From 3ff95280e588814aca48307828f7a4075beade01 Mon Sep 17 00:00:00 2001
From: Cleanroom Laptop L15 <meierj@irs.uni-stuttgart.de>
Date: Thu, 2 Jun 2022 18:51:40 +0200
Subject: [PATCH] fixes in procedures

---
 .run/Service 17.run.xml        |  2 +-
 pus_tc/devs/reaction_wheels.py |  6 +++-
 pus_tc/system/proc.py          | 53 ++++++++++++++++++++--------
 pus_tm/system/tcs.py           | 64 +++++++++++++++++-----------------
 pus_tm/tm_tcp_server.py        |  1 +
 tmtccmd                        |  2 +-
 6 files changed, 78 insertions(+), 50 deletions(-)

diff --git a/.run/Service 17.run.xml b/.run/Service 17.run.xml
index db07be1..2e9f8f4 100644
--- a/.run/Service 17.run.xml	
+++ b/.run/Service 17.run.xml	
@@ -13,7 +13,7 @@
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
     <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtccli.py" />
-    <option name="PARAMETERS" value="-s 17" />
+    <option name="PARAMETERS" value="-s 17 -l" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="true" />
     <option name="MODULE_MODE" value="false" />
diff --git a/pus_tc/devs/reaction_wheels.py b/pus_tc/devs/reaction_wheels.py
index f127830..60edc36 100644
--- a/pus_tc/devs/reaction_wheels.py
+++ b/pus_tc/devs/reaction_wheels.py
@@ -212,12 +212,16 @@ def pack_set_speed_command(
                 "Invalid RW speed specified. "
                 "Allowed range is [1000, 65000] 0.1 * RPM"
             )
-    else:
+    elif speed < 0:
         if speed < -65000 or speed > -1000:
             raise ValueError(
                 "Invalid RW speed specified. "
                 "Allowed range is [-65000, -1000] 0.1 * RPM"
             )
+    else:
+        # Speed is 0
+        pass
+
     if ramp_time_ms < 0 or (
         ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
     ):
diff --git a/pus_tc/system/proc.py b/pus_tc/system/proc.py
index f432e3e..da7aa68 100644
--- a/pus_tc/system/proc.py
+++ b/pus_tc/system/proc.py
@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import struct
 import time
 from typing import List
 
@@ -188,6 +189,11 @@ def pack_generic_hk_listening_cmds(
                 sid=sid_list[i],
             )
         )
+
+    activate_all_rws_in_sequence(
+        tc_queue=tc_queue, test_speed=0, test_ramp_time=5000, init_ssc=0
+    )
+    tc_queue.appendleft((QueueCommands.WAIT, 30))
     current_time = time.time()
     current_time += collection_time
     if not cfg.use_tc_sched:
@@ -197,11 +203,14 @@ def pack_generic_hk_listening_cmds(
         for cmd in disable_cmd_list:
             tc_queue.appendleft(
                 generate_time_tagged_cmd(
-                    release_time=struct.pack("!I", current_time),
+                    release_time=struct.pack("!I", int(current_time)),
                     tc_to_insert=cmd,
                     ssc=0,
                 )
             )
+
+    if not cfg.use_tc_sched:
+        tc_queue.appendleft((QueueCommands.WAIT, 120))
     sid_list.clear()
     diag_list.clear()
 
@@ -323,7 +332,7 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
             False,
             False,
             False,
-            False,
+            False
         ]
         pack_acs_command(tc_queue=tc_queue, op_code="acs-a")
 
@@ -343,6 +352,15 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
         tc_queue.appendleft((QueueCommands.WAIT, 5.0))
         pack_acs_command(tc_queue=tc_queue, op_code="acs-b")
 
+        sid_list.clear()
+        diag_list = [
+            False,
+            False,
+            False,
+            False,
+            False
+        ]
+
         for b_side_dev in b_side_pairs:
             oid = b_side_dev[0]
             set_id = b_side_dev[1]
@@ -359,11 +377,24 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
         tc_queue.appendleft((QueueCommands.WAIT, 5.0))
         pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
 
+        sid_list.clear()
+
         for d_side_dev in d_side_pairs:
             oid = d_side_dev[0]
             set_id = d_side_dev[1]
             sid_list.append(make_sid(oid, set_id))
-        diag_list = diag_list + diag_list
+        diag_list = [
+            False,
+            False,
+            False,
+            False,
+            False,
+            False,
+            False,
+            False,
+            False,
+            False,
+        ]
         pack_generic_hk_listening_cmds(
             tc_queue=tc_queue,
             proc_key=key,
@@ -563,37 +594,29 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
         key = KAI.RW_FT_ONE_RW[0]
         rw_pairs = [
             (oids.RW1_ID, RwSetIds.STATUS_SET_ID),
-            (oids.RW1_ID, RwSetIds.TEMPERATURE_SET_ID),
             (oids.RW1_ID, RwSetIds.LAST_RESET),
             (oids.RW1_ID, RwSetIds.TM_SET),
             (oids.RW2_ID, RwSetIds.STATUS_SET_ID),
-            (oids.RW2_ID, RwSetIds.TEMPERATURE_SET_ID),
             (oids.RW2_ID, RwSetIds.LAST_RESET),
             (oids.RW2_ID, RwSetIds.TM_SET),
             (oids.RW3_ID, RwSetIds.STATUS_SET_ID),
-            (oids.RW3_ID, RwSetIds.TEMPERATURE_SET_ID),
             (oids.RW3_ID, RwSetIds.LAST_RESET),
             (oids.RW3_ID, RwSetIds.TM_SET),
             (oids.RW4_ID, RwSetIds.STATUS_SET_ID),
-            (oids.RW4_ID, RwSetIds.TEMPERATURE_SET_ID),
             (oids.RW4_ID, RwSetIds.LAST_RESET),
             (oids.RW4_ID, RwSetIds.TM_SET),
         ]
         diag_list = [
+            True,
             False,
             False,
+            True,
             False,
             False,
+            True,
             False,
             False,
-            False,
-            False,
-            False,
-            False,
-            False,
-            False,
-            False,
-            False,
+            True,
             False,
             False,
         ]
diff --git a/pus_tm/system/tcs.py b/pus_tm/system/tcs.py
index 4b552e0..1d84e94 100644
--- a/pus_tm/system/tcs.py
+++ b/pus_tm/system/tcs.py
@@ -16,7 +16,7 @@ class SetIds(enum.IntEnum):
 def handle_thermal_controller_hk_data(
     object_id: ObjectId, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
 ):
-    if set_id is SetIds.SENSOR_TEMPERATURE_SET:
+    if set_id == SetIds.SENSOR_TEMPERATURE_SET:
         pw = PrintWrapper(printer)
         pw.dlog("Received sensor temperature data")
 
