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fixes fixes fixes

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- improved cmd OpCodes naming
- removed normal mode without submode which gets rejected anyways
- added normal mode with submodes
- fixed bugs in sus hk handling
This commit is contained in:
Marius Eggert 2023-01-20 09:44:51 +01:00
parent f3c0b7567a
commit d77ccbf8e9
1 changed files with 49 additions and 35 deletions
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84
eive_tmtc/tmtc/acs/acs_ctrl.py
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@ -41,45 +41,54 @@ class SetId(enum.IntEnum):
CTRL_VAL_DATA = 8 CTRL_VAL_DATA = 8
ACTUATOR_CMD_DATA = 9 ACTUATOR_CMD_DATA = 9
class Submode(enum.IntEnum):
SAFE = 2
DETUMBLE = 3
IDLE = 4
class OpCodes: class OpCodes:
OFF = ["off"] OFF = ["off"]
NML = ["normal"] SAFE = ["normal_safe"]
DTBL = ["normal_detumble"]
IDLE = ["normal_idle"]
REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"] REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"]
ENABLE_RAW_MGM_HK = ["1", "enable_mgm_raw_hk"] ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"]
DISABLE_RAW_MGM_HK = ["2", "disable_mgm_raw_hk"] DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"]
REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"] REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"]
ENABLE_PROC_MGM_HK = ["4", "enable_mgm_proc_hk"] ENABLE_PROC_MGM_HK = ["4", "mgm_proc_enable_hk"]
DISABLE_PROC_MGM_HK = ["5", "disable_mgm_proc_hk"] DISABLE_PROC_MGM_HK = ["5", "mgm_proc_disable_hk"]
REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"] REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"]
ENABLE_RAW_SUS_HK = ["7", "enable_sus_raw_hk"] ENABLE_RAW_SUS_HK = ["7", "sus_raw_enable_hk"]
DISABLE_RAW_SUS_HK = ["8", "disable_sus_raw_hk"] DISABLE_RAW_SUS_HK = ["8", "sus_raw_disable_hk"]
REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"] REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"]
ENABLE_PROC_SUS_HK = ["10", "enable_sus_proc_hk"] ENABLE_PROC_SUS_HK = ["10", "sus_proc_enable_hk"]
DISABLE_PROC_SUS_HK = ["11", "disable_sus_proc_hk"] DISABLE_PROC_SUS_HK = ["11", "sus_proc_disable_hk"]
REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"] REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"]
ENABLE_RAW_GYR_HK = ["13", "enable_gyr_raw_hk"] ENABLE_RAW_GYR_HK = ["13", "gyr_raw_enable_hk"]
DISABLE_RAW_GYR_HK = ["14", "disable_gyr_raw_hk"] DISABLE_RAW_GYR_HK = ["14", "gyr_raw_disable_hk"]
REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"] REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"]
ENABLE_PROC_GYR_HK = ["16", "enable_gyr_proc_hk"] ENABLE_PROC_GYR_HK = ["16", "gyr_proc_enable_hk"]
DISABLE_PROC_GYR_HK = ["17", "disable_gyr_proc_hk"] DISABLE_PROC_GYR_HK = ["17", "gyr_proc_disable_hk"]
REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"] REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"]
ENABLE_PROC_GPS_HK = ["19", "enable_gps_proc_hk"] ENABLE_PROC_GPS_HK = ["19", "gps_proc_enable_hk"]
DISABLE_PROC_GPS_HK = ["20", "disable_gps_proc_hk"] DISABLE_PROC_GPS_HK = ["20", "gps_proc_disable_hk"]
REQUEST_MEKF_HK = ["21", "mekf_hk"] REQUEST_MEKF_HK = ["21", "mekf_hk"]
ENABLE_MEKF_HK = ["22", "enable_mekf_hk"] ENABLE_MEKF_HK = ["22", "mekf_enable_hk"]
DISABLE_MEKF_HK = ["23", "disable_mekf_hk"] DISABLE_MEKF_HK = ["23", "mekf_disable_hk"]
REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"] REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"]
ENABLE_CTRL_VAL_HK = ["25", "enable_ctrl_val_hk"] ENABLE_CTRL_VAL_HK = ["25", "ctrl_val_enable_hk"]
DISABLE_CTRL_VAL_HK = ["26", "disable_ctrl_val_hk"] DISABLE_CTRL_VAL_HK = ["26", "ctrl_val_disable_hk"]
REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"] REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"]
ENABLE_ACT_CMD_HK = ["28", "enable act_cmd_hk"] ENABLE_ACT_CMD_HK = ["28", "act_cmd_enable_hk"]
DISABLE_ACT_CMD_HK = ["29", "disable act_cmd_hk"] DISABLE_ACT_CMD_HK = ["29", "act_cmd_disable_hk"]
class Info: class Info:
OFF = "Switch ACS CTRL off" 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" REQUEST_RAW_MGM_HK = "Request Raw MGM HK once"
ENABLE_RAW_MGM_HK = "Enable Raw MGM HK data generation" ENABLE_RAW_MGM_HK = "Enable Raw MGM HK data generation"
DISABLE_RAW_MGM_HK = "Disable 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): def acs_cmd_defs(defs: TmtcDefinitionWrapper):
oce = OpCodeEntry() oce = OpCodeEntry()
oce.add(keys=OpCodes.OFF, info=Info.OFF) 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.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.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.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: if op_code in OpCodes.OFF:
q.add_log_cmd(f"{Info.OFF}") q.add_log_cmd(f"{Info.OFF}")
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0)) q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
if op_code in OpCodes.NML: elif op_code in OpCodes.SAFE:
q.add_log_cmd(f"{Info.NML}") q.add_log_cmd(f"{Info.SAFE}")
q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, 0)) q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.SAFE))
if op_code in OpCodes.REQUEST_RAW_MGM_HK: 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_log_cmd(Info.REQUEST_RAW_MGM_HK)
q.add_pus_tc( q.add_pus_tc(
generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET)) 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}") pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
fmt_str = "!ddd" fmt_str = "!ddd"
inc_len = struct.calcsize(fmt_str) inc_len = struct.calcsize(fmt_str)
sus_vec_tot = list( sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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 = [f"{val:8.3f}" for val in {sus_vec_tot}]
current_idx += inc_len current_idx += inc_len
pw.dlog(f"SUS Vector Total: {sus_vec_tot}") pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
sus_vec_tot_deriv = struct.unpack( 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}] sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
current_idx += inc_len current_idx += inc_len
pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}") pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
sun_ijk_model = list( sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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 = [f"{val:8.3f}" for val in {sun_ijk_model}]
current_idx += inc_len current_idx += inc_len
pw.dlog(f"SUS ijk Model: {sun_ijk_model}") pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=15) pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=15)