Merge pull request 'ACS CTRL Set Handling' (#120) from mueller_acs_ctrl_sets into main
Reviewed-on: #120
This commit is contained in:
commit
30cf47365f
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@ -8,6 +8,10 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
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The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
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list yields a list of all related PRs for each release.
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# [unreleased]
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- Handle ACS CTRL HK sets
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# [v2.0.2] 01.12.2022
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- Bumped dependencies, small fix to allow working script if PyQt is not installed
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@ -1,6 +1,6 @@
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"""HK Handling for EIVE OBSW"""
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# from pus_tm.tcp_server_objects import TCP_SEVER_SENSOR_TEMPERATURES
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from eive_tmtc.tmtc.acs.acs_ctrl import handle_acs_ctrl_mgm_data
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from eive_tmtc.tmtc.acs.acs_ctrl import handle_raw_mgm_data, handle_acs_ctrl_hk_data
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from eive_tmtc.pus_tm.devs.plpcdu import handle_plpcdu_hk
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from eive_tmtc.pus_tm.devs.rad_sensor import handle_rad_sensor_data
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from eive_tmtc.pus_tm.devs.sus import handle_sus_hk
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@ -175,7 +175,7 @@ def handle_regular_hk_print(
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elif objb == obj_ids.PLOC_SUPV_ID:
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handle_supv_hk_data(set_id=set_id, hk_data=hk_data, printer=printer)
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elif objb == obj_ids.ACS_CONTROLLER:
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handle_acs_ctrl_mgm_data(printer, hk_data)
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handle_acs_ctrl_hk_data(printer, set_id, hk_data)
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else:
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LOGGER.info(
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f"Service 3 TM: Parsing for object {object_id} and set ID {set_id} "
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@ -23,23 +23,43 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
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)
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from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
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LOGGER = get_console_logger()
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class SetIds(enum.IntEnum):
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MGM_SET = 0
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MGM_RAW_SET = 0
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MGM_PROC_SET = 1
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SUS_RAW_SET = 2
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SUS_PROC_SET = 3
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GYR_RAW_SET = 4
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GYR_PROC_SET = 5
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GPS_PROC_SET = 6
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MEKF_DATA = 7
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CTRL_VAL_DATA = 8
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ACTUATOR_CMD_DATA = 9
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class OpCodes:
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REQUEST_MGM_HK = ["0", "req-mgm-hk"]
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ENABLE_MGM_HK = ["1", "enable-mgm-hk"]
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DISABLE_MGM_HK = ["1", "disable-mgm-hk"]
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REQUEST_MGM_HK = ["0", "mgm_raw_hk"]
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ENABLE_MGM_HK = ["1", "enable_raw_hk"]
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DISABLE_MGM_HK = ["1", "disable_raw_hk"]
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REQUEST_PROC_MGM_HK = ["mgm_proc_hk"]
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REQUEST_RAW_GYRO_HK = ["gyro_raw_hk"]
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REQUEST_PROC_GYRO_HK = ["gyro_proc_hk"]
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REQUEST_RAW_SUS_HK = ["sus_raw_hk"]
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REQUEST_PROC_SUS_HK = ["sus_proc_hk"]
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class Info:
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REQUEST_MGM_HK = "Request MGM HK once"
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ENABLE_MGM_HK = "Enable MGM HK data generation"
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DISABLE_MGM_HK = "Disable MGM HK data generation"
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REQUEST_PROC_MGM_HK = "Request Processed MGM HK"
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REQUEST_RAW_GYRO_HK = "Request Raw Gyro HK"
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REQUEST_PROC_GYRO_HK = "Request Processed Gyro HK"
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REQUEST_RAW_SUS_HK = "Request Raw SUS HK"
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REQUEST_PROC_SUS_HK = "Request Processed SUS HK"
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PERFORM_MGM_CALIBRATION = False
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@ -69,7 +89,7 @@ def acs_cmd_defs(defs: TmtcDefinitionWrapper):
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def pack_acs_ctrl_command(p: ServiceProviderParams):
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op_code = p.op_code
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q = p.queue_helper
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sid = make_sid(ACS_CONTROLLER, SetIds.MGM_SET)
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sid = make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET)
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if op_code in OpCodes.REQUEST_MGM_HK:
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q.add_log_cmd(Info.REQUEST_MGM_HK)
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q.add_pus_tc(generate_one_hk_command(sid))
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@ -85,9 +105,80 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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LOGGER.info(f"Unknown op code {op_code}")
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def handle_acs_ctrl_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
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current_idx = 0
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def handle_acs_ctrl_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
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pw = PrintWrapper(printer)
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if set_id == SetIds.MGM_RAW_SET:
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handle_raw_mgm_data(pw, hk_data)
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elif set_id == SetIds.MGM_PROC_SET:
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handle_mgm_data_processed(pw, hk_data)
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elif set_id == SetIds.GYR_RAW_SET:
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handle_gyr_data_raw(pw, hk_data)
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elif set_id == SetIds.GYR_PROC_SET:
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handle_gyr_data_processed(pw, hk_data)
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elif set_id == SetIds.SUS_RAW_SET:
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handle_acs_ctrl_sus_raw_data(pw, hk_data)
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elif set_id == SetIds.SUS_PROC_SET:
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handle_acs_ctrl_sus_processed_data(pw, hk_data)
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def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
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if len(hk_data) < 6 * 2 * 12:
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pw.dlog(
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f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
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f" of {6 * 2 * 12} bytes"
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)
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return
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current_idx = 0
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for idx in range(12):
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fmt_str = "!HHHHHH"
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length = struct.calcsize(fmt_str)
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sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
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sus_list_formatted = [f"{val:#04x}" for val in sus_list]
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current_idx += length
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pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
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pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12)
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def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
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if len(hk_data) < 3 * 4 * 12:
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pw.dlog(
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f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
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f" of {3 * 4 * 12} bytes"
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)
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return
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current_idx = 0
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for idx in range(12):
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fmt_str = "!fff"
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length = struct.calcsize(fmt_str)
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sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
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sus_list_formatted = [f"{val:8.3f}" for val in sus_list]
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current_idx += length
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pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
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fmt_str = "!ddd"
