From d77ccbf8e9cc6e6f402585a3c0ed50ad9f8e3480 Mon Sep 17 00:00:00 2001 From: Marius Eggert Date: Fri, 20 Jan 2023 09:44:51 +0100 Subject: [PATCH] fixes fixes fixes - improved cmd OpCodes naming - removed normal mode without submode which gets rejected anyways - added normal mode with submodes - fixed bugs in sus hk handling --- eive_tmtc/tmtc/acs/acs_ctrl.py | 84 ++++++++++++++++++++-------------- 1 file changed, 49 insertions(+), 35 deletions(-) diff --git a/eive_tmtc/tmtc/acs/acs_ctrl.py b/eive_tmtc/tmtc/acs/acs_ctrl.py index daf645f..671752f 100644 --- a/eive_tmtc/tmtc/acs/acs_ctrl.py +++ b/eive_tmtc/tmtc/acs/acs_ctrl.py @@ -41,45 +41,54 @@ class SetId(enum.IntEnum): CTRL_VAL_DATA = 8 ACTUATOR_CMD_DATA = 9 +class Submode(enum.IntEnum): + SAFE = 2 + DETUMBLE = 3 + IDLE = 4 + class OpCodes: OFF = ["off"] - NML = ["normal"] + SAFE = ["normal_safe"] + DTBL = ["normal_detumble"] + IDLE = ["normal_idle"] REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"] - ENABLE_RAW_MGM_HK = ["1", "enable_mgm_raw_hk"] - DISABLE_RAW_MGM_HK = ["2", "disable_mgm_raw_hk"] + ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"] + DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"] REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"] - ENABLE_PROC_MGM_HK = ["4", "enable_mgm_proc_hk"] - DISABLE_PROC_MGM_HK = ["5", "disable_mgm_proc_hk"] + ENABLE_PROC_MGM_HK = ["4", "mgm_proc_enable_hk"] + DISABLE_PROC_MGM_HK = ["5", "mgm_proc_disable_hk"] REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"] - ENABLE_RAW_SUS_HK = ["7", "enable_sus_raw_hk"] - DISABLE_RAW_SUS_HK = ["8", "disable_sus_raw_hk"] + ENABLE_RAW_SUS_HK = ["7", "sus_raw_enable_hk"] + DISABLE_RAW_SUS_HK = ["8", "sus_raw_disable_hk"] REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"] - ENABLE_PROC_SUS_HK = ["10", "enable_sus_proc_hk"] - DISABLE_PROC_SUS_HK = ["11", "disable_sus_proc_hk"] + ENABLE_PROC_SUS_HK = ["10", "sus_proc_enable_hk"] + DISABLE_PROC_SUS_HK = ["11", "sus_proc_disable_hk"] REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"] - ENABLE_RAW_GYR_HK = ["13", "enable_gyr_raw_hk"] - DISABLE_RAW_GYR_HK = ["14", "disable_gyr_raw_hk"] + ENABLE_RAW_GYR_HK = ["13", "gyr_raw_enable_hk"] + DISABLE_RAW_GYR_HK = ["14", "gyr_raw_disable_hk"] REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"] - ENABLE_PROC_GYR_HK = ["16", "enable_gyr_proc_hk"] - DISABLE_PROC_GYR_HK = ["17", "disable_gyr_proc_hk"] + ENABLE_PROC_GYR_HK = ["16", "gyr_proc_enable_hk"] + DISABLE_PROC_GYR_HK = ["17", "gyr_proc_disable_hk"] REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"] - ENABLE_PROC_GPS_HK = ["19", "enable_gps_proc_hk"] - DISABLE_PROC_GPS_HK = ["20", "disable_gps_proc_hk"] + ENABLE_PROC_GPS_HK = ["19", "gps_proc_enable_hk"] + DISABLE_PROC_GPS_HK = ["20", "gps_proc_disable_hk"] REQUEST_MEKF_HK = ["21", "mekf_hk"] - ENABLE_MEKF_HK = ["22", "enable_mekf_hk"] - DISABLE_MEKF_HK = ["23", "disable_mekf_hk"] + ENABLE_MEKF_HK = ["22", "mekf_enable_hk"] + DISABLE_MEKF_HK = ["23", "mekf_disable_hk"] REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"] - ENABLE_CTRL_VAL_HK = ["25", "enable_ctrl_val_hk"] - DISABLE_CTRL_VAL_HK = ["26", "disable_ctrl_val_hk"] + ENABLE_CTRL_VAL_HK = ["25", "ctrl_val_enable_hk"] + DISABLE_CTRL_VAL_HK = ["26", "ctrl_val_disable_hk"] REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"] - ENABLE_ACT_CMD_HK = ["28", "enable act_cmd_hk"] - DISABLE_ACT_CMD_HK = ["29", "disable act_cmd_hk"] + ENABLE_ACT_CMD_HK = ["28", "act_cmd_enable_hk"] + DISABLE_ACT_CMD_HK = ["29", "act_cmd_disable_hk"] class Info: OFF = "Switch ACS CTRL off" - NML = "Switch ACS CTRL normal" + SAFE = "Switch ACS CTRL normal safe" + DTBL = "Switch ACS CTRL normal detumble" + IDLE = "Switch ACS CTRL normal idle" 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" @@ -128,7 +137,9 @@ if PERFORM_MGM_CALIBRATION: def acs_cmd_defs(defs: TmtcDefinitionWrapper): oce = OpCodeEntry() oce.add(keys=OpCodes.OFF, info=Info.OFF) - oce.add(keys=OpCodes.NML, info=Info.NML) + 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.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) @@ -171,10 +182,16 @@ def pack_acs_ctrl_command(p: ServiceProviderParams): if op_code in OpCodes.OFF: q.add_log_cmd(f"{Info.OFF}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0)) - if op_code in OpCodes.NML: - q.add_log_cmd(f"{Info.NML}") - q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, 0)) - if op_code in OpCodes.REQUEST_RAW_MGM_HK: + elif op_code in OpCodes.SAFE: + q.add_log_cmd(f"{Info.SAFE}") + q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.SAFE)) + elif op_code in OpCodes.DTBL: + q.add_log_cmd(f"{Info.DTBL}") + q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.DTBL)) + elif op_code in OpCodes.IDLE: + q.add_log_cmd(f"{Info.IDLE}") + q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.IDLE)) + 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)) @@ -430,10 +447,9 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes): pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}") fmt_str = "!ddd" inc_len = struct.calcsize(fmt_str) - sus_vec_tot = list( - struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) - ) - sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}] + sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) + + sus_vec_tot = [f"{val:8.3f}" for val in sus_vec_tot] current_idx += inc_len pw.dlog(f"SUS Vector Total: {sus_vec_tot}") sus_vec_tot_deriv = struct.unpack( @@ -442,10 +458,8 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes): sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}] current_idx += inc_len pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}") - sun_ijk_model = list( - struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) - ) - sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}] + sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) + sun_ijk_model = [f"{val:8.3f}" for val in sun_ijk_model] current_idx += inc_len pw.dlog(f"SUS ijk Model: {sun_ijk_model}") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=15)