reaction wheel set speed command

config/definitions.py

@@ -23,3 +23,4 @@ class CustomServiceList(enum.Enum):
     PLOC = "ploc"
     PCDU = "pcdu",
     SA_DEPLYOMENT = "sa_depl"
+    REACTION_WHEEL = "reaction_wheel"

config/hook_implementations.py

@@ -63,6 +63,12 @@ class EiveHookObject(TmTcHookBase):
         }
         service_imtq_tuple = ("IMTQ Device", op_code_dict_srv_imtq)
 
+        op_code_dict_srv_rw = {
+            "0": ("Reaction Wheel: Run all commands", {OpCodeDictKeys.TIMEOUT: 2.0}),
+            "1": ("Reaction Wheel: Set speed", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        }
+        service_rw_tuple = ("Reaction Wheel", op_code_dict_srv_rw)
+
         service_op_code_dict[CustomServiceList.ACU.value] = service_acu_tuple
         service_op_code_dict[CustomServiceList.TMP1075_1.value] = service_tmp1075_1_tuple
         service_op_code_dict[CustomServiceList.TMP1075_2.value] = service_tmp1075_2_tuple
@@ -72,6 +78,7 @@ class EiveHookObject(TmTcHookBase):
         service_op_code_dict[CustomServiceList.PDU1.value] = service_pdu2_tuple
         service_op_code_dict[CustomServiceList.HEATER.value] = service_heater_tuple
         service_op_code_dict[CustomServiceList.IMTQ.value] = service_imtq_tuple
+        service_op_code_dict[CustomServiceList.REACTION_WHEEL.value] = service_rw_tuple
         return service_op_code_dict
 
     def get_json_config_file_path(self) -> str:

config/object_ids.py

@@ -19,6 +19,7 @@ SOLAR_ARRAY_DEPLOYMENT_ID = bytes([0x44, 0x00, 0x10, 0x01])
 SYRLINKS_HANDLER = bytes([0x44, 0x00, 0x10, 0x02])
 IMTQ_HANDLER_ID = bytearray([0x44, 0x00, 0x00, 0x14])
 PLOC_ID = bytearray([0x44, 0x00, 0x00, 0x15])
+RW1_ID = bytearray([0x44, 0x00, 0x00, 0x15])
 
 
 def get_object_ids() -> Dict[bytes, list]:

pus_tc/imtq.py

@@ -12,23 +12,6 @@ from tmtccmd.ecss.tc import PusTelecommand
 from tmtccmd.pus_tc.service_3_housekeeping import make_sid, generate_one_hk_command
 
 
-class ImtqTestProcedure:
-    """
-    @brief  Use this class to define the tests to perform for the IMTQ Handler.
-    @details    Setting all to True will run all tests.
-                Setting all to False will only run the tests set to True.
-    """
-    all = False
-    command_dipole = False
-    get_commanded_dipole = False
-    positive_x_test = True
-    negative_x_test = False
-    positive_y_test = False
-    negative_y_test = False
-    positive_z_test = False
-    negative_z_test = False
-
-
 class ImtqSetIds:
     ENG_HK_SET = 1
     CAL_MTM_SET = 2
@@ -178,7 +161,7 @@ def pack_imtq_test_into(object_id: bytearray, tc_queue: TcQueueT, op_code: str)
 
 def pack_dipole_command(object_id: bytearray, x_dipole: int, y_dipole: int, z_dipole: int, duration: int) -> bytearray:
     """ This function packs the command causing the ISIS IMTQ to generate a dipole.
-    @param object_id    The object id of the gomspace device handler.
+    @param object_id    The object id of the IMTQ handler.
     @param x_dipole   The dipole of the x coil in 10^-4*Am^2 (max. 2000)
     @param y_dipole   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
     @param z_dipole   The dipole of the z coil in 10^-4*Am^2 (max. 2000)

pus_tc/reaction_wheels.py

@@ -0,0 +1,65 @@
+# -*- coding: utf-8 -*-
+"""
+@file   imtq.py
+@brief  Tests for the ISIS IMTQ (Magnettorquer) device handler
+@author J. Meier
+@date   25.03.2021
+"""
+from tmtccmd.config.definitions import QueueCommands
+
+from tmtccmd.pus_tc.packer import TcQueueT
+from tmtccmd.ecss.tc import PusTelecommand
+from tmtccmd.pus_tc.service_3_housekeeping import make_sid, generate_one_hk_command
+
+
+class RwSetIds:
+    STATUS_SET_ID = 4
+    TEMPERATURE_SET_ID = 8
+
+
+class RwCommandIds:
+    RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
+    # Reads status information from reaction wheel into dataset with id 4
+    GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
+    SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
+    # Reads temperature from reaction wheel into dataset with id 8
+    GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
+
+
+class SpeedDefinitions:
+    RPM_100 = 1000
+    RPM_5000 = 5000
+
+
+class RampTime:
+    MS_100 = 100
+
+
+def pack_single_rw_test_into(object_id: bytearray, tc_queue: TcQueueT, op_code: str) -> TcQueueT:
+    tc_queue.appendleft(
+        (QueueCommands.PRINT,
+         "Testing reaction wheel handler with object id: 0x" + object_id.hex())
+    )
+
+    if op_code == "0" or op_code == "1":
+        tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Set speed"))
+        command = pack_set_speed_command(SpeedDefinitions.RPM_100, RampTime.MS_100)
+        command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+
+    return tc_queue
+
+
+def pack_set_speed_command(object_id: bytearray, speed: int, ramp_time: int) -> bytearray:
+    """ With this function a command is packed to set the speed of a reaction wheel
+    @param object_id    The object id of the reaction wheel handler.
+    @param speed   Valid speeds are [-65000, -1000] and [1000, 65000]. Values are specified in 0.1 * RPM
+    @param ramp_time   The time after which the reaction wheel will reached the commanded speed. Valid times are
+                       10 - 10000 ms
+    """
+    command_id = RwCommandIds.SET_SPEED
+    command = bytearray()
+    command = object_id + command_id
+    command.extend(speed.to_bytes(length=4, byteorder='big'))
+    command.extend(ramp_time.to_bytes(length=2, byteorder='big'))
+    return command

pus_tc/tc_packer_hook.py

@@ -68,6 +68,9 @@ def pack_service_queue_user(service: Union[str, int], op_code: str, service_queu
     if service == CustomServiceList.PLOC.value:
         object_id = PLOC_ID
         return pack_ploc_test_into(object_id=object_id, tc_queue=service_queue)
+    if service == CustomServiceList.REACTION_WHEEL.value:
+        object_id =
+        return pack_ploc_test_into(object_id=object_id, tc_queue=service_queue)
 
     LOGGER.warning("Invalid Service !")
 

tmtccmd

@@ -1 +1 @@
-Subproject commit b4358a15fd945a9e0103a707b2a2dc56c458b24a
+Subproject commit b0cf33b8a6223247c5df38e5918ac8885c494c11