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inc_len = struct.calcsize(fmt_str)
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sus_vec_tot = list(
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struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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)
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sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}]
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current_idx += inc_len
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pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
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sus_vec_tot_deriv = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
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current_idx += inc_len
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pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
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sun_ijk_model = list(
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struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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)
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sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}]
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current_idx += inc_len
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pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
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pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12)
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def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
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current_idx = 0
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if len(hk_data) < 61:
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pw.dlog(
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@ -142,6 +233,99 @@ def handle_acs_ctrl_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
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assert current_idx == 61
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def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
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pw.dlog("Received Processed MGM Set")
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fmt_str = "!fffffddd"
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inc_len = struct.calcsize(fmt_str)
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if len(hk_data) < inc_len:
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pw.dlog("Recieved HK set too small")
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return
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current_idx = 0
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for i in range(5):
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fmt_str = "!fff"
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inc_len = struct.calcsize(fmt_str)
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mgm_vec = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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mgm_vec = [f"{val:8.3f}" for val in mgm_vec]
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pw.dlog(f"MGM {i}: {mgm_vec}")
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fmt_str = "!ddd"
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inc_len = struct.calcsize(fmt_str)
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mgm_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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mgm_vec_tot = [f"{val:8.3f}" for val in mgm_vec_tot]
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current_idx += inc_len
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pw.dlog(f"MGM Total Vec: {mgm_vec_tot}")
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mgm_vec_tot_deriv = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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mgm_vec_tot_deriv = [f"{val:8.3f}" for val in mgm_vec_tot_deriv]
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pw.dlog(f"MGM Total Vec Deriv: {mgm_vec_tot_deriv}")
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current_idx += inc_len
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mag_igrf_model = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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mag_igrf_model = [f"{val:8.3f}" for val in mag_igrf_model]
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pw.dlog(f"MAG IGRF Model: {mag_igrf_model}")
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current_idx += inc_len
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pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=8)
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def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
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pw.dlog("Received Gyro Raw Set with rotation rates in deg per second")
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float_fmt = "!fff"
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double_fmt = "!ddd"
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inc_len_flt = struct.calcsize(float_fmt)
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inc_len_double = struct.calcsize(double_fmt)
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if len(hk_data) < 2 * inc_len_double + 2 * inc_len_flt:
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pw.dlog("HK data too small")
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return
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current_idx = 0
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gyr_0_adis = [
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f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
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]
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current_idx += inc_len_double
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gyr_1_l3 = [
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f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
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]
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current_idx += inc_len_flt
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gyr_2_adis = [
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f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
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]
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current_idx += inc_len_flt
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gyr_3_l3 = [
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f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
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]
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current_idx += inc_len_flt
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pw.dlog(f"Gyro 0 ADIS: {gyr_0_adis}")
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pw.dlog(f"Gyro 1 L3: {gyr_1_l3}")
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pw.dlog(f"Gyro 2 ADIS: {gyr_2_adis}")
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pw.dlog(f"Gyro 3 L3: {gyr_3_l3}")
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pw.printer.print_validity_buffer(hk_data[current_idx:], 4)
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GYRO_NAMES = ["Gyro 0 ADIS", "Gyro 1 L3", "Gyro 2 ADIS", "Gyro 3 L3"]
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def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
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pw.dlog("Received Gyro Processed Set with rotation rates in deg per second")
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fmt_str = "!ddd"
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inc_len = struct.calcsize(fmt_str)
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current_idx = 0
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for i in range(4):
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gyr_vec = [
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f"{val:8.3f}"
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for val in struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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]
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pw.dlog(f"{GYRO_NAMES[i]}: {gyr_vec}")
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current_idx += inc_len
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gyr_vec_tot = [
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f"{val:8.3f}"
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for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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]
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pw.dlog(f"Gyro Vec Total: {gyr_vec_tot}")
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current_idx += inc_len
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def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
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global CALIBR_SOCKET, CALIBRATION_ADDR
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try:
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@ -150,7 +334,8 @@ def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
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reply = CALIBR_SOCKET.recv(1024)
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if len(reply) != 2:
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pw.dlog(
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f"MGM calibration: Reply received command {declare_api_cmd} has invalid length {len(reply)}"
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f"MGM calibration: Reply received command {declare_api_cmd} has"
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f" invalid length {len(reply)}"
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)
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return
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else:
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@ -167,7 +352,8 @@ def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
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reply = CALIBR_SOCKET.recv(1024)
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if len(reply) != 2:
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pw.dlog(
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f"MGM calibration: Reply received command magnetometer_field has invalid length {len(reply)}"
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f"MGM calibration: Reply received command magnetometer_field has invalid "
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f"length {len(reply)}"
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)
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return
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else:
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