@@ -32,12 +32,11 @@ def handle_thermal_controller_hk_data(
 
         print(parsed_data)
         tcp_server_sensor_temperatures.report_parsed_hk_data(object_id, set_id, parsed_data)
-    elif set_id is SetIds.DEVICE_TEMPERATURE_SET:
+    elif set_id == SetIds.DEVICE_TEMPERATURE_SET:
         pw = PrintWrapper(printer)
         pw.dlog("Received device temperature data")
-
-        fmt_str = "!fffffiiiiffffhhhhhhhfffffff"
-        tm_data = struct.unpack(fmt_str, hk_data[:90])
+        fmt_str = "!fhhhhiiiifHHHHHhhhhhfffffff"
+        tm_data = struct.unpack(fmt_str, hk_data[:80])
         parsed_data = {
             "Q7S_TEMPERATURE": tm_data[0],
             "BATTERY_TEMPERATURE_1": tm_data[1],
@@ -52,13 +51,13 @@ def handle_thermal_controller_hk_data(
             "SYRLINKS_POWER_AMPLIFIER_TEMPERATURE": tm_data[10],
             "SYRLINKS_BASEBAND_BOARD_TEMPERATURE": tm_data[11],
             "MGT_TEMPERATURE": tm_data[12],
-            "ACU_TEMPERATURE_1": tm_data[13],
-            "ACU_TEMPERATURE_2": tm_data[14],
-            "ACU_TEMPERATURE_3": tm_data[15],
-            "PDU1_TEMPERATURE": tm_data[16],
-            "PDU2_TEMPERATURE": tm_data[17],
-            "P60DOCK_TEMPERATURE_1": tm_data[18],
-            "P60DOCK_TEMPERATURE_2": tm_data[19],
+            "ACU_TEMPERATURE_1": tm_data[13] / 10,
+            "ACU_TEMPERATURE_2": tm_data[14] / 10,
+            "ACU_TEMPERATURE_3": tm_data[15] / 10,
+            "PDU1_TEMPERATURE": tm_data[16] / 10,
+            "PDU2_TEMPERATURE": tm_data[17] / 10,
+            "P60DOCK_TEMPERATURE_1": tm_data[18] / 10,
+            "P60DOCK_TEMPERATURE_2": tm_data[19] / 10,
             "GYRO_0_TEMPERATURE": tm_data[20],
             "GYRO_1_TEMPERATURE": tm_data[21],
             "GYRO_2_TEMPERATURE": tm_data[22],
@@ -69,26 +68,27 @@ def handle_thermal_controller_hk_data(
         }
         print(parsed_data)
         tcp_server_device_temperatures.report_parsed_hk_data(object_id, set_id, parsed_data)
-    elif set_id is SetIds.SUS_TEMPERATURE_SET:
-        pw = PrintWrapper(printer)
-        pw.dlog("Received SUS temperature data")
-        fmt_str = "!ffffffffffffffffff"
-        tm_data = struct.unpack(fmt_str, hk_data[:4 * 18])
-        parsed_data = {
-            "SUS_0": tm_data[0],
-            "SUS_1": tm_data[1],
-            "SUS_2": tm_data[2],
-            "SUS_3": tm_data[3],
-            "SUS_4": tm_data[4],
-            "SUS_5": tm_data[5],
-            "SUS_6": tm_data[6],
-            "SUS_7": tm_data[7],
-            "SUS_8": tm_data[8],
-            "SUS_9": tm_data[9],
-            "SUS_10": tm_data[10],
-            "SUS_11": tm_data[11],
-        }
-        print(parsed_data)
+    elif set_id == SetIds.SUS_TEMPERATURE_SET:
+        pass
+        # pw = PrintWrapper(printer)
+        # pw.dlog("Received SUS temperature data")
+        # fmt_str = "!ffffffffffffffffff"
+        # tm_data = struct.unpack(fmt_str, hk_data[:4 * 18])
+        # parsed_data = {
+        #     "SUS_0": tm_data[0],
+        #     "SUS_1": tm_data[1],
+        #     "SUS_2": tm_data[2],
+        #     "SUS_3": tm_data[3],
+        #     "SUS_4": tm_data[4],
+        #     "SUS_5": tm_data[5],
+        #     "SUS_6": tm_data[6],
+        #     "SUS_7": tm_data[7],
+        #     "SUS_8": tm_data[8],
+        #     "SUS_9": tm_data[9],
+        #     "SUS_10": tm_data[10],
+        #     "SUS_11": tm_data[11],
+        # }
+        # print(parsed_data)
         # TODO: Forward data to space simulator
 
 
diff --git a/pus_tm/tm_tcp_server.py b/pus_tm/tm_tcp_server.py
index 89e4c88..76eabba 100644
--- a/pus_tm/tm_tcp_server.py
+++ b/pus_tm/tm_tcp_server.py
@@ -45,6 +45,7 @@ class TmTcpServer:
             try:
                 (self.client_connection, _) = self.server_socket.accept()
                 self.client_connection.setblocking(False)
+                print("Client connected")
             except:
                 # no client waiting
                 return
diff --git a/tmtccmd b/tmtccmd
index 03b7090..6914cfa 160000
--- a/tmtccmd
+++ b/tmtccmd
@@ -1 +1 @@
-Subproject commit 03b70906a60e3f34c3a9f654970c611f7ea264fd
+Subproject commit 6914cfaaf6fbdb7b5623a1fc9e5a909b11fb2acb