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EIVE/-/pipeline/head This commit looks good
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EIVE/-/pipeline/head This commit looks good
Details
This commit is contained in:
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8de88127c3
commit
451c2c07ee
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@ -97,13 +97,20 @@ CTRL_STRAT_DICT = {
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31: "PTG_RAW",
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}
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GPS_COURCE_DICT = {
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GPS_SOURCE_DICT = {
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0: "NONE",
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1: "GPS",
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2: "GPS_EXTRAPOLATED",
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3: "SGP4",
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}
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FUSED_ROT_RATE_SOURCE_DICT = {
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0: "NONE",
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1: "SUSMGM",
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2: "QUEST",
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3: "STR",
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}
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class OpCodes:
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OFF = "off"
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@ -533,13 +540,15 @@ def handle_acs_ctrl_hk_data(
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case SetId.GPS_PROC_SET:
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handle_gps_data_processed(pw, hk_data)
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case SetId.ATTITUDE_ESTIMATION_DATA:
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handle_mekf_data(pw, hk_data)
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handle_attitude_estimation_data(pw, hk_data)
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case SetId.CTRL_VAL_DATA:
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handle_ctrl_val_data(pw, hk_data)
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case SetId.ACTUATOR_CMD_DATA:
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handle_act_cmd_data(pw, hk_data)
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case SetId.FUSED_ROT_RATE_DATA:
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handle_fused_rot_rate_data(pw, hk_data)
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case SetId.FUSED_ROT_RATE_SOURCE_DATA:
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handle_fused_rot_rate_source_data(pw, hk_data)
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def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
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@ -561,7 +570,7 @@ def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
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sus_list_formatted = vec_fmt.format(*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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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=12)
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pw.dlog(FsfwTmTcPrinter.get_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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@ -597,7 +606,7 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
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sun_ijk_model = vec_fmt.format(*sun_ijk_model)
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current_idx += inc_len
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pw.dlog(f"{'SUS ijk Model'.ljust(25)}: {sun_ijk_model}")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=15)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=15))
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def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
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@ -653,7 +662,7 @@ def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}")
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current_idx += 1
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assert current_idx == 61
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6))
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def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
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@ -707,7 +716,7 @@ def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
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current_idx += inc_len
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if PERFORM_MGM_CALIBRATION:
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perform_mgm_calibration(pw, mgm_3)
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8)
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pw.dlog(FsfwTmTcPrinter.get_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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@ -741,7 +750,7 @@ def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"{'GYR 1 L3'.ljust(15)}: {float_str_fmt.format(*gyr_1_l3)}")
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pw.dlog(f"{'GYR 2 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_2_adis)}")
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pw.dlog(f"{'GYR 3 L3'.ljust(15)}: {float_str_fmt.format(*gyr_3_l3)}")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4))
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GYR_NAMES = ["GYR 0 ADIS", "GYR 1 L3", "GYR 2 ADIS", "GYR 3 L3"]
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@ -767,7 +776,7 @@ def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
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]
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pw.dlog(f"GYR Vec Total: {gyr_vec_tot}")
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current_idx += inc_len
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5))
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def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
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@ -821,8 +830,8 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
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fmt_source, hk_data[current_idx : current_idx + inc_len_source]
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)[0]
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current_idx += inc_len_source
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if GPS_COURCE_DICT.get(source) is not None:
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pw.dlog(f"GPS Source: {GPS_COURCE_DICT[source]}")
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if GPS_SOURCE_DICT.get(source) is not None:
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pw.dlog(f"GPS Source: {GPS_SOURCE_DICT[source]}")
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else:
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pw.dlog(f"'GPS Source (key unknown)': {source}")
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pw.dlog(f"GPS Latitude: {lat} [deg]")
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@ -830,10 +839,10 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"GPS Altitude: {alt} [m]")
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pw.dlog(f"GPS Position: {pos} [m]")
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pw.dlog(f"GPS Velocity: {velo} [m/s]")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6))
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def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
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def handle_attitude_estimation_data(pw: PrintWrapper, hk_data: bytes):
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mekf_status = {
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0: "UNINITIALIZED",
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1: "NO_GYR_DATA",
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@ -844,7 +853,7 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
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10: "INITIALIZED",
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11: "RUNNING",
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}
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pw.dlog("Received MEKF Set")
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pw.dlog("Received Attitude Estimation Set")
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fmt_quat = "!dddd"
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fmt_str_4 = "[{:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}]"
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fmt_str_3 = "[{:8.3f}, {:8.3f}, {:8.3f}]"
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@ -853,11 +862,16 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
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inc_len_quat = struct.calcsize(fmt_quat)
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inc_len_vec = struct.calcsize(fmt_vec)
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inc_len_sts = struct.calcsize(fmt_sts)
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if len(hk_data) < inc_len_quat + inc_len_vec + inc_len_sts:
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pw.dlog("Received HK set too small")
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old_size = inc_len_quat + inc_len_vec + inc_len_sts + 1
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new_size = 2 * inc_len_quat + inc_len_vec + inc_len_sts + 1
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size = len(hk_data)
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if size not in [old_size, new_size]:
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pw.dlog(f"Received Attitude Estimation HK Set of unexpected size: {size}")
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return
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current_idx = 0
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quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])
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mekf_quat = struct.unpack(
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fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
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)
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current_idx += inc_len_quat
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rates = [
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rate * 180 / math.pi
