stuff

eive_tmtc/tmtc/acs/acs_ctrl.py

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