Merge pull request 'Refactor ACS modes' (#163) from refactor_acs_modes into main

Reviewed-on: #163

CHANGELOG.md

@@ -10,6 +10,10 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+## Changed
+
+- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
+
 # [v2.17.3] 2023-03-09
 
 ## Fixed

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -8,6 +8,7 @@ from typing import Tuple
 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
 from tmtccmd.config.tmtc import (
     tmtc_definitions_provider,
     TmtcDefinitionWrapper,
@@ -55,17 +56,6 @@ class SetId(enum.IntEnum):
     ACTUATOR_CMD_DATA = 9
 
 
-class Submode(enum.IntEnum):
-    OFF = 0
-    SAFE = 10
-    DETUMBLE = 11
-    IDLE = 12
-    PTG_NADIR = 13
-    PTG_TARGET = 14
-    PTG_TARGET_GS = 15
-    PTG_INERTIAL = 16
-
-
 class ActionId(enum.IntEnum):
     SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0
     RESET_MEKF = 1
@@ -73,13 +63,13 @@ class ActionId(enum.IntEnum):
 
 class OpCodes:
     OFF = ["off"]
-    SAFE = ["normal_safe"]
+    SAFE = ["safe"]
-    DTBL = ["normal_detumble"]
+    DTBL = ["safe_detumble"]
-    IDLE = ["normal_idle"]
+    IDLE = ["ptg_idle"]
-    NADIR = ["normal_nadir"]
+    NADIR = ["ptg_nadir"]
-    TARGET = ["normal_target"]
+    TARGET = ["ptg_target"]
-    GS = ["normal_gs"]
+    GS = ["ptg_target_gs"]
-    INERTIAL = ["normal_inertial"]
+    INERTIAL = ["ptg_inertial"]
     SAFE_PTG = ["confirm_deployment"]
     RESET_MEKF = ["reset_mekf"]
     SET_PARAMETER_SCALAR = ["set_scalar_param"]
@@ -119,9 +109,9 @@ class OpCodes:
 
 class Info:
     OFF = "Switch ACS CTRL off"
-    SAFE = "Switch ACS CTRL normal - safe"
+    SAFE = "Switch ACS CTRL - safe"
-    DTBL = "Switch ACS CTRL normal - detumble"
+    DTBL = "Switch ACS CTRL - safe with detumble submode"
-    IDLE = "Switch ACS CTRL normal - idle"
+    IDLE = "Switch ACS CTRL - pointing idle"
     NADIR = "Switch ACS CTRL normal - pointing nadir"
     TARGET = "Switch ACS CTRL normal - pointing target"
     GS = "Switch ACS CTRL normal - pointing target groundstation"
@@ -235,29 +225,29 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
     elif op_code in OpCodes.SAFE:
         q.add_log_cmd(f"{Info.SAFE}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.SAFE))
+        q.add_pus_tc(
+            pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT)
+        )
     elif op_code in OpCodes.DTBL:
         q.add_log_cmd(f"{Info.DTBL}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.DETUMBLE))
+        q.add_pus_tc(
+            pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE)
+        )
     elif op_code in OpCodes.IDLE:
         q.add_log_cmd(f"{Info.IDLE}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.IDLE))
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0))
     elif op_code in OpCodes.NADIR:
         q.add_log_cmd(f"{Info.NADIR}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_NADIR))
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0))
     elif op_code in OpCodes.TARGET:
         q.add_log_cmd(f"{Info.TARGET}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_TARGET))
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0))
     elif op_code in OpCodes.GS:
         q.add_log_cmd(f"{Info.GS}")
-        q.add_pus_tc(
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0))
-            pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_TARGET_GS)
-        )
     elif op_code in OpCodes.INERTIAL:
         q.add_log_cmd(f"{Info.INERTIAL}")
-        q.add_pus_tc(
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0))
-            pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_INERTIAL)
-        )
     elif op_code in OpCodes.SAFE_PTG:
         q.add_log_cmd(f"{Info.SAFE_PTG}")
         q.add_pus_tc(