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@ -872,9 +886,16 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"{'MEKF Status'.ljust(25)}: {mekf_status[status]}")
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else:
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pw.dlog(f"{'MEKF Raw Status (key unknown)'.ljust(25)}: {status}")
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pw.dlog(f"{'MEKF Quaternion'.ljust(25)}: {fmt_str_4.format(*quat)}")
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pw.dlog(f"{'MEKF Quaternion'.ljust(25)}: {fmt_str_4.format(*mekf_quat)}")
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pw.dlog(f"{'MEKF Rotational Rate'.ljust(25)}: {fmt_str_3.format(*rates)}")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
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if size == new_size:
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quest_quat = struct.unpack(
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fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
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)
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pw.dlog(f"{'QUEST Quaternion'.ljust(25)}: {fmt_str_4.format(*quest_quat)}")
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=4))
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return
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3))
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def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
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@ -924,14 +945,14 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
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]
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current_idx += inc_len_vec
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if CTRL_STRAT_DICT.get(strat) is not None:
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pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {CTRL_STRAT_DICT[strat]}")
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pw.dlog(f"{'Ctrl Strategy'.ljust(25)}: {CTRL_STRAT_DICT[strat]}")
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else:
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pw.dlog(f"{'Safe Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
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pw.dlog(f"{'Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
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pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
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pw.dlog(f"Control Values Error Quaternion: {err_quat}")
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pw.dlog(f"Control Values Error Angle: {err_ang} [deg]")
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pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [deg/s]")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5))
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def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
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@ -970,15 +991,20 @@ def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"Actuator Commands RW Target Torque: {rw_tgt_torque}")
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pw.dlog(f"Actuator Commands RW Target Speed: {rw_tgt_speed}")
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pw.dlog(f"Actuator Commands MTQ Target Dipole: {mtq_tgt_dipole}")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3))
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def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
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pw.dlog("Received Fused Rotation Rates Data Set")
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fmt_vec3_double = "!ddd"
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inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
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if len(hk_data) < 3 * inc_len_vec3_double:
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pw.dlog("Received HK set too small")
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fmt_source = "!B"
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inc_len_source = struct.calcsize(fmt_source)
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old_size = 3 * inc_len_vec3_double + 1
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new_size = 3 * inc_len_vec3_double + inc_len_source + 1
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size = len(hk_data)
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if size not in [old_size, new_size]:
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pw.dlog(f"Received Fused Rot Rate HK set of unexpected size: {len(hk_data)}")
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return
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current_idx = 0
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rot_rate_orthogonal = [
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@ -1005,7 +1031,75 @@ def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"Fused Rotational Rate Orthogonal: {rot_rate_orthogonal} [deg/s]")
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pw.dlog(f"Fused Rotational Rate Parallel: {rot_rate_parallel} [deg/s]")
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pw.dlog(f"Fused Rotational Rate Total: {rot_rate_total} [deg/s]")
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FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
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if size == new_size:
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rot_rate_source = struct.unpack(
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fmt_source, hk_data[current_idx : current_idx + inc_len_source]
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)[0]
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current_idx += inc_len_source
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if FUSED_ROT_RATE_SOURCE_DICT.get(rot_rate_source) is not None:
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pw.dlog(
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f"Fused Rotational Rate Source: {FUSED_ROT_RATE_SOURCE_DICT[rot_rate_source]}"
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)
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else:
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pw.dlog(f"Ctrl Strategy (key unknown): {rot_rate_source}")
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=4))
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return
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3))
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def handle_fused_rot_rate_source_data(pw: PrintWrapper, hk_data: bytes):
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pw.dlog("Received Fused Rotation Rates Sources Data Set")
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fmt_vec3_double = "!ddd"
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inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
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if len(hk_data) < 5 * inc_len_vec3_double:
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pw.dlog("Received HK set too small")
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return
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current_idx = 0
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rot_rate_orthogonal_susmgm = [
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
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)
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]
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current_idx += inc_len_vec3_double
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rot_rate_parallel_susmgm = [
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
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)
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]
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current_idx += inc_len_vec3_double
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rot_rate_total_susmgm = [
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
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)
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]
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current_idx += inc_len_vec3_double
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rot_rate_total_quest = [
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f"{val * 180 / math.pi:8.3f}"
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for val in struct.unpack(
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fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
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)
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]
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current_idx += inc_len_vec3_double
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rot_rate_total_str = [
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f"{val * 180 / math.pi:8.3f}"
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for val in struct.unpack(
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fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
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)
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]
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current_idx += inc_len_vec3_double
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pw.dlog(
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f"Fused Rotational Rate Orthogonal SUSMGM: {rot_rate_orthogonal_susmgm} [deg/s]"
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)
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pw.dlog(
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f"Fused Rotational Rate Parallel SUSMGM: {rot_rate_parallel_susmgm} [deg/s]"
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)
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pw.dlog(f"Fused Rotational Rate Total SUSMGM: {rot_rate_total_susmgm} [deg/s]")
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pw.dlog(f"Fused Rotational Rate Total QUEST: {rot_rate_total_quest} [deg/s]")
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pw.dlog(f"Fused Rotational Rate Total STR: {rot_rate_total_str} [deg/s]")
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pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5))
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def handle_acs_ctrl_action_replies(
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