Merge branch 'main' into prep-v6.1.0

CHANGELOG.md

@@ -13,6 +13,8 @@ list yields a list of all related PRs for each release.
 ## Added
 
 - Added commands to unlock and use STR secondary firmware slot.
+- STR BlobStats TM handling
+- New ACS CTRL commands.
 
 ## Fixed
 

eive_tmtc/pus_tm/hk_handler.py

@@ -53,7 +53,7 @@ FORWARD_SENSOR_TEMPS = False
 
 @dataclasses.dataclass
 class HkFilter:
-    object_ids: List[ObjectIdU32]
+    object_ids: List[bytes]
     set_ids: List[int]
 
 
@@ -72,8 +72,7 @@ def handle_hk_packet(
         named_obj_id = tm_packet.object_id
     if tm_packet.subservice == 25 or tm_packet.subservice == 26:
         hk_data = tm_packet.tm_data[8:]
-
-        if named_obj_id in hk_filter.object_ids:
+        if named_obj_id.as_bytes in hk_filter.object_ids:
             # print(f"PUS TM Base64: {base64.b64encode(raw_tm)}")
             handle_regular_hk_print(
                 printer=printer,

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -72,6 +72,7 @@ class ActionId(enum.IntEnum):
     RESTORE_MEKF_NONFINITE_RECOVERY = 2
     UPDATE_TLE = 3
     READ_TLE = 4
+    UPDATE_MEKF_STANDARD_DEVIATIONS = 5
 
 
 CTRL_STRAT_DICT = {
@@ -126,6 +127,7 @@ class OpCodes:
     RESTORE_MEKF_NONFINITE_RECOVERY = "restore_mekf_nonfinite_recovery"
     UPDATE_TLE = "update_tle"
     READ_TLE = "read_tle"
+    UPDATE_MEKF_STANDARD_DEVIATIONS = "update_mekf_standard_deviations"
     SET_PARAMETER_SCALAR = "set_scalar_param"
     SET_PARAMETER_VECTOR = "set_vector_param"
     SET_PARAMETER_MATRIX = "set_matrix_param"
@@ -148,6 +150,10 @@ class Info:
     RESTORE_MEKF_NONFINITE_RECOVERY = "Restore MEKF non-finite recovery"
     UPDATE_TLE = "Update TLE"
     READ_TLE = "Read the currently stored TLE"
+    UPDATE_MEKF_STANDARD_DEVIATIONS = (
+        "Update the Standard Deviations within the MEKF to the current ACS Parameter "
+        "Values"
+    )
     SET_PARAMETER_SCALAR = "Set Scalar Parameter"
     SET_PARAMETER_VECTOR = "Set Vector Parameter"
     SET_PARAMETER_MATRIX = "Set Matrix Parameter"
@@ -183,36 +189,6 @@ def create_acs_ctrl_node() -> CmdTreeNode:
     return acs_ctrl
 
