diff --git a/CHANGELOG.md b/CHANGELOG.md index 0867215..cedd0ed 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -10,6 +10,20 @@ list yields a list of all related PRs for each release. # [unreleased] +# [v5.12.1] 2023-12-13 + +## Added + +- A few new commands to test the TC scheduler. + +# [v5.12.0] 2023-12-06 + +## Added + +- New ACS controller commands. + +# [v5.11.0] 2023-11-30 + ## Added - Added new commands to disable channel order checks partially for the payload PCDU normal modes. diff --git a/eive_tmtc/config/events.csv b/eive_tmtc/config/events.csv index 656843f..97eeaf3 100644 --- a/eive_tmtc/config/events.csv +++ b/eive_tmtc/config/events.csv @@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h -11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h +11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h +11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h diff --git a/eive_tmtc/config/returnvalues.csv b/eive_tmtc/config/returnvalues.csv index d2922a1..76184dc 100644 --- a/eive_tmtc/config/returnvalues.csv +++ b/eive_tmtc/config/returnvalues.csv @@ -387,6 +387,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x4304;PUS11_InvalidRelativeTime;No description;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4305;PUS11_ContainedTcTooSmall;No description;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4306;PUS11_ContainedTcCrcMissmatch;No description;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h +0x4307;PUS11_MapIsFull;No description;7;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4400;FILS_GenericFileError;No description;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h 0x4401;FILS_GenericDirError;No description;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h 0x4402;FILS_FilesystemInactive;No description;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h @@ -593,6 +594,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h +0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h +0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h diff --git a/eive_tmtc/pus_tm/action_reply_handler.py b/eive_tmtc/pus_tm/action_reply_handler.py index 32730e3..aadccd8 100644 --- a/eive_tmtc/pus_tm/action_reply_handler.py +++ b/eive_tmtc/pus_tm/action_reply_handler.py @@ -10,6 +10,7 @@ from eive_tmtc.config.object_ids import ( CORE_CONTROLLER_ID, STAR_TRACKER_ID, P60_DOCK_HANDLER, + ACS_CONTROLLER, ) from eive_tmtc.tmtc.acs.imtq import ImtqActionId from eive_tmtc.pus_tm.defs import PrintWrapper @@ -17,6 +18,7 @@ from eive_tmtc.tmtc.core import handle_core_ctrl_action_replies from eive_tmtc.tmtc.payload.ploc_mpsoc import handle_mpsoc_data_reply from eive_tmtc.tmtc.payload.ploc_supervisor import SupvActionId from eive_tmtc.tmtc.acs.star_tracker import handle_star_tracker_action_replies +from eive_tmtc.tmtc.acs.acs_ctrl import handle_acs_ctrl_action_replies from eive_tmtc.tmtc.power.tm import handle_get_param_data_reply from tmtccmd.pus.s8_fsfw_action import Service8FsfwTm from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter @@ -53,6 +55,8 @@ def handle_action_reply( return handle_core_ctrl_action_replies(action_id, pw, custom_data) elif object_id.as_bytes == STAR_TRACKER_ID: return handle_star_tracker_action_replies(action_id, pw, custom_data) + elif object_id.as_bytes == ACS_CONTROLLER: + return handle_acs_ctrl_action_replies(action_id, pw, custom_data) elif object_id.as_bytes in [ ACU_HANDLER_ID, PDU_1_HANDLER_ID, diff --git a/eive_tmtc/pus_tm/hk_handler.py b/eive_tmtc/pus_tm/hk_handler.py index e896cd0..561f87d 100644 --- a/eive_tmtc/pus_tm/hk_handler.py +++ b/eive_tmtc/pus_tm/hk_handler.py @@ -16,6 +16,7 @@ from eive_tmtc.tmtc.payload.rad_sensor import handle_rad_sensor_data from eive_tmtc.tmtc.acs.sus import handle_sus_hk from eive_tmtc.tmtc.payload.ploc_supervisor import handle_supv_hk_data from eive_tmtc.tmtc.acs.reaction_wheels import handle_rw_hk_data +from eive_tmtc.tmtc.power.pwr_ctrl import handle_pwr_ctrl_hk_data from eive_tmtc.tmtc.com.syrlinks_handler import handle_syrlinks_hk_data from eive_tmtc.tmtc.tcs import handle_thermal_controller_hk_data from eive_tmtc.tmtc.tcs.tmp1075 import handle_tmp_1075_hk_data @@ -229,6 +230,10 @@ def handle_regular_hk_print( # noqa C901: Complexity okay here return handle_acs_ctrl_hk_data( pw=pw, set_id=set_id, hk_data=hk_data, packet_time=packet_dt ) + elif objb == obj_ids.PWR_CONTROLLER: + return handle_pwr_ctrl_hk_data( + pw=pw, set_id=set_id, hk_data=hk_data, packet_time=packet_dt + ) else: _LOGGER.info( f"Service 3 TM: Parsing for object {object_id} and set ID {set_id} " diff --git a/eive_tmtc/tmtc/acs/acs_ctrl.py b/eive_tmtc/tmtc/acs/acs_ctrl.py index dcd74e9..68623a3 100644 --- a/eive_tmtc/tmtc/acs/acs_ctrl.py +++ b/eive_tmtc/tmtc/acs/acs_ctrl.py @@ -29,9 +29,9 @@ from tmtccmd.pus.s20_fsfw_param_defs import ( from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_command from tmtccmd.pus.tc.s3_fsfw_hk import ( create_request_one_diag_command, + create_request_one_hk_command, disable_periodic_hk_command, enable_periodic_hk_command_with_interval, - generate_one_hk_command, make_sid, ) from tmtccmd.tmtc import service_provider @@ -54,10 +54,17 @@ class SetId(enum.IntEnum): GYR_RAW_SET = 4 GYR_PROC_SET = 5 GPS_PROC_SET = 6 - MEKF_DATA = 7 + ATTITUDE_ESTIMATION_DATA = 7 CTRL_VAL_DATA = 8 ACTUATOR_CMD_DATA = 9 FUSED_ROT_RATE_DATA = 10 + FUSED_ROT_RATE_SOURCE_DATA = 11 + + +class DataSetRequest(enum.IntEnum): + ONESHOT = 0 + ENABLE = 1 + DISABLE = 2 class ActionId(enum.IntEnum): @@ -65,6 +72,7 @@ class ActionId(enum.IntEnum): RESET_MEKF = 1 RESTORE_MEKF_NONFINITE_RECOVERY = 2 UPDATE_TLE = 3 + READ_TLE = 4 CTRL_STRAT_DICT = { @@ -85,67 +93,46 @@ CTRL_STRAT_DICT = { 19: "SAFE_ECLIPSE_IDELING", 20: "DETUMBLE_FULL", 21: "DETUMBLE_DETERIORATED", - 30: "PTG_MEKF", - 31: "PTG_RAW", + 100: "PTG_MEKF", + 101: "PTG_STR", + 102: "PTG_QUEST", } -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"] - SAFE = ["safe"] - DTBL = ["safe_detumble"] - IDLE = ["ptg_idle"] - NADIR = ["ptg_nadir"] - TARGET = ["ptg_target"] - GS = ["ptg_target_gs"] - INERTIAL = ["ptg_inertial"] - SAFE_PTG = ["confirm_deployment"] - RESET_MEKF = ["reset_mekf"] - RESTORE_MEKF_NONFINITE_RECOVERY = ["restore_mekf_nonfinite_recovery"] - UPDATE_TLE = ["update_tle"] - SET_PARAMETER_SCALAR = ["set_scalar_param"] - SET_PARAMETER_VECTOR = ["set_vector_param"] - SET_PARAMETER_MATRIX = ["set_matrix_param"] - REQUEST_RAW_MGM_HK = ["mgm_raw_hk"] - ENABLE_RAW_MGM_HK = ["mgm_raw_enable_hk"] - DISABLE_RAW_MGM_HK = ["mgm_raw_disable_hk"] - REQUEST_PROC_MGM_HK = ["mgm_proc_hk"] - ENABLE_PROC_MGM_HK = ["mgm_proc_enable_hk"] - DISABLE_PROC_MGM_HK = ["mgm_proc_disable_hk"] - REQUEST_RAW_SUS_HK = ["sus_raw_hk"] - ENABLE_RAW_SUS_HK = ["sus_raw_enable_hk"] - DISABLE_RAW_SUS_HK = ["sus_raw_disable_hk"] - REQUEST_PROC_SUS_HK = ["sus_proc_hk"] - ENABLE_PROC_SUS_HK = ["sus_proc_enable_hk"] - DISABLE_PROC_SUS_HK = ["sus_proc_disable_hk"] - REQUEST_RAW_GYR_HK = ["gyr_raw_hk"] - ENABLE_RAW_GYR_HK = ["gyr_raw_enable_hk"] - DISABLE_RAW_GYR_HK = ["gyr_raw_disable_hk"] - REQUEST_PROC_GYR_HK = ["gyr_proc_hk"] - ENABLE_PROC_GYR_HK = ["gyr_proc_enable_hk"] - DISABLE_PROC_GYR_HK = ["gyr_proc_disable_hk"] - REQUEST_PROC_GPS_HK = ["gps_proc_hk"] - ENABLE_PROC_GPS_HK = ["gps_proc_enable_hk"] - DISABLE_PROC_GPS_HK = ["gps_proc_disable_hk"] - REQUEST_MEKF_HK = ["mekf_hk"] - ENABLE_MEKF_HK = ["mekf_enable_hk"] - DISABLE_MEKF_HK = ["mekf_disable_hk"] - REQUEST_CTRL_VAL_HK = ["ctrl_val_hk"] - ENABLE_CTRL_VAL_HK = ["ctrl_val_enable_hk"] - DISABLE_CTRL_VAL_HK = ["ctrl_val_disable_hk"] - REQUEST_ACT_CMD_HK = ["act_cmd_hk"] - ENABLE_ACT_CMD_HK = ["act_cmd_enable_hk"] - DISABLE_ACT_CMD_HK = ["act_cmd_disable_hk"] - REQUEST_FUSED_ROT_RATE_HK = ["f_rot_rate_hk"] - ENABLE_FUSED_ROT_RATE_HK = ["f_rot_rate_enable_hk"] - DISABLE_FUSED_ROT_RATE_HK = ["f_rot_rate_disable_hk"] + OFF = "off" + SAFE = "safe" + DTBL = "safe_detumble" + IDLE = "ptg_idle" + NADIR = "ptg_nadir" + TARGET = "ptg_target" + GS = "ptg_target_gs" + INERTIAL = "ptg_inertial" + SAFE_PTG = "confirm_deployment" + RESET_MEKF = "reset_mekf" + RESTORE_MEKF_NONFINITE_RECOVERY = "restore_mekf_nonfinite_recovery" + UPDATE_TLE = "update_tle" + READ_TLE = "read_tle" + SET_PARAMETER_SCALAR = "set_scalar_param" + SET_PARAMETER_VECTOR = "set_vector_param" + SET_PARAMETER_MATRIX = "set_matrix_param" + ONE_SHOOT_HK = "one_shot_hk" + ENABLE_HK = "enable_hk" + DISABLE_HK = "disable_hk" class Info: @@ -161,42 +148,13 @@ class Info: RESET_MEKF = "Reset the MEKF" RESTORE_MEKF_NONFINITE_RECOVERY = "Restore MEKF non-finite recovery" UPDATE_TLE = "Update TLE" + READ_TLE = "Read the currently stored TLE" SET_PARAMETER_SCALAR = "Set Scalar Parameter" SET_PARAMETER_VECTOR = "Set Vector Parameter" SET_PARAMETER_MATRIX = "Set Matrix Parameter" - REQUEST_RAW_MGM_HK = "Request Raw MGM HK once" - ENABLE_RAW_MGM_HK = "Enable Raw MGM HK data generation" - DISABLE_RAW_MGM_HK = "Disable Raw MGM HK data generation" - REQUEST_PROC_MGM_HK = "Request Processed MGM HK" - ENABLE_PROC_MGM_HK = "Enable Processed MGM HK data generation" - DISABLE_PROC_MGM_HK = "Disable Processed MGM HK data generation" - REQUEST_RAW_SUS_HK = "Request Raw SUS HK" - ENABLE_RAW_SUS_HK = "Enable Raw SUS HK data generation" - DISABLE_RAW_SUS_HK = "Disable Raw SUS HK data generation" - REQUEST_PROC_SUS_HK = "Request Processed SUS HK" - ENABLE_PROC_SUS_HK = "Enable Processed SUS HK data generation" - DISABLE_PROC_SUS_HK = "Disable Processed MGM HK data generation" - REQUEST_RAW_GYR_HK = "Request Raw GYR HK" - ENABLE_RAW_GYR_HK = "Enable Raw GYR HK data generation" - DISABLE_RAW_GYR_HK = "Disable Raw GYR HK data generation" - REQUEST_PROC_GYR_HK = "Request Processed GYR HK" - ENABLE_PROC_GYR_HK = "Enable Processed GYR HK data generation" - DISABLE_PROC_GYR_HK = "Disable Processed GYR HK data generation" - REQUEST_PROC_GPS_HK = "Request Processed GPS HK" - ENABLE_PROC_GPS_HK = "Enable Processed GPS HK data generation" - DISABLE_PROC_GPS_HK = "Disable Processed GPS HK data generation" - REQUEST_MEKF_HK = "Request MEKF HK" - ENABLE_MEKF_HK = "Enable MEKF HK data generation" - DISABLE_MEKF_HK = "Disable MEKF HK data generation" - REQUEST_CTRL_VAL_HK = "Request Control Values HK" - ENABLE_CTRL_VAL_HK = "Enable Control Values HK data generation" - DISABLE_CTRL_VAL_HK = "Disable Control Values HK data generation" - REQUEST_ACT_CMD_HK = "Request Actuator Commands HK" - ENABLE_ACT_CMD_HK = "Enable Actuator Commands HK data generation" - DISABLE_ACT_CMD_HK = "Disable Actuator Commands HK data generation" - REQUEST_FUSED_ROT_RATE_HK = "Request Fused Rotational Rates HK" - ENABLE_FUSED_ROT_RATE_HK = "Enable Fused Rotational Rates HK data generation" - DISABLE_FUSED_ROT_RATE_HK = "Disable Fused Rotational Rates HK data generation" + ONE_SHOOT_HK = "One shoot HK Set" + ENABLE_HK = "Enable Periodic HK" + DISABLE_HK = "Disable Periodic HK" PERFORM_MGM_CALIBRATION = False @@ -229,42 +187,13 @@ def acs_cmd_defs(defs: TmtcDefinitionWrapper): 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.REQUEST_RAW_MGM_HK, info=Info.REQUEST_RAW_MGM_HK) - oce.add(keys=OpCodes.ENABLE_RAW_MGM_HK, info=Info.ENABLE_RAW_MGM_HK) - oce.add(keys=OpCodes.DISABLE_RAW_MGM_HK, info=Info.DISABLE_RAW_MGM_HK) - oce.add(keys=OpCodes.REQUEST_PROC_MGM_HK, info=Info.REQUEST_PROC_MGM_HK) - oce.add(keys=OpCodes.ENABLE_PROC_MGM_HK, info=Info.ENABLE_PROC_MGM_HK) - oce.add(keys=OpCodes.DISABLE_PROC_MGM_HK, info=Info.DISABLE_PROC_MGM_HK) - oce.add(keys=OpCodes.REQUEST_RAW_SUS_HK, info=Info.REQUEST_RAW_SUS_HK) - oce.add(keys=OpCodes.ENABLE_RAW_SUS_HK, info=Info.ENABLE_RAW_SUS_HK) - oce.add(keys=OpCodes.DISABLE_RAW_SUS_HK, info=Info.DISABLE_RAW_SUS_HK) - oce.add(keys=OpCodes.REQUEST_PROC_SUS_HK, info=Info.REQUEST_PROC_SUS_HK) - oce.add(keys=OpCodes.ENABLE_PROC_SUS_HK, info=Info.ENABLE_PROC_SUS_HK) - oce.add(keys=OpCodes.DISABLE_PROC_SUS_HK, info=Info.DISABLE_PROC_SUS_HK) - oce.add(keys=OpCodes.REQUEST_RAW_GYR_HK, info=Info.REQUEST_RAW_GYR_HK) - oce.add(keys=OpCodes.ENABLE_RAW_GYR_HK, info=Info.ENABLE_RAW_GYR_HK) - oce.add(keys=OpCodes.DISABLE_RAW_GYR_HK, info=Info.DISABLE_RAW_GYR_HK) - oce.add(keys=OpCodes.REQUEST_PROC_GYR_HK, info=Info.REQUEST_PROC_GYR_HK) - oce.add(keys=OpCodes.ENABLE_PROC_GYR_HK, info=Info.ENABLE_PROC_GYR_HK) - oce.add(keys=OpCodes.DISABLE_PROC_GYR_HK, info=Info.DISABLE_PROC_GYR_HK) - oce.add(keys=OpCodes.REQUEST_PROC_GPS_HK, info=Info.REQUEST_PROC_GPS_HK) - oce.add(keys=OpCodes.ENABLE_PROC_GPS_HK, info=Info.ENABLE_PROC_GPS_HK) - oce.add(keys=OpCodes.DISABLE_PROC_GPS_HK, info=Info.DISABLE_PROC_GPS_HK) - oce.add(keys=OpCodes.REQUEST_MEKF_HK, info=Info.REQUEST_MEKF_HK) - oce.add(keys=OpCodes.ENABLE_MEKF_HK, info=Info.ENABLE_MEKF_HK) - oce.add(keys=OpCodes.DISABLE_MEKF_HK, info=Info.DISABLE_MEKF_HK) - oce.add(keys=OpCodes.REQUEST_CTRL_VAL_HK, info=Info.REQUEST_CTRL_VAL_HK) - oce.add(keys=OpCodes.ENABLE_CTRL_VAL_HK, info=Info.ENABLE_CTRL_VAL_HK) - oce.add(keys=OpCodes.DISABLE_CTRL_VAL_HK, info=Info.DISABLE_CTRL_VAL_HK) - oce.add(keys=OpCodes.REQUEST_ACT_CMD_HK, info=Info.REQUEST_ACT_CMD_HK) - oce.add(keys=OpCodes.ENABLE_ACT_CMD_HK, info=Info.ENABLE_ACT_CMD_HK) - oce.add(keys=OpCodes.DISABLE_ACT_CMD_HK, info=Info.DISABLE_ACT_CMD_HK) - oce.add(keys=OpCodes.REQUEST_FUSED_ROT_RATE_HK, info=Info.REQUEST_FUSED_ROT_RATE_HK) - oce.add(keys=OpCodes.ENABLE_FUSED_ROT_RATE_HK, info=Info.ENABLE_FUSED_ROT_RATE_HK) - oce.add(keys=OpCodes.DISABLE_FUSED_ROT_RATE_HK, info=Info.DISABLE_FUSED_ROT_RATE_HK) + 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 ) @@ -274,50 +203,50 @@ def acs_cmd_defs(defs: TmtcDefinitionWrapper): def pack_acs_ctrl_command(p: ServiceProviderParams): # noqa C901 op_code = p.op_code q = p.queue_helper - if op_code in OpCodes.OFF: + if op_code == OpCodes.OFF: q.add_log_cmd(f"{Info.OFF}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0)) - elif op_code in OpCodes.SAFE: + elif op_code == OpCodes.SAFE: q.add_log_cmd(f"{Info.SAFE}") q.add_pus_tc( pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT) ) - elif op_code in OpCodes.DTBL: + elif op_code == OpCodes.DTBL: q.add_log_cmd(f"{Info.DTBL}") q.add_pus_tc( pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE) ) - elif op_code in OpCodes.IDLE: + elif op_code == OpCodes.IDLE: q.add_log_cmd(f"{Info.IDLE}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0)) - elif op_code in OpCodes.NADIR: + elif op_code == OpCodes.NADIR: q.add_log_cmd(f"{Info.NADIR}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0)) - elif op_code in OpCodes.TARGET: + elif op_code == OpCodes.TARGET: q.add_log_cmd(f"{Info.TARGET}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0)) - elif op_code in OpCodes.GS: + elif op_code == OpCodes.GS: q.add_log_cmd(f"{Info.GS}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0)) - elif op_code in OpCodes.INERTIAL: + elif op_code == OpCodes.INERTIAL: q.add_log_cmd(f"{Info.INERTIAL}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0)) - elif op_code in OpCodes.SAFE_PTG: + elif op_code == OpCodes.SAFE_PTG: q.add_log_cmd(f"{Info.SAFE_PTG}") q.add_pus_tc( create_action_cmd( ACS_CONTROLLER, ActionId.SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL ) ) - elif op_code in OpCodes.RESET_MEKF: + elif op_code == OpCodes.RESET_MEKF: q.add_log_cmd(f"{Info.RESET_MEKF}") q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.RESET_MEKF)) - elif op_code in OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY: + elif op_code == OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY: q.add_log_cmd(f"{Info.RESTORE_MEKF_NONFINITE_RECOVERY}") q.add_pus_tc( create_action_cmd(ACS_CONTROLLER, ActionId.RESTORE_MEKF_NONFINITE_RECOVERY) ) - elif op_code in OpCodes.UPDATE_TLE: + elif op_code == OpCodes.UPDATE_TLE: q.add_log_cmd(f"{Info.UPDATE_TLE}") while True: line1 = input("Please input the first line of the TLE: ") @@ -333,239 +262,79 @@ def pack_acs_ctrl_command(p: ServiceProviderParams): # 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 op_code in OpCodes.SET_PARAMETER_SCALAR: + elif op_code == OpCodes.READ_TLE: + q.add_log_cmd(f"{Info.READ_TLE}") + q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.READ_TLE)) + elif op_code == OpCodes.SET_PARAMETER_SCALAR: q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}") set_acs_ctrl_param_scalar(q) - elif op_code in OpCodes.SET_PARAMETER_VECTOR: + elif op_code == OpCodes.SET_PARAMETER_VECTOR: q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}") set_acs_ctrl_param_vector(q) - elif op_code in OpCodes.SET_PARAMETER_MATRIX: + elif op_code == OpCodes.SET_PARAMETER_MATRIX: q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}") set_acs_ctrl_param_matrix(q) - elif op_code in OpCodes.REQUEST_RAW_MGM_HK: - q.add_log_cmd(Info.REQUEST_RAW_MGM_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET)) - ) - elif op_code in OpCodes.ENABLE_RAW_MGM_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_RAW_MGM_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_RAW_MGM_HK: - q.add_log_cmd(Info.DISABLE_RAW_MGM_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET) - ) - ) - elif op_code in OpCodes.REQUEST_PROC_MGM_HK: - q.add_log_cmd(Info.REQUEST_PROC_MGM_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET)) - ) - elif op_code in OpCodes.ENABLE_PROC_MGM_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_PROC_MGM_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_PROC_MGM_HK: - q.add_log_cmd(Info.DISABLE_PROC_MGM_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET) - ) - ) - elif op_code in OpCodes.REQUEST_RAW_SUS_HK: - q.add_log_cmd(Info.REQUEST_RAW_SUS_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET)) - ) - elif op_code in OpCodes.ENABLE_RAW_SUS_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_RAW_SUS_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_RAW_SUS_HK: - q.add_log_cmd(Info.DISABLE_RAW_SUS_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET) - ) - ) - elif op_code in OpCodes.REQUEST_PROC_SUS_HK: - q.add_log_cmd(Info.REQUEST_PROC_SUS_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET)) - ) - elif op_code in OpCodes.ENABLE_PROC_SUS_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_PROC_SUS_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_PROC_SUS_HK: - q.add_log_cmd(Info.DISABLE_PROC_SUS_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET) - ) - ) - elif op_code in OpCodes.REQUEST_RAW_GYR_HK: - q.add_log_cmd(Info.REQUEST_RAW_GYR_HK) - q.add_pus_tc( - create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET)) - ) - elif op_code in OpCodes.ENABLE_RAW_GYR_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_RAW_GYR_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_RAW_GYR_HK: - q.add_log_cmd(Info.DISABLE_RAW_GYR_HK) - q.add_pus_tc( - disable_periodic_hk_command( - True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET) - ) - ) - elif op_code in OpCodes.REQUEST_PROC_GYR_HK: - q.add_log_cmd(Info.REQUEST_PROC_GYR_HK) - q.add_pus_tc( - create_request_one_diag_command( - make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET) - ) - ) - elif op_code in OpCodes.ENABLE_PROC_GYR_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_PROC_GYR_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_PROC_GYR_HK: - q.add_log_cmd(Info.DISABLE_PROC_GYR_HK) - q.add_pus_tc( - disable_periodic_hk_command( - True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET) - ) - ) - elif op_code in OpCodes.REQUEST_PROC_GPS_HK: - q.add_log_cmd(Info.REQUEST_PROC_GPS_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET)) - ) - elif op_code in OpCodes.ENABLE_PROC_GPS_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_PROC_GPS_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_PROC_GPS_HK: - q.add_log_cmd(Info.DISABLE_PROC_GPS_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET) - ) - ) - elif op_code in OpCodes.REQUEST_MEKF_HK: - q.add_log_cmd(Info.REQUEST_MEKF_HK) - q.add_pus_tc( - create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.MEKF_DATA)) - ) - elif op_code in OpCodes.ENABLE_MEKF_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_MEKF_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_MEKF_HK: - q.add_log_cmd(Info.DISABLE_MEKF_HK) - q.add_pus_tc( - disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA)) - ) - elif op_code in OpCodes.REQUEST_CTRL_VAL_HK: - q.add_log_cmd(Info.REQUEST_CTRL_VAL_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA)) - ) - elif op_code in OpCodes.ENABLE_CTRL_VAL_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_CTRL_VAL_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_CTRL_VAL_HK: - q.add_log_cmd(Info.DISABLE_CTRL_VAL_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA) - ) - ) - elif op_code in OpCodes.REQUEST_ACT_CMD_HK: - q.add_log_cmd(Info.REQUEST_ACT_CMD_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA)) - ) - elif op_code in OpCodes.ENABLE_ACT_CMD_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_ACT_CMD_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_ACT_CMD_HK: - q.add_log_cmd(Info.DISABLE_ACT_CMD_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA) - ) - ) - elif op_code in OpCodes.REQUEST_FUSED_ROT_RATE_HK: - q.add_log_cmd(Info.REQUEST_FUSED_ROT_RATE_HK) - q.add_pus_tc( - generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.FUSED_ROT_RATE_DATA)) - ) - elif op_code in OpCodes.ENABLE_FUSED_ROT_RATE_HK: - interval = float(input("Please specify interval in floating point seconds: ")) - q.add_log_cmd(Info.ENABLE_FUSED_ROT_RATE_HK) - cmd_tuple = enable_periodic_hk_command_with_interval( - False, make_sid(ACS_CONTROLLER, SetId.FUSED_ROT_RATE_DATA), interval - ) - q.add_pus_tc(cmd_tuple[0]) - q.add_pus_tc(cmd_tuple[1]) - elif op_code in OpCodes.DISABLE_FUSED_ROT_RATE_HK: - q.add_log_cmd(Info.DISABLE_FUSED_ROT_RATE_HK) - q.add_pus_tc( - disable_periodic_hk_command( - False, make_sid(ACS_CONTROLLER, SetId.FUSED_ROT_RATE_DATA) - ) - ) + elif op_code == OpCodes.ONE_SHOOT_HK: + q.add_log_cmd(Info.ONE_SHOOT_HK) + request_dataset(q, DataSetRequest.ONESHOT) + elif op_code == OpCodes.ENABLE_HK: + q.add_log_cmd(Info.ENABLE_HK) + request_dataset(q, DataSetRequest.ENABLE) + elif op_code == OpCodes.DISABLE_HK: + q.add_log_cmd(Info.DISABLE_HK) + request_dataset(q, DataSetRequest.DISABLE) else: logging.getLogger(__name__).info(f"Unknown op code {op_code}") +def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest): + for val in SetId: + print("{:<2}: {:<20}".format(val, val.name)) + set_id = int(input("Specify the dataset \n" "")) + if set_id in [ + SetId.GYR_RAW_SET, + SetId.GPS_PROC_SET, + SetId.ATTITUDE_ESTIMATION_DATA, + ]: + is_diag = True + else: + is_diag = False + match req_type: + case DataSetRequest.ONESHOT: + if is_diag: + q.add_pus_tc( + create_request_one_diag_command(make_sid(ACS_CONTROLLER, set_id)) + ) + else: + q.add_pus_tc( + create_request_one_hk_command(make_sid(ACS_CONTROLLER, set_id)) + ) + case DataSetRequest.ENABLE: + interval = float( + input("Please specify interval in floating point seconds: ") + ) + + if is_diag: + cmd_tuple = enable_periodic_hk_command_with_interval( + True, make_sid(ACS_CONTROLLER, set_id), interval + ) + else: + cmd_tuple = enable_periodic_hk_command_with_interval( + False, make_sid(ACS_CONTROLLER, set_id), interval + ) + q.add_pus_tc(cmd_tuple[0]) + q.add_pus_tc(cmd_tuple[1]) + case DataSetRequest.DISABLE: + if is_diag: + q.add_pus_tc( + disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, set_id)) + ) + else: + q.add_pus_tc( + disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, set_id)) + ) + + def set_acs_ctrl_param_scalar(q: DefaultPusQueueHelper): pt = int( input( @@ -771,14 +540,16 @@ def handle_acs_ctrl_hk_data( handle_gyr_data_processed(pw, hk_data) case SetId.GPS_PROC_SET: handle_gps_data_processed(pw, hk_data) - case SetId.MEKF_DATA: - handle_mekf_data(pw, hk_data) + case SetId.ATTITUDE_ESTIMATION_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): @@ -800,7 +571,7 @@ 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): @@ -836,7 +607,7 @@ 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): @@ -892,7 +663,7 @@ 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): @@ -946,7 +717,7 @@ 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): @@ -980,7 +751,7 @@ 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"] @@ -1006,7 +777,7 @@ 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): @@ -1060,8 +831,8 @@ 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: - pw.dlog(f"GPS Source: {GPS_COURCE_DICT[source]}") + if GPS_SOURCE_DICT.get(source) is not None: + 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]") @@ -1069,10 +840,10 @@ 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", @@ -1083,7 +854,7 @@ 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}]" @@ -1092,11 +863,16 @@ 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: - pw.dlog("Received HK set too