eive_tmtc/tmtc/acs/defs.py

@@ -0,0 +1,16 @@
+import enum
+
+
+class AcsMode(enum.IntEnum):
+    OFF = 0
+    SAFE = 10
+    IDLE = 11
+    PTG_NADIR = 12
+    PTG_TARGET = 13
+    PTG_TARGET_GS = 14
+    PTG_INERTIAL = 15
+
+
+class SafeSubmode(enum.IntEnum):
+    DEFAULT = 0
+    DETUMBLE = 1

eive_tmtc/tmtc/acs/subsystem.py

@@ -1,6 +1,7 @@
 import enum
 from typing import Tuple, Dict
 
+from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
 from spacepackets.ecss import PusTelecommand
 from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
 from eive_tmtc.config.object_ids import ACS_SUBSYSTEM_ID
@@ -27,17 +28,6 @@ class OpCode(str, enum.Enum):
     REPORT_ALL_MODES = "all_modes"
 
 
-class AcsMode(enum.IntEnum):
-    OFF = 0
-    SAFE = 10
-    DETUMBLE = 11
-    IDLE = 12
-    PTG_TARGET_NADIR = 13
-    PTG_TARGET = 14
-    PTG_TARGET_GS = 15
-    PTG_TARGET_INERTIAL = 16
-
-
 class Info(str, enum.Enum):
     OFF = "Off Command"
     SAFE = "Safe Mode Command"
@@ -50,15 +40,15 @@ class Info(str, enum.Enum):
     REPORT_ALL_MODES = "Report All Modes Recursively"
 
 
-HANDLER_LIST: Dict[str, Tuple[int, str]] = {
+HANDLER_LIST: Dict[str, Tuple[int, int, str]] = {
-    OpCode.OFF: (AcsMode.OFF, Info.OFF),
+    OpCode.OFF: (AcsMode.OFF, 0, Info.OFF),
-    OpCode.SAFE: (AcsMode.SAFE, Info.SAFE),
+    OpCode.SAFE: (AcsMode.SAFE, SafeSubmode.DEFAULT, Info.SAFE),
-    OpCode.DETUMBLE: (AcsMode.DETUMBLE, Info.DETUMBLE),
+    OpCode.DETUMBLE: (AcsMode.SAFE, SafeSubmode.DETUMBLE, Info.DETUMBLE),
-    OpCode.IDLE: (AcsMode.IDLE, Info.IDLE),
+    OpCode.IDLE: (AcsMode.IDLE, 0, Info.IDLE),
-    OpCode.PTG_TARGET: (AcsMode.PTG_TARGET, Info.PTG_TARGET),
+    OpCode.PTG_TARGET: (AcsMode.PTG_TARGET, 0, Info.PTG_TARGET),
-    OpCode.PTG_TARGET_GS: (AcsMode.PTG_TARGET_GS, Info.PTG_TARGET_GS),
+    OpCode.PTG_TARGET_GS: (AcsMode.PTG_TARGET_GS, 0, Info.PTG_TARGET_GS),
-    OpCode.PTG_TARGET_NADIR: (AcsMode.PTG_TARGET_NADIR, Info.PTG_TARGET_NADIR),
+    OpCode.PTG_TARGET_NADIR: (AcsMode.PTG_NADIR, 0, Info.PTG_TARGET_NADIR),
-    OpCode.PTG_TARGET_INERTIAL: (AcsMode.PTG_TARGET_INERTIAL, Info.PTG_TARGET_INERTIAL),
+    OpCode.PTG_TARGET_INERTIAL: (AcsMode.PTG_INERTIAL, 0, Info.PTG_TARGET_INERTIAL),
 }
 
 
@@ -81,9 +71,9 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
         return
     pack_mode_cmd_with_info(
         object_id=ACS_SUBSYSTEM_ID,
-        info=f"{info_prefix}: {mode_info_tup[1]}",
+        info=f"{info_prefix}: {mode_info_tup[2]}",
-        submode=0,
         mode=mode_info_tup[0],
+        submode=mode_info_tup[1],
         q=q,
     )
 
@@ -91,7 +81,7 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
 @tmtc_definitions_provider
 def add_acs_subsystem_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
-    for op_code, (_, info) in HANDLER_LIST.items():
+    for op_code, (_, _, info) in HANDLER_LIST.items():
         oce.add(op_code, info)
     oce.add(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
     defs.add_service(CustomServiceList.ACS_SS, "ACS Subsystem", oce)