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Merge pull request 'ACS CTRL Set Handling' (#120) from mueller_acs_ctrl_sets into main

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Reviewed-on: #120
This commit is contained in:
Robin Müller 2022-12-12 15:24:20 +01:00
commit 30cf47365f
3 changed files with 201 additions and 11 deletions
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4
CHANGELOG.md
View File

@ -8,6 +8,10 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
list yields a list of all related PRs for each release.
# [unreleased]
- Handle ACS CTRL HK sets
# [v2.0.2] 01.12.2022
- Bumped dependencies, small fix to allow working script if PyQt is not installed

4
eive_tmtc/pus_tm/hk_handling.py
View File

@ -1,6 +1,6 @@
"""HK Handling for EIVE OBSW"""
# from pus_tm.tcp_server_objects import TCP_SEVER_SENSOR_TEMPERATURES
from eive_tmtc.tmtc.acs.acs_ctrl import handle_acs_ctrl_mgm_data
from eive_tmtc.tmtc.acs.acs_ctrl import handle_raw_mgm_data, handle_acs_ctrl_hk_data
from eive_tmtc.pus_tm.devs.plpcdu import handle_plpcdu_hk
from eive_tmtc.pus_tm.devs.rad_sensor import handle_rad_sensor_data
from eive_tmtc.pus_tm.devs.sus import handle_sus_hk
@ -175,7 +175,7 @@ def handle_regular_hk_print(
elif objb == obj_ids.PLOC_SUPV_ID:
handle_supv_hk_data(set_id=set_id, hk_data=hk_data, printer=printer)
elif objb == obj_ids.ACS_CONTROLLER:
handle_acs_ctrl_mgm_data(printer, hk_data)
handle_acs_ctrl_hk_data(printer, set_id, hk_data)
else:
LOGGER.info(
f"Service 3 TM: Parsing for object {object_id} and set ID {set_id} "