 
-@tmtc_definitions_provider
-def acs_cmd_defs(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCodes.OFF, info=Info.OFF)
-    oce.add(keys=OpCodes.SAFE, info=Info.SAFE)
-    oce.add(keys=OpCodes.DTBL, info=Info.DTBL)
-    oce.add(keys=OpCodes.IDLE, info=Info.IDLE)
-    oce.add(keys=OpCodes.NADIR, info=Info.NADIR)
-    oce.add(keys=OpCodes.TARGET, info=Info.TARGET)
-    oce.add(keys=OpCodes.GS, info=Info.GS)
-    oce.add(keys=OpCodes.INERTIAL, info=Info.INERTIAL)
-    oce.add(keys=OpCodes.SAFE_PTG, info=Info.SAFE_PTG)
-    oce.add(keys=OpCodes.RESET_MEKF, info=Info.RESET_MEKF)
-    oce.add(
-        keys=OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY,
-        info=Info.RESTORE_MEKF_NONFINITE_RECOVERY,
-    )
-    oce.add(keys=OpCodes.UPDATE_TLE, info=Info.UPDATE_TLE)
-    oce.add(keys=OpCodes.READ_TLE, info=Info.READ_TLE)
-    oce.add(keys=OpCodes.SET_PARAMETER_SCALAR, info=Info.SET_PARAMETER_SCALAR)
-    oce.add(keys=OpCodes.SET_PARAMETER_VECTOR, info=Info.SET_PARAMETER_VECTOR)
-    oce.add(keys=OpCodes.SET_PARAMETER_MATRIX, info=Info.SET_PARAMETER_MATRIX)
-    oce.add(keys=OpCodes.ONE_SHOOT_HK, info=Info.ONE_SHOOT_HK)
-    oce.add(keys=OpCodes.ENABLE_HK, info=Info.ENABLE_HK)
-    oce.add(keys=OpCodes.DISABLE_HK, info=Info.DISABLE_HK)
-    defs.add_service(
-        name=CustomServiceList.ACS_CTRL.value, info="ACS Controller", op_code_entry=oce
-    )
-
-
 def pack_acs_ctrl_command(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
     if cmd_str in OpCodes.OFF:
         q.add_log_cmd(f"{Info.OFF}")
@@ -273,18 +249,14 @@ def pack_acs_ctrl_command(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
                 print("The line does not have the required length of 69 characters")
         tle = line1.encode() + line2.encode()
         q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.UPDATE_TLE, tle))
-    elif cmd_str in OpCodes.SET_PARAMETER_SCALAR:
-        q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}")
-        set_acs_ctrl_param_scalar(q)
-    elif cmd_str in OpCodes.SET_PARAMETER_VECTOR:
-        q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}")
-        set_acs_ctrl_param_vector(q)
-    elif cmd_str in OpCodes.SET_PARAMETER_MATRIX:
-        q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}")
-        set_acs_ctrl_param_matrix(q)
     elif cmd_str == OpCodes.READ_TLE:
         q.add_log_cmd(f"{Info.READ_TLE}")
         q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.READ_TLE))
+    elif cmd_str == OpCodes.UPDATE_MEKF_STANDARD_DEVIATIONS:
+        q.add_log_cmd(f"{Info.UPDATE_MEKF_STANDARD_DEVIATIONS}")
+        q.add_pus_tc(
+            create_action_cmd(ACS_CONTROLLER, ActionId.UPDATE_MEKF_STANDARD_DEVIATIONS)
+        )
     elif cmd_str == OpCodes.SET_PARAMETER_SCALAR:
         q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}")
         set_acs_ctrl_param_scalar(q)

eive_tmtc/tmtc/acs/star_tracker.py

@@ -9,6 +9,7 @@ import datetime
 import enum
 import logging
 import struct
+from typing import List, Tuple
 
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.utility.input_helper import InputHelper
@@ -183,6 +184,7 @@ class SetId(enum.IntEnum):
     BLOBS = 92
     CENTROID = 93
     CENTROIDS = 94
+    BLOB_STATS = 102
 
 
 class DataSetRequest(enum.IntEnum):
@@ -876,6 +878,8 @@ def handle_str_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
         handle_centroids_set(hk_data, pw)
     elif set_id == SetId.CONTRAST:
         handle_contrast_set(hk_data, pw)
+    elif set_id == SetId.BLOB_STATS:
+        handle_blob_stats_set(hk_data, pw)
     else:
         _LOGGER.warning(f"HK parsing for Star Tracker set ID {set_id} unimplemented")
 
@@ -1178,6 +1182,35 @@ def handle_contrast_set(hk_data: bytes, pw: PrintWrapper):
     handle_histo_or_contrast_set("Contrast", hk_data, pw)
 
 
+def handle_blob_stats_set(hk_data: bytes, pw: PrintWrapper):
+    pw.dlog("Received Blob Stats Set")
+    if len(hk_data) < 65:
+        raise ValueError(
+            f"Matched BlobStats set with length {len(hk_data)} too short. Expected 65 bytes."
+        )
+    current_idx = unpack_time_hk(hk_data, 0, pw)
+
+    def fill_list(current_idx: int) -> Tuple[List[int], int]:
+        list_to_fill = []
+        for _ in range(16):
+            list_to_fill.append(hk_data[current_idx])
+            current_idx += 1
+        return list_to_fill, current_idx
+
+    noise_list, current_idx = fill_list(current_idx)
+    threshold_list, current_idx = fill_list(current_idx)
+    lvalid_list, current_idx = fill_list(current_idx)
+    oflow_list, current_idx = fill_list(current_idx)
+    pw.dlog("Index | Noise | Threshold | LValid | Oflow")
+    for i in range(16):
+        pw.dlog(
+            "{:<3} {:<3} {:<3} {:<3} {:<3}".format(
+                i, noise_list[i], threshold_list[i], lvalid_list[i], oflow_list[i]
+            )
+        )
+    pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=4))
+
+
 def handle_star_tracker_action_replies(
     action_id: int, pw: PrintWrapper, custom_data: bytes
 ):