Merge branch 'main' into acs-ctrl-updates-v2
This commit is contained in:
commit
948ad4ef7f
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@ -10,6 +10,10 @@ list yields a list of all related PRs for each release.
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# [unreleased]
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## Changed
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- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
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# [v2.17.3] 2023-03-09
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## Fixed
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@ -135,7 +135,7 @@
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0x60000004;HEATER_4_CAMERA
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0x60000005;HEATER_5_STR
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0x60000006;HEATER_6_DRO
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0x60000007;HEATER_7_HPA
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0x60000007;HEATER_7_SYRLINKS
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0x73000001;ACS_BOARD_ASS
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0x73000002;SUS_BOARD_ASS
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0x73000003;TCS_BOARD_ASS
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@ -9,6 +9,7 @@ from typing import Tuple
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from eive_tmtc.config.definitions import CustomServiceList
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from eive_tmtc.config.object_ids import ACS_CONTROLLER
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
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from tmtccmd.config.tmtc import (
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tmtc_definitions_provider,
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TmtcDefinitionWrapper,
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@ -56,17 +57,6 @@ class SetId(enum.IntEnum):
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ACTUATOR_CMD_DATA = 9
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class Submode(enum.IntEnum):
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OFF = 0
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SAFE = 10
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DETUMBLE = 11
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IDLE = 12
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PTG_NADIR = 13
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PTG_TARGET = 14
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PTG_TARGET_GS = 15
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PTG_INERTIAL = 16
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class ActionId(enum.IntEnum):
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SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0
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RESET_MEKF = 1
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@ -74,13 +64,13 @@ class ActionId(enum.IntEnum):
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class OpCodes:
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OFF = ["off"]
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SAFE = ["normal_safe"]
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DTBL = ["normal_detumble"]
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IDLE = ["normal_idle"]
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NADIR = ["normal_nadir"]
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TARGET = ["normal_target"]
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GS = ["normal_gs"]
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INERTIAL = ["normal_inertial"]
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SAFE = ["safe"]
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DTBL = ["safe_detumble"]
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IDLE = ["ptg_idle"]
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NADIR = ["ptg_nadir"]
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TARGET = ["ptg_target"]
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GS = ["ptg_target_gs"]
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INERTIAL = ["ptg_inertial"]
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SAFE_PTG = ["confirm_deployment"]
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RESET_MEKF = ["reset_mekf"]
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SET_PARAMETER_SCALAR = ["set_scalar_param"]
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@ -120,9 +110,9 @@ class OpCodes:
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class Info:
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OFF = "Switch ACS CTRL off"
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SAFE = "Switch ACS CTRL normal - safe"
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DTBL = "Switch ACS CTRL normal - detumble"
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IDLE = "Switch ACS CTRL normal - idle"
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SAFE = "Switch ACS CTRL - safe"
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DTBL = "Switch ACS CTRL - safe with detumble submode"
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IDLE = "Switch ACS CTRL - pointing idle"
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NADIR = "Switch ACS CTRL normal - pointing nadir"
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TARGET = "Switch ACS CTRL normal - pointing target"
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GS = "Switch ACS CTRL normal - pointing target groundstation"
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@ -236,29 +226,29 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
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elif op_code in OpCodes.SAFE:
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q.add_log_cmd(f"{Info.SAFE}")
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.SAFE))
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q.add_pus_tc(
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pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT)
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)
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elif op_code in OpCodes.DTBL:
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q.add_log_cmd(f"{Info.DTBL}")
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.DETUMBLE))
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q.add_pus_tc(
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pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE)
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)
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elif op_code in OpCodes.IDLE:
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q.add_log_cmd(f"{Info.IDLE}")
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.IDLE))
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0))
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elif op_code in OpCodes.NADIR:
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q.add_log_cmd(f"{Info.NADIR}")
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_NADIR))
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0))
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elif op_code in OpCodes.TARGET:
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q.add_log_cmd(f"{Info.TARGET}")
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_TARGET))
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0))
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elif op_code in OpCodes.GS:
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q.add_log_cmd(f"{Info.GS}")
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q.add_pus_tc(
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pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_TARGET_GS)
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)
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0))
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elif op_code in OpCodes.INERTIAL:
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q.add_log_cmd(f"{Info.INERTIAL}")
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q.add_pus_tc(
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pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.PTG_INERTIAL)
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)
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q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0))
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elif op_code in OpCodes.SAFE_PTG:
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q.add_log_cmd(f"{Info.SAFE_PTG}")
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q.add_pus_tc(
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@ -0,0 +1,16 @@
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import enum
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class AcsMode(enum.IntEnum):
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OFF = 0
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SAFE = 10
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IDLE = 11
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PTG_NADIR = 12
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PTG_TARGET = 13
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PTG_TARGET_GS = 14
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PTG_INERTIAL = 15
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class SafeSubmode(enum.IntEnum):
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DEFAULT = 0
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DETUMBLE = 1
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@ -12,14 +12,13 @@ import struct
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from eive_tmtc.config.definitions import CustomServiceList
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from eive_tmtc.utility.input_helper import InputHelper
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from spacepackets.ecss.tc import PusTelecommand
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from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
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from tmtccmd.config.tmtc import tmtc_definitions_provider
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from tmtccmd.tc.pus_200_fsfw_mode import pack_mode_data, Mode
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from tmtccmd.tc import DefaultPusQueueHelper
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from tmtccmd.tc.pus_200_fsfw_mode import pack_mode_data, Mode
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from tmtccmd.util import ObjectIdU32
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from eive_tmtc.utility.input_helper import InputHelper
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from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
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_LOGGER = logging.getLogger(__name__)
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@ -734,13 +733,22 @@ def handle_solution_set(hk_data: bytes, pw: PrintWrapper):
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# Result of LISA: Lost in space algorithm
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lisa_fmt = "!fffffB"
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fmt_len = struct.calcsize(track_fmt)
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(lisa_q_w, lisa_q_x, lisa_q_y, lisa_q_z) = struct.unpack(
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lisa_fmt, hk_data[current_idx : current_idx + fmt_len]
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)
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(
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lisa_q_w,
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lisa_q_x,
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lisa_q_y,
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lisa_q_z,
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lisa_percentage_close_stars,
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lisa_number_close_stars,
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) = struct.unpack(lisa_fmt, hk_data[current_idx : current_idx + fmt_len])
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pw.dlog(f"LISA QW: {lisa_q_w}")
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pw.dlog(f"LISA QX: {lisa_q_x}")
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pw.dlog(f"LISA QY: {lisa_q_y}")
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pw.dlog(f"LISA QZ: {lisa_q_z}")
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pw.dlog(
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f"Percentage of close stars in LISA solution: {lisa_percentage_close_stars}"
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)
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pw.dlog(f"Number of close stars in LISA solution: {lisa_number_close_stars}")
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current_idx += fmt_len
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is_trusworthy = hk_data[current_idx]
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pw.dlog(f"Trustworthy solution: {is_trusworthy}")
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@ -1,6 +1,7 @@
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import enum
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from typing import Tuple, Dict
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from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
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from spacepackets.ecss import PusTelecommand
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from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
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from eive_tmtc.config.object_ids import ACS_SUBSYSTEM_ID
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@ -27,17 +28,6 @@ class OpCode(str, enum.Enum):
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REPORT_ALL_MODES = "all_modes"
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class AcsMode(enum.IntEnum):
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OFF = 0
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SAFE = 10
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DETUMBLE = 11
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IDLE = 12
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PTG_TARGET_NADIR = 13
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PTG_TARGET = 14
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PTG_TARGET_GS = 15
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PTG_TARGET_INERTIAL = 16
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class Info(str, enum.Enum):
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OFF = "Off Command"
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SAFE = "Safe Mode Command"
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@ -50,15 +40,15 @@ class Info(str, enum.Enum):
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REPORT_ALL_MODES = "Report All Modes Recursively"
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HANDLER_LIST: Dict[str, Tuple[int, str]] = {
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OpCode.OFF: (AcsMode.OFF, Info.OFF),
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OpCode.SAFE: (AcsMode.SAFE, Info.SAFE),
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OpCode.DETUMBLE: (AcsMode.DETUMBLE, Info.DETUMBLE),
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OpCode.IDLE: (AcsMode.IDLE, Info.IDLE),
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OpCode.PTG_TARGET: (AcsMode.PTG_TARGET, Info.PTG_TARGET),
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OpCode.PTG_TARGET_GS: (AcsMode.PTG_TARGET_GS, Info.PTG_TARGET_GS),
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OpCode.PTG_TARGET_NADIR: (AcsMode.PTG_TARGET_NADIR, Info.PTG_TARGET_NADIR),
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OpCode.PTG_TARGET_INERTIAL: (AcsMode.PTG_TARGET_INERTIAL, Info.PTG_TARGET_INERTIAL),
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HANDLER_LIST: Dict[str, Tuple[int, int, str]] = {
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OpCode.OFF: (AcsMode.OFF, 0, Info.OFF),
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OpCode.SAFE: (AcsMode.SAFE, SafeSubmode.DEFAULT, Info.SAFE),
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OpCode.DETUMBLE: (AcsMode.SAFE, SafeSubmode.DETUMBLE, Info.DETUMBLE),
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OpCode.IDLE: (AcsMode.IDLE, 0, Info.IDLE),
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OpCode.PTG_TARGET: (AcsMode.PTG_TARGET, 0, Info.PTG_TARGET),
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OpCode.PTG_TARGET_GS: (AcsMode.PTG_TARGET_GS, 0, Info.PTG_TARGET_GS),
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OpCode.PTG_TARGET_NADIR: (AcsMode.PTG_NADIR, 0, Info.PTG_TARGET_NADIR),
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OpCode.PTG_TARGET_INERTIAL: (AcsMode.PTG_INERTIAL, 0, Info.PTG_TARGET_INERTIAL),
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}
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@ -81,9 +71,9 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
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return
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pack_mode_cmd_with_info(
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object_id=ACS_SUBSYSTEM_ID,
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info=f"{info_prefix}: {mode_info_tup[1]}",
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submode=0,
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info=f"{info_prefix}: {mode_info_tup[2]}",
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mode=mode_info_tup[0],
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submode=mode_info_tup[1],
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q=q,
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)
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@ -91,7 +81,7 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
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@tmtc_definitions_provider
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def add_acs_subsystem_cmds(defs: TmtcDefinitionWrapper):
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oce = OpCodeEntry()
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for op_code, (_, info) in HANDLER_LIST.items():
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for op_code, (_, _, info) in HANDLER_LIST.items():
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oce.add(op_code, info)
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oce.add(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
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defs.add_service(CustomServiceList.ACS_SS, "ACS Subsystem", oce)
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