204
eive_tmtc/tmtc/acs/acs_ctrl.py
View File

@ -23,23 +23,43 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
)
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
LOGGER = get_console_logger()
class SetIds(enum.IntEnum):
MGM_SET = 0
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
MEKF_DATA = 7
CTRL_VAL_DATA = 8
ACTUATOR_CMD_DATA = 9
class OpCodes:
REQUEST_MGM_HK = ["0", "req-mgm-hk"]
ENABLE_MGM_HK = ["1", "enable-mgm-hk"]
DISABLE_MGM_HK = ["1", "disable-mgm-hk"]
REQUEST_MGM_HK = ["0", "mgm_raw_hk"]
ENABLE_MGM_HK = ["1", "enable_raw_hk"]
DISABLE_MGM_HK = ["1", "disable_raw_hk"]
REQUEST_PROC_MGM_HK = ["mgm_proc_hk"]
REQUEST_RAW_GYRO_HK = ["gyro_raw_hk"]
REQUEST_PROC_GYRO_HK = ["gyro_proc_hk"]
REQUEST_RAW_SUS_HK = ["sus_raw_hk"]
REQUEST_PROC_SUS_HK = ["sus_proc_hk"]
class Info:
REQUEST_MGM_HK = "Request MGM HK once"
ENABLE_MGM_HK = "Enable MGM HK data generation"
DISABLE_MGM_HK = "Disable MGM HK data generation"
REQUEST_PROC_MGM_HK = "Request Processed MGM HK"
REQUEST_RAW_GYRO_HK = "Request Raw Gyro HK"
REQUEST_PROC_GYRO_HK = "Request Processed Gyro HK"
REQUEST_RAW_SUS_HK = "Request Raw SUS HK"
REQUEST_PROC_SUS_HK = "Request Processed SUS HK"
PERFORM_MGM_CALIBRATION = False
@ -69,7 +89,7 @@ def acs_cmd_defs(defs: TmtcDefinitionWrapper):
def pack_acs_ctrl_command(p: ServiceProviderParams):
op_code = p.op_code
q = p.queue_helper
sid = make_sid(ACS_CONTROLLER, SetIds.MGM_SET)
sid = make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET)
if op_code in OpCodes.REQUEST_MGM_HK:
q.add_log_cmd(Info.REQUEST_MGM_HK)
q.add_pus_tc(generate_one_hk_command(sid))
@ -85,9 +105,80 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
LOGGER.info(f"Unknown op code {op_code}")
def handle_acs_ctrl_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
current_idx = 0
def handle_acs_ctrl_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
pw = PrintWrapper(printer)
if set_id == SetIds.MGM_RAW_SET:
handle_raw_mgm_data(pw, hk_data)
elif set_id == SetIds.MGM_PROC_SET:
handle_mgm_data_processed(pw, hk_data)
elif set_id == SetIds.GYR_RAW_SET:
handle_gyr_data_raw(pw, hk_data)
elif set_id == SetIds.GYR_PROC_SET:
handle_gyr_data_processed(pw, hk_data)
elif set_id == SetIds.SUS_RAW_SET:
handle_acs_ctrl_sus_raw_data(pw, hk_data)
elif set_id == SetIds.SUS_PROC_SET:
handle_acs_ctrl_sus_processed_data(pw, hk_data)
def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
if len(hk_data) < 6 * 2 * 12:
pw.dlog(
f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
f" of {6 * 2 * 12} bytes"
)
return
current_idx = 0
for idx in range(12):
fmt_str = "!HHHHHH"
length = struct.calcsize(fmt_str)
sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
sus_list_formatted = [f"{val:#04x}" for val in sus_list]
current_idx += length
pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12)
def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
if len(hk_data) < 3 * 4 * 12:
pw.dlog(
f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
f" of {3 * 4 * 12} bytes"
)
return
current_idx = 0
for idx in range(12):
fmt_str = "!fff"
length = struct.calcsize(fmt_str)
sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
sus_list_formatted = [f"{val:8.3f}" for val in sus_list]
current_idx += length
pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str)
sus_vec_tot = list(
struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
)
sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}]
current_idx += inc_len
pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
sus_vec_tot_deriv = struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
current_idx += inc_len
pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
sun_ijk_model = list(
struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
)
sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}]
current_idx += inc_len
pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12)
def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
current_idx = 0
if len(hk_data) < 61:
pw.dlog(
@ -142,6 +233,99 @@ def handle_acs_ctrl_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
assert current_idx == 61
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
for i in range(5):
fmt_str = "!fff"
inc_len = struct.calcsize(fmt_str)
mgm_vec = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
mgm_vec = [f"{val:8.3f}" for val in mgm_vec]
pw.dlog(f"MGM {i}: {mgm_vec}")
fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str)
mgm_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
mgm_vec_tot = [f"{val:8.3f}" for val in mgm_vec_tot]
current_idx += inc_len
pw.dlog(f"MGM Total Vec: {mgm_vec_tot}")
mgm_vec_tot_deriv = struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
mgm_vec_tot_deriv = [f"{val:8.3f}" for val in mgm_vec_tot_deriv]
pw.dlog(f"MGM Total Vec Deriv: {mgm_vec_tot_deriv}")
current_idx += inc_len
mag_igrf_model = struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
mag_igrf_model = [f"{val:8.3f}" for val in mag_igrf_model]
pw.dlog(f"MAG IGRF Model: {mag_igrf_model}")
current_idx += inc_len
pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=8)
def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received Gyro Raw Set with rotation rates in deg per second")
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
gyr_0_adis = [
f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
]
current_idx += inc_len_double
gyr_1_l3 = [
f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
]
current_idx += inc_len_flt
gyr_2_adis = [
f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
]
current_idx += inc_len_flt
gyr_3_l3 = [
f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
]
current_idx += inc_len_flt
pw.dlog(f"Gyro 0 ADIS: {gyr_0_adis}")
pw.dlog(f"Gyro 1 L3: {gyr_1_l3}")
pw.dlog(f"Gyro 2 ADIS: {gyr_2_adis}")
pw.dlog(f"Gyro 3 L3: {gyr_3_l3}")
pw.printer.print_validity_buffer(hk_data[current_idx:], 4)
GYRO_NAMES = ["Gyro 0 ADIS", "Gyro 1 L3", "Gyro 2 ADIS", "Gyro 3 L3"]
def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
pw.dlog("Received Gyro Processed Set with rotation rates in deg per second")
fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str)
current_idx = 0
for i in range(4):
gyr_vec = [
f"{val:8.3f}"
for val in struct.unpack(
fmt_str, hk_data[current_idx : current_idx + inc_len]
)
]
pw.dlog(f"{GYRO_NAMES[i]}: {gyr_vec}")
current_idx += inc_len
gyr_vec_tot = [
f"{val:8.3f}"
for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
]
pw.dlog(f"Gyro Vec Total: {gyr_vec_tot}")
current_idx += inc_len
def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
global CALIBR_SOCKET, CALIBRATION_ADDR
try:
@ -150,7 +334,8 @@ def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
reply = CALIBR_SOCKET.recv(1024)
if len(reply) != 2:
pw.dlog(
f"MGM calibration: Reply received command {declare_api_cmd} has invalid length {len(reply)}"
f"MGM calibration: Reply received command {declare_api_cmd} has"
f" invalid length {len(reply)}"
)
return
else:
@ -167,7 +352,8 @@ def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
reply = CALIBR_SOCKET.recv(1024)
if len(reply) != 2:
pw.dlog(
f"MGM calibration: Reply received command magnetometer_field has invalid length {len(reply)}"
f"MGM calibration: Reply received command magnetometer_field has invalid "
f"length {len(reply)}"
)
return
else: