quat)
inc_len_scalar = struct.calcsize(fmt_scalar)
2023-02-24 14:01:39 +01:00
inc_len_vec = struct.calcsize(fmt_vec)
2023-04-14 20:24:21 +02:00
if len(hk_data) < inc_len_strat + 2 * inc_len_quat + inc_len_scalar + inc_len_vec:
2022-12-21 15:15:55 +01:00
pw.dlog("Received HK set too small")
return
current_idx = 0
2023-04-14 20:29:26 +02:00
strat = struct.unpack(
fmt_strat, hk_data[current_idx : current_idx + inc_len_strat]
)[0]
2023-04-14 20:24:21 +02:00
current_idx += inc_len_strat
2022-12-21 16:07:49 +01:00
tgt_quat = [
f"{val:8.3f}"
for val in struct.unpack(
fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
)
]
2022-12-21 15:15:55 +01:00
current_idx += inc_len_quat
2022-12-21 16:07:49 +01:00
err_quat = [
f"{val:8.3f}"
for val in struct.unpack(
fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
)
]
2022-12-21 15:15:55 +01:00
current_idx += inc_len_quat
2022-12-21 16:07:49 +01:00
err_ang = [
2023-03-07 11:07:01 +01:00
f"{val*180/math.pi:8.3f}"
2022-12-21 16:07:49 +01:00
for val in struct.unpack(
fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
)
]
current_idx += inc_len_scalar
2023-02-24 14:01:39 +01:00
tgt_rot = [
2023-03-07 11:07:01 +01:00
f"{val*180/math.pi:8.3f}"
2023-02-24 14:01:39 +01:00
for val in struct.unpack(
fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
)
]
current_idx += inc_len_vec
if CTRL_STRAT_DICT.get(strat) is not None:
pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {CTRL_STRAT_DICT[strat]}")
2023-04-14 20:24:21 +02:00
else:
pw.dlog(f"{'Safe Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
2022-12-21 15:15:55 +01:00
pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
pw.dlog(f"Control Values Error Quaternion: {err_quat}")
2023-03-07 11:07:01 +01:00
pw.dlog(f"Control Values Error Angle: {err_ang} [deg]")
pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [deg/s]")
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)
2022-12-21 15:15:55 +01:00
def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received Actuator Command Values Set")
fmt_vec4_double = "!dddd"
fmt_vec4_int32 = "!iiii"
fmt_vec3_int16 = "!hhh"
inc_len_vec4_double = struct.calcsize(fmt_vec4_double)
inc_len_vec4_int32 = struct.calcsize(fmt_vec4_int32)
inc_len_vec3_int16 = struct.calcsize(fmt_vec3_int16)
if len(hk_data) < inc_len_vec4_double + inc_len_vec4_int32 + inc_len_vec3_int16:
pw.dlog("Received HK set too small")
return
current_idx = 0
2022-12-21 16:07:49 +01:00
rw_tgt_torque = [
f"{val:8.3f}"
for val in struct.unpack(
fmt_vec4_double, hk_data[current_idx : current_idx + inc_len_vec4_double]
)
]
2022-12-21 15:15:55 +01:00
current_idx += inc_len_vec4_double
2022-12-21 16:07:49 +01:00
rw_tgt_speed = [
f"{val:d}"
for val in struct.unpack(
fmt_vec4_int32, hk_data[current_idx : current_idx + inc_len_vec4_int32]
)
]
2022-12-21 15:15:55 +01:00
current_idx += inc_len_vec4_int32
2022-12-21 16:07:49 +01:00
mtq_tgt_dipole = [
f"{val:d}"
for val in struct.unpack(
fmt_vec3_int16, hk_data[current_idx : current_idx + inc_len_vec3_int16]
)
]
current_idx += inc_len_vec3_int16
2022-12-21 15:15:55 +01:00
pw.dlog(f"Actuator Commands RW Target Torque: {rw_tgt_torque}")
pw.dlog(f"Actuator Commands RW Target Speed: {rw_tgt_speed}")
pw.dlog(f"Actuator Commands MTQ Target Dipole: {mtq_tgt_dipole}")
2023-05-24 13:44:45 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
2022-12-21 15:15:55 +01:00
2023-07-21 11:20:20 +02:00
def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received Fused Rotation Rates Data Set")
fmt_vec3_double = "!ddd"
inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
2023-07-26 12:54:13 +02:00
if len(hk_data) < 3 * inc_len_vec3_double:
2023-07-21 11:20:20 +02:00
pw.dlog("Received HK set too small")
return
current_idx = 0
rot_rate_orthogonal = [
f"{val*180/math.pi:8.3f}"
for val in struct.unpack(
fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
)
]
current_idx += inc_len_vec3_double
rot_rate_parallel = [
f"{val*180/math.pi:8.3f}"
for val in struct.unpack(
fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
)
]
current_idx += inc_len_vec3_double
rot_rate_total = [
f"{val*180/math.pi:8.3f}"
for val in struct.unpack(
fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
)
]
current_idx += inc_len_vec3_double
pw.dlog(f"Fused Rotational Rate Orthogonal: {rot_rate_orthogonal} [deg/s]")
pw.dlog(f"Fused Rotational Rate Parallel: {rot_rate_parallel} [deg/s]")
pw.dlog(f"Fused Rotational Rate Total: {rot_rate_total} [deg/s]")
2023-07-24 09:47:52 +02:00
FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
2023-07-21 11:20:20 +02:00
2023-12-01 13:01:31 +01:00
def handle_acs_ctrl_action_replies(
action_id: int, pw: PrintWrapper, custom_data: bytes
):
if action_id == ActionId.READ_TLE:
handle_read_tle(pw, custom_data)
def handle_read_tle(pw: PrintWrapper, custom_data: bytes):
pw.dlog("Received TLE")
data_length = 69 * 2
if len(custom_data) != data_length:
raise ValueError(f"Received data of unexpected length {len(custom_data)}")
tle = custom_data.decode()
pw.dlog(f"{tle[0:69]}\n{tle[69:69*2]}")
2023-06-19 17:16:00 +02:00
def perform_mgm_calibration( # noqa C901: Complexity okay
pw: PrintWrapper, mgm_tuple: Tuple
): # noqa C901: Complexity okay
2022-08-17 15:24:39 +02:00
global CALIBR_SOCKET, CALIBRATION_ADDR
2022-08-17 11:19:23 +02:00
try:
declare_api_cmd = "declare_api_version 2"
2022-08-17 15:24:39 +02:00
CALIBR_SOCKET.sendall(f"{declare_api_cmd}\n".encode())
reply = CALIBR_SOCKET.recv(1024)
if len(reply) != 2:
2022-08-18 11:09:35 +02:00
pw.dlog(
2022-12-02 17:53:42 +01:00
f"MGM calibration: Reply received command {declare_api_cmd} has"
f" invalid length {len(reply)}"
2022-08-18 11:09:35 +02:00
)
2022-08-17 15:24:39 +02:00
return
else:
if str(reply[0]) == "0":
2023-06-19 17:16:00 +02:00
pw.dlog("MGM calibration: API version 2 was not accepted")
2022-08-17 15:24:39 +02:00
return
2022-08-17 11:19:23 +02:00
if len(mgm_tuple) != 3:
pw.dlog(f"MGM tuple has invalid length {len(mgm_tuple)}")
2022-08-17 17:25:16 +02:00
mgm_list = [mgm / 1e6 for mgm in mgm_tuple]
2022-08-17 11:19:23 +02:00
command = (
f"magnetometer_field {mgm_list[0]} {mgm_list[1]} {mgm_list[2]}\n".encode()
)
2022-08-17 15:24:39 +02:00
CALIBR_SOCKET.sendall(command)
reply = CALIBR_SOCKET.recv(1024)
if len(reply) != 2:
2022-08-18 11:09:35 +02:00
pw.dlog(
2023-09-12 13:48:38 +02:00
"MGM calibration: Reply received command magnetometer_field has"
f" invalid length {len(reply)}"
2022-08-18 11:09:35 +02:00
)
2022-08-17 15:24:39 +02:00
return
else:
if str(reply[0]) == "0":
2023-06-19 17:16:00 +02:00
pw.dlog("MGM calibration: magnetmeter field format was not accepted")
2022-08-17 15:24:39 +02:00
return
pw.dlog(f"Sent data {mgm_list} to Helmholtz Testbench successfully")
2022-08-17 11:19:23 +02:00
except socket.timeout:
pw.dlog("Socket timeout")
2022-08-17 15:24:39 +02:00
except BlockingIOError as e:
pw.dlog(f"Error {e}")
except ConnectionResetError as e:
2023-06-19 17:16:00 +02:00
pw.dlog(f"Socket was closed: {e}")
2022-08-17 11:19:23 +02:00
except ConnectionRefusedError or OSError:
pw.dlog("Connecting to Calibration Socket on addrss {} failed")