small") + old_size = inc_len_quat + inc_len_vec + inc_len_sts + 1 + 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 @@ -1111,9 +887,17 @@ 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] + ) + 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): @@ -1163,14 +947,14 @@ 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): @@ -1209,15 +993,20 @@ 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: - pw.dlog("Received HK set too small") + fmt_source = "!B" + 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 = [ @@ -1244,7 +1033,91 @@ 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( + action_id: int, pw: PrintWrapper, custom_data: bytes +): + if action_id == ActionId.READ_TLE: + handle_read_tle(pw, custom_data) + + +def handle_read_tle(pw: PrintWrapper, custom_data: bytes): + pw.dlog("Received TLE") + data_length = 69 * 2 + if len(custom_data) != data_length: + raise ValueError(f"Received data of unexpected length {len(custom_data)}") + tle = custom_data.decode() + pw.dlog(f"{tle[0:69]}\n{tle[69:69*2]}") def perform_mgm_calibration( # noqa C901: Complexity okay diff --git a/eive_tmtc/tmtc/core.py b/eive_tmtc/tmtc/core.py index a8f5faf..94e6a8a 100644 --- a/eive_tmtc/tmtc/core.py +++ b/eive_tmtc/tmtc/core.py @@ -5,22 +5,25 @@ import struct from pathlib import Path from typing import Tuple -from eive_tmtc.pus_tm.defs import PrintWrapper - -from eive_tmtc.config.definitions import CustomServiceList from spacepackets.ecss import PusTelecommand from tmtccmd.config import TmtcDefinitionWrapper - -from tmtccmd.tmtc import DefaultPusQueueHelper -from tmtccmd.pus.s8_fsfw_action import create_action_cmd -from tmtccmd.pus.tc.s3_fsfw_hk import make_sid, generate_one_hk_command -from tmtccmd.pus.s20_fsfw_param import ( - create_scalar_u8_parameter, - create_load_param_cmd, -) from tmtccmd.config.tmtc import OpCodeEntry, tmtc_definitions_provider -from eive_tmtc.config.object_ids import CORE_CONTROLLER_ID from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter +from tmtccmd.pus.s8_fsfw_action import create_action_cmd +from tmtccmd.pus.s11_tc_sched import ( + create_enable_tc_sched_cmd, + create_disable_tc_sched_cmd, +) +from tmtccmd.pus.s20_fsfw_param import ( + create_load_param_cmd, + create_scalar_u8_parameter, +) +from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid +from tmtccmd.tmtc import DefaultPusQueueHelper + +from eive_tmtc.config.definitions import CustomServiceList +from eive_tmtc.config.object_ids import CORE_CONTROLLER_ID +from eive_tmtc.pus_tm.defs import PrintWrapper _LOGGER = logging.getLogger(__name__) @@ -66,6 +69,7 @@ class ActionId(enum.IntEnum): MV_HELPER = 53 RM_HELPER = 54 MKDIR_HELPER = 55 + ENABLE_SCHEDULER = 56 class ParamId(enum.IntEnum): @@ -115,6 +119,8 @@ class OpCode: RWD_SET_MAX_REBOOT_CNT = "rwd_max_cnt" AUTO_SWITCH_ENABLE = "auto_switch_enable" AUTO_SWITCH_DISABLE = "auto_switch_disable" + ENABLE_SCHEDULER = "enable_scheduler" + DISABLE_SCHEDULER = "disable_scheduler" class Info: @@ -142,6 +148,8 @@ class Info: MKDIR_HELPER = "Filesystem Directory Creation Helper" AUTO_SWITCH_ENABLE = "Enable Auto-Switch Feature with a specific target image" AUTO_SWITCH_DISABLE = "Disable Auto-Switch Feature" + ENABLE_SCHEDULER = "Enable scheduler" + DISABLE_SCHEDULER = "Disable scheduler" class Chip(enum.IntEnum): @@ -241,6 +249,8 @@ def add_core_controller_definitions(defs: TmtcDefinitionWrapper): oce.add(keys=OpCode.CP_HELPER, info=Info.CP_HELPER) oce.add(keys=OpCode.RM_HELPER, info=Info.RM_HELPER) oce.add(keys=OpCode.MKDIR_HELPER, info=Info.MKDIR_HELPER) + oce.add(keys=OpCode.ENABLE_SCHEDULER, info=Info.ENABLE_SCHEDULER) + oce.add(keys=OpCode.DISABLE_SCHEDULER, info=Info.DISABLE_SCHEDULER) defs.add_service(CustomServiceList.CORE.value, "Core Controller", oce) @@ -514,6 +524,12 @@ def pack_core_commands( # noqa C901 q.add_pus_tc( create_action_cmd(CORE_CONTROLLER_ID, ActionId.MKDIR_HELPER, user_data) ) + elif op_code == OpCode.ENABLE_SCHEDULER: + q.add_log_cmd(Info.ENABLE_SCHEDULER) + q.add_pus_tc(create_enable_tc_sched_cmd()) + elif op_code == OpCode.DISABLE_SCHEDULER: + q.add_log_cmd(Info.DISABLE_SCHEDULER) + q.add_pus_tc(create_disable_tc_sched_cmd()) else: _LOGGER.warning( f"Unknown operation code {op_code} for core controller commands" diff --git a/eive_tmtc/tmtc/obj_prompt.py b/eive_tmtc/tmtc/obj_prompt.py index 659bead..c472a01 100644 --- a/eive_tmtc/tmtc/obj_prompt.py +++ b/eive_tmtc/tmtc/obj_prompt.py @@ -4,6 +4,7 @@ from eive_tmtc.config.object_ids import ( GPS_0_HEALTH_DEV, GYRO_0_ADIS_HANDLER_ID, GYRO_1_L3G_HANDLER_ID, + GYRO_2_ADIS_HANDLER_ID, ACS_BOARD_ASS_ID, RW_ASSEMBLY, SUS_BOARD_ASS_ID, @@ -38,14 +39,15 @@ ACS_OBJ_DICT = { 5: ("iMTQ MGT", IMTQ_HANDLER_ID), 6: ("GYR 0 ADIS", GYRO_0_ADIS_HANDLER_ID), 7: ("GYR 1 L3G", GYRO_1_L3G_HANDLER_ID), - 8: ("MGM 0 LIS3", MGM_0_LIS3_HANDLER_ID), - 9: ("MGM 1 RM3100", MGM_1_RM3100_HANDLER_ID), - 10: ("GPS 0 Health Device", GPS_0_HEALTH_DEV), - 11: ("SUS 0", SUS_0_N_LOC_XFYFZM_PT_XF), - 12: ("SUS 6", SUS_6_R_LOC_XFYBZM_PT_XF), - 13: ("RW 1", RW1_ID), - 14: ("RW 2", RW2_ID), - 15: ("STR", STAR_TRACKER_ID), + 8: ("GYR 2 ADIS", GYRO_2_ADIS_HANDLER_ID), + 9: ("MGM 0 LIS3", MGM_0_LIS3_HANDLER_ID), + 10: ("MGM 1 RM3100", MGM_1_RM3100_HANDLER_ID), + 11: ("GPS 0 Health Device", GPS_0_HEALTH_DEV), + 12: ("SUS 0", SUS_0_N_LOC_XFYFZM_PT_XF), + 13: ("SUS 6", SUS_6_R_LOC_XFYBZM_PT_XF), + 14: ("RW 1", RW1_ID), + 15: ("RW 2", RW2_ID), + 16: ("STR", STAR_TRACKER_ID), } TCS_OBJ_DICT = { diff --git a/eive_tmtc/tmtc/test.py b/eive_tmtc/tmtc/test.py index c484a38..a5b36c8 100644 --- a/eive_tmtc/tmtc/test.py +++ b/eive_tmtc/tmtc/test.py @@ -1,10 +1,15 @@ -from spacepackets.ecss import PusTelecommand, PusService +import struct +import datetime +import math + +from spacepackets.ecss import PusService, PusTelecommand from tmtccmd.config import CoreServiceList from tmtccmd.config.tmtc import ( - tmtc_definitions_provider, - TmtcDefinitionWrapper, OpCodeEntry, + TmtcDefinitionWrapper, + tmtc_definitions_provider, ) +from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd from tmtccmd.pus.s17_test import create_service_17_ping_command from tmtccmd.tmtc import service_provider from tmtccmd.tmtc.decorator import ServiceProviderParams @@ -14,12 +19,14 @@ class OpCodes: PING = "ping" TRIGGER_EVENT = "trig_event" PING_WITH_DATA = "ping_with_data" + SCHEDULE_PING = "sched_ping" class Info: PING = "Simple Ping and Connection Test" TRIGGER_EVENT = "Trigger an event" PING_WITH_DATA = "Ping with data. Size of sent data is sent back" + SCHEDULE_PING = "Schedule a ping" @tmtc_definitions_provider @@ -28,6 +35,7 @@ def add_test_defs(defs: TmtcDefinitionWrapper): oce.add(keys=OpCodes.PING, info=Info.PING) oce.add(keys=OpCodes.TRIGGER_EVENT, info=Info.TRIGGER_EVENT) oce.add(keys=OpCodes.PING_WITH_DATA, info=Info.PING_WITH_DATA) + oce.add(keys=OpCodes.SCHEDULE_PING, info=Info.SCHEDULE_PING) defs.add_service( name=CoreServiceList.SERVICE_17_ALT, @@ -46,6 +54,21 @@ def pack_test_command(p: ServiceProviderParams): if info.op_code == OpCodes.TRIGGER_EVENT: q.add_log_cmd("Sending PUS TC Event Trigger [17, 128]") q.add_pus_tc(PusTelecommand(service=PusService.S17_TEST, subservice=128)) + if info.op_code == OpCodes.SCHEDULE_PING: + q.add_log_cmd("Sending scheduled PUS ping") + # Generate a UNIX timestamp 30 seconds in the future using the datetime API with a UTC timezone + now = datetime.datetime.now(tz=datetime.timezone.utc) + second_offset_to_now = input("Please specify offset to now in seconds: ") + now += datetime.timedelta(seconds=int(second_offset_to_now)) + unix_stamp = struct.pack("!I", math.floor(now.timestamp())) + print(f"Sending ping scheuled at {now}") + ping = PusTelecommand(service=PusService.S17_TEST, subservice=128) + q.add_pus_tc( + create_time_tagged_cmd( + release_time=unix_stamp, + tc_to_insert=ping, + ) + ) if info.op_code == OpCodes.PING_WITH_DATA: q.add_log_cmd("Sending Ping With Data, Size Reported Back [17, 129]") while True: diff --git a/pyproject.toml b/pyproject.toml index b9017d4..8c2cd28 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta" name = "eive-tmtc" description = "TMTC Commander EIVE" readme = "README.md" -version = "5.10.1" +version = "5.12.1" requires-python = ">=3.10" license = {text = "Apache-2.0"} authors = [