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some more cleaning up

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This commit is contained in:
Robin Müller
2022-10-18 17:26:43 +02:00
parent f3ccbf0418
commit b2bab4c964
9 changed files with 65 additions and 33 deletions
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20
pus_tc/cmd_definitions.py
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@ -185,26 +185,6 @@ def add_time_cmds(defs: TmtcDefinitionWrapper):
)
@tmtc_definitions_provider
def add_imtq_cmds(defs: TmtcDefinitionWrapper):
oce = OpCodeEntry()
oce.add("0", "Mode Off")
oce.add("1", "Mode On")
oce.add("2", "Mode Normal")
oce.add("3", "IMTQ perform pos X self test")
oce.add("4", "IMTQ perform neg X self test")
oce.add("5", "IMTQ perform pos Y self test")
oce.add("6", "IMTQ perform neg Y self test")
oce.add("7", "IMTQ perform pos Z self test")
oce.add("8", "IMTQ perform neg Z self test")
oce.add("9", "IMTQ command dipole")
oce.add("10", "IMTQ get commanded dipole")
oce.add("11", "IMTQ get engineering hk set")
oce.add("12", "IMTQ get calibrated MTM measurement one shot")
oce.add("13", "IMTQ get raw MTM measurement one shot")
defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
@tmtc_definitions_provider
def add_system_cmds(defs: TmtcDefinitionWrapper):
from pus_tc.system.acs import AcsOpCodes, SusOpCodes

234
pus_tc/devs/imtq.py
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@ -1,234 +0,0 @@
# -*- coding: utf-8 -*-
"""
@file imtq.py
@brief Tests for the ISIS IMTQ (Magnettorquer) device handler
@author J. Meier
@date 25.03.2021
"""
import struct
from spacepackets.ecss.tc import PusTelecommand
from tmtccmd.tc import DefaultPusQueueHelper
from tmtccmd.tc.pus_3_fsfw_hk import (
make_sid,
generate_one_diag_command,
generate_one_hk_command,
)
from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
from tmtccmd.util import ObjectIdU32
class OpCodes:
ON = ["on"]
NORMAL = ["normal"]
OFF = ["off"]
class ImtqSetIds:
ENG_HK_SET = 1
CAL_MTM_SET = 2
RAW_MTM_SET = 3
POSITIVE_X_TEST = 4
NEGATIVE_X_TEST = 5
POSITIVE_Y_TEST = 6
NEGATIVE_Y_TEST = 7
POSITIVE_Z_TEST = 8
NEGATIVE_Z_TEST = 9
class ImtqActionIds:
start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
# Initiates the reading of the last performed self test. After sending this command the results
# can be downlinked via the housekeeping service by using the appropriate set ids listed above.
read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
q.add_log_cmd(
f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
)
if op_code in OpCodes.OFF:
q.add_log_cmd("IMTQ: Set mode off")
command = pack_mode_data(object_id.as_bytes, Modes.OFF, 0)
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
if op_code in OpCodes.ON:
q.add_log_cmd("IMTQ: Set mode on")
command = pack_mode_data(object_id.as_bytes, Modes.ON, 0)
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
if op_code in OpCodes.NORMAL:
q.add_log_cmd("IMTQ: Mode Normal")
command = pack_mode_data(object_id.as_bytes, Modes.NORMAL, 0)
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
if op_code == "3":
q.add_log_cmd("IMTQ: Perform positive x self test")
command = object_id.as_bytes + ImtqActionIds.perform_positive_x_test
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Initiate reading of positive x self test results")
command = object_id.as_bytes + ImtqActionIds.read_self_test_results
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Request dataset with positive x self test results")
sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_X_TEST)
q.add_pus_tc(generate_one_hk_command(sid))
if op_code == "4":
q.add_log_cmd("IMTQ: Perform negative x self test")
command = object_id.as_bytes + ImtqActionIds.perform_negative_x_test
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Initiate reading of negative x self test results")
command = object_id.as_bytes + ImtqActionIds.read_self_test_results
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Request dataset with negative x self test results")
sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_X_TEST)
q.add_pus_tc(generate_one_hk_command(sid))
if op_code == "5":
q.add_log_cmd("IMTQ: Perform positive y self test")
command = object_id.as_bytes + ImtqActionIds.perform_positive_y_test
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Initiate reading of positive y self test results")
command = object_id.as_bytes + ImtqActionIds.read_self_test_results
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Request dataset with positive y self test results")
sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
q.add_pus_tc(generate_one_hk_command(sid))
if op_code == "6":
q.add_log_cmd("IMTQ: Perform negative y self test")
command = object_id.as_bytes + ImtqActionIds.perform_negative_y_test
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Initiate reading of negative y self test results")
command = object_id.as_bytes + ImtqActionIds.read_self_test_results
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Request dataset with negative y self test results")
sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Y_TEST)
q.add_pus_tc(generate_one_hk_command(sid))
if op_code == "7":
q.add_log_cmd("IMTQ: Perform positive z self test")
command = object_id.as_bytes + ImtqActionIds.perform_positive_z_test
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Initiate reading of positive z self test results")
command = object_id.as_bytes + ImtqActionIds.read_self_test_results
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Request dataset with positive z self test results")
sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
q.add_pus_tc(generate_one_hk_command(sid))
if op_code == "8":
q.add_log_cmd("IMTQ: Perform negative z self test")
command = object_id.as_bytes + ImtqActionIds.perform_negative_z_test
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Initiate reading of negative z self test results")
command = object_id.as_bytes + ImtqActionIds.read_self_test_results
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
q.add_log_cmd("IMTQ: Request dataset with negative z self test results")
sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Z_TEST)
q.add_pus_tc(generate_one_hk_command(sid))
if op_code == "9":
q.add_log_cmd("IMTQ: Commanding dipole")
x_dipole = int(input("Specify X dipole [range [0, 2000] * 10^-4 * Am^2]: "))
y_dipole = int(input("Specify Y dipole [range [0, 2000] * 10^-4 * Am^2]: "))
z_dipole = int(input("Specify Z dipole [range [0, 2000] * 10^-4 * Am^2]: "))
duration = int(
input(
f"Specify torque duration [range [0, {pow(2, 16) - 1}, "
f"0 for continuous generation until update]: "
)
)
q.add_pus_tc(
pack_dipole_command(
object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
)
)
if op_code == "10":
q.add_log_cmd("IMTQ: Get commanded dipole")
command = object_id.as_bytes + ImtqActionIds.get_commanded_dipole
q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
if op_code == "11":
q.add_log_cmd("IMTQ: Get engineering hk set")
q.add_pus_tc(
generate_one_diag_command(
sid=make_sid(object_id=object_id.as_bytes, set_id=ImtqSetIds.ENG_HK_SET)
)
)
if op_code == "12":
q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
q.add_pus_tc(
generate_one_diag_command(
sid=make_sid(
object_id=object_id.as_bytes, set_id=ImtqSetIds.CAL_MTM_SET
)
)
)
if op_code == "13":
q.add_log_cmd("IMTQ: Get raw MTM hk set")
q.add_pus_tc(
generate_one_diag_command(
sid=make_sid(
object_id=object_id.as_bytes, set_id=ImtqSetIds.RAW_MTM_SET
)
)
)
def pack_dipole_command(
object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
) -> PusTelecommand:
"""This function packs the command causing the ISIS IMTQ to generate a dipole.
:param object_id: The object id of the IMTQ handler.
:param x_dipole: The dipole of the x coil in 10^-4*Am^2 (max. 2000)
:param y_dipole: The dipole of the y coil in 10^-4*Am^2 (max. 2000)
:param z_dipole: The dipole of the z coil in 10^-4*Am^2 (max. 2000)
:param duration: The duration in milliseconds the dipole will be generated by the coils.
When set to 0, the dipole will be generated until a new dipole actuation
command is sent.
"""
action_id = ImtqActionIds.start_actuation_dipole
command = object_id + action_id
x_dipole = int(round(x_dipole))
y_dipole = int(round(y_dipole))
z_dipole = int(round(z_dipole))
if x_dipole < -2000 or x_dipole > 2000:
raise_dipole_error("X dipole", x_dipole)
if y_dipole < -2000 or y_dipole > 2000:
raise_dipole_error("Y dipole", y_dipole)
if z_dipole < -2000 or z_dipole > 2000:
raise_dipole_error("Z dipole", z_dipole)
duration = int(round(duration))
if duration < 0 or duration > pow(2, 16) - 1:
raise ValueError(
f"Duration in ms of {duration} smaller than 0 or larger than allowed {pow(2, 16) - 1}"
)
command += struct.pack("!h", x_dipole)
command += struct.pack("!h", y_dipole)
command += struct.pack("!h", z_dipole)
command += struct.pack("!H", duration)
command = PusTelecommand(service=8, subservice=128, app_data=command)
return command
def raise_dipole_error(dipole_str: str, value: int):
raise ValueError(
f"{dipole_str} {value} negative or larger than maximum allowed 2000 * 10^-4*Am^2"
)

4
pus_tc/procedure_packer.py
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@ -27,10 +27,10 @@ from tmtc.power.p60dock import pack_p60dock_cmds
from tmtc.power.pdu2 import pack_pdu2_commands
from tmtc.power.pdu1 import pack_pdu1_commands
from tmtc.power.acu import pack_acu_commands
from pus_tc.devs.imtq import pack_imtq_test_into
from tmtc.acs.imtq import pack_imtq_test_into
from pus_tc.devs.tmp1075 import pack_tmp1075_test_into
from pus_tc.devs.heater import pack_heater_cmds
from tmtc.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
from tmtc.acs.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
from pus_tc.devs.rad_sensor import pack_rad_sensor_test_into
from tmtc.ploc_memory_dumper import pack_ploc_memory_dumper_cmd
from pus_tc.devs.ccsds_handler import pack_ccsds_handler_test

9
pus_tc/system/proc.py
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@ -2,7 +2,6 @@ from __future__ import annotations
import time
from datetime import timedelta
from typing import List
from config.definitions import CustomServiceList
from config.object_ids import get_object_ids
@ -30,15 +29,15 @@ from pus_tc.devs.gyros import AdisGyroSetIds as AdisGyroSetIds_0_2
from pus_tc.devs.gyros import L3gGyroSetIds as L3gGyroSetIds_1_3
from pus_tc.devs.syrlinks_hk_handler import SetIds as SyrlinksSetIds
from pus_tc.devs.gps import SetIds as GpsSetIds
from pus_tc.devs.imtq import ImtqSetIds
from tmtc.acs.imtq import ImtqSetIds
from pus_tc.devs.sus import SetIds
from pus_tc.devs.star_tracker import SetIds as StrSetIds
from tmtc.reaction_wheels import RwSetIds, rw_speed_up_cmd_consec
from tmtc.acs.reaction_wheels import RwSetIds, rw_speed_up_cmd_consec
from pus_tc.system.controllers import pack_cmd_ctrl_to_off, pack_cmd_ctrl_to_nml
from pus_tc.system.acs import pack_acs_command, pack_sus_cmds
from pus_tc.devs.imtq import pack_imtq_test_into, pack_dipole_command
from tmtc.acs.imtq import pack_imtq_test_into, pack_dipole_command
from pus_tc.devs.star_tracker import pack_star_tracker_commands
from tmtc.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command
from tmtc.acs.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command
class OpCodes: