From 7957ed844e6b2d143cf780d3cc5a3ba485a06e70 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 18 Oct 2022 14:08:12 +0200
Subject: [PATCH] update RW commands

---
 .run/RW1.run.xml        | 24 ++++++++++++++++++++++++
 tmtc/reaction_wheels.py | 29 +++++++++++++++++++++++++----
 2 files changed, 49 insertions(+), 4 deletions(-)
 create mode 100644 .run/RW1.run.xml

diff --git a/.run/RW1.run.xml b/.run/RW1.run.xml
new file mode 100644
index 0000000..f5f1941
--- /dev/null
+++ b/.run/RW1.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW1" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_1 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/tmtc/reaction_wheels.py b/tmtc/reaction_wheels.py
index ce6a9ea..babb4bd 100644
--- a/tmtc/reaction_wheels.py
+++ b/tmtc/reaction_wheels.py
@@ -16,6 +16,8 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
     generate_one_hk_command,
     generate_one_diag_command,
     make_sid,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command
 )
 from spacepackets.ecss.tc import PusTelecommand
 from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
@@ -31,6 +33,8 @@ class OpCodesDevs:
     OFF = ["3", "off"]
     GET_STATUS = ["4", "status"]
     GET_TM = ["5", "tm"]
+    ENABLE_STATUS_HK = ["6", "enable_status_hk"]
+    DISABLE_STATUS_HK = ["7", "disable_status_hk"]
 
 
 class InfoDevs:
@@ -40,6 +44,8 @@ class InfoDevs:
     OFF = "Set Off"
     GET_STATUS = "Get Status HK"
     GET_TM = "Get TM HK"
+    ENABLE_STATUS_HK = "Enable Status HK"
+    DISABLE_STATUS_HK = "Disable Status HK"
 
 
 class OpCodesAss:
@@ -94,6 +100,8 @@ def add_rw_cmds(defs: TmtcDefinitionWrapper):
     oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
     oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
     oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
+    oce.add(info=InfoDevs.ENABLE_STATUS_HK, keys=OpCodesDevs.ENABLE_STATUS_HK)
+    oce.add(info=InfoDevs.DISABLE_STATUS_HK, keys=OpCodesDevs.DISABLE_STATUS_HK)
     defs.add_service(
         name=CustomServiceList.REACTION_WHEEL_1.value,
         info="Reaction Wheel 1",
@@ -129,8 +137,8 @@ def pack_single_rw_test_into(
     object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
 ):
     if op_code in OpCodesDevs.SPEED:
-        speed = int(input("Specify speed [0.1 RPM]: "))
-        ramp_time = int(input("Specify ramp time [ms]: "))
+        speed = int(input("Specify speed [0.1 RPM, 0 or range [-65000, -1000] and [1000, 65000]: "))
+        ramp_time = int(input("Specify ramp time [ms, range [10, 20000]]: "))
         q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.SPEED}")
         q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
 
@@ -163,6 +171,19 @@ def pack_single_rw_test_into(
                 sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
             )
         )
+    if op_code in OpCodesDevs.ENABLE_STATUS_HK:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ENABLE_STATUS_HK}")
+        interval = float(input("Please enter HK interval in floating point seconds: "))
+        cmds = enable_periodic_hk_command_with_interval(
+            True,
+            make_sid(object_id, RwSetIds.STATUS_SET_ID),
+            interval
+        )
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in OpCodesDevs.DISABLE_STATUS_HK:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.DISABLE_STATUS_HK}")
+        q.add_pus_tc(disable_periodic_hk_command(True, make_sid(object_id, RwSetIds.STATUS_SET_ID)))
 
 
 def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
@@ -198,10 +219,10 @@ def pack_set_speed_command(
 ) -> PusTelecommand:
     """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
+    :param speed: Valid speeds are 0, [-65000, -1000] and [1000, 65000]. Values are
         specified in 0.1 * RPM
     :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
-        Valid times are 10 - 10000 ms
+        Valid times are 10 - 20000 ms
     """
     if speed > 0:
         if speed < 1000 or speed > 65000: