Merge remote-tracking branch 'origin/main' into refactor_tm_handling

CHANGELOG.md

@@ -10,6 +10,10 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+## Added
+
+- Added GPS Altitude for GPS Processed Data Dataset
+
 ## Changed
 
 - ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -2,6 +2,7 @@ import enum
 import logging
 import socket
 import struct
+import math
 from socket import AF_INET
 from typing import Tuple
 
@@ -75,36 +76,36 @@ class OpCodes:
     SET_PARAMETER_SCALAR = ["set_scalar_param"]
     SET_PARAMETER_VECTOR = ["set_vector_param"]
     SET_PARAMETER_MATRIX = ["set_matrix_param"]
-    REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"]
+    REQUEST_RAW_MGM_HK = ["mgm_raw_hk"]
-    ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"]
+    ENABLE_RAW_MGM_HK = ["mgm_raw_enable_hk"]
-    DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"]
+    DISABLE_RAW_MGM_HK = ["mgm_raw_disable_hk"]
-    REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"]
+    REQUEST_PROC_MGM_HK = ["mgm_proc_hk"]
-    ENABLE_PROC_MGM_HK = ["4", "mgm_proc_enable_hk"]
+    ENABLE_PROC_MGM_HK = ["mgm_proc_enable_hk"]
-    DISABLE_PROC_MGM_HK = ["5", "mgm_proc_disable_hk"]
+    DISABLE_PROC_MGM_HK = ["mgm_proc_disable_hk"]
-    REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"]
+    REQUEST_RAW_SUS_HK = ["sus_raw_hk"]
-    ENABLE_RAW_SUS_HK = ["7", "sus_raw_enable_hk"]
+    ENABLE_RAW_SUS_HK = ["sus_raw_enable_hk"]
-    DISABLE_RAW_SUS_HK = ["8", "sus_raw_disable_hk"]
+    DISABLE_RAW_SUS_HK = ["sus_raw_disable_hk"]
-    REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"]
+    REQUEST_PROC_SUS_HK = ["sus_proc_hk"]
-    ENABLE_PROC_SUS_HK = ["10", "sus_proc_enable_hk"]
+    ENABLE_PROC_SUS_HK = ["sus_proc_enable_hk"]
-    DISABLE_PROC_SUS_HK = ["11", "sus_proc_disable_hk"]
+    DISABLE_PROC_SUS_HK = ["sus_proc_disable_hk"]
-    REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"]
+    REQUEST_RAW_GYR_HK = ["gyr_raw_hk"]
-    ENABLE_RAW_GYR_HK = ["13", "gyr_raw_enable_hk"]
+    ENABLE_RAW_GYR_HK = ["gyr_raw_enable_hk"]
-    DISABLE_RAW_GYR_HK = ["14", "gyr_raw_disable_hk"]
+    DISABLE_RAW_GYR_HK = ["gyr_raw_disable_hk"]
-    REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"]
+    REQUEST_PROC_GYR_HK = ["gyr_proc_hk"]
-    ENABLE_PROC_GYR_HK = ["16", "gyr_proc_enable_hk"]
+    ENABLE_PROC_GYR_HK = ["gyr_proc_enable_hk"]
-    DISABLE_PROC_GYR_HK = ["17", "gyr_proc_disable_hk"]
+    DISABLE_PROC_GYR_HK = ["gyr_proc_disable_hk"]
-    REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"]
+    REQUEST_PROC_GPS_HK = ["gps_proc_hk"]
-    ENABLE_PROC_GPS_HK = ["19", "gps_proc_enable_hk"]
+    ENABLE_PROC_GPS_HK = ["gps_proc_enable_hk"]
-    DISABLE_PROC_GPS_HK = ["20", "gps_proc_disable_hk"]
+    DISABLE_PROC_GPS_HK = ["gps_proc_disable_hk"]
-    REQUEST_MEKF_HK = ["21", "mekf_hk"]
+    REQUEST_MEKF_HK = ["mekf_hk"]
-    ENABLE_MEKF_HK = ["22", "mekf_enable_hk"]
+    ENABLE_MEKF_HK = ["mekf_enable_hk"]
-    DISABLE_MEKF_HK = ["23", "mekf_disable_hk"]
+    DISABLE_MEKF_HK = ["mekf_disable_hk"]
-    REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"]
+    REQUEST_CTRL_VAL_HK = ["ctrl_val_hk"]
-    ENABLE_CTRL_VAL_HK = ["25", "ctrl_val_enable_hk"]
+    ENABLE_CTRL_VAL_HK = ["ctrl_val_enable_hk"]
-    DISABLE_CTRL_VAL_HK = ["26", "ctrl_val_disable_hk"]
+    DISABLE_CTRL_VAL_HK = ["ctrl_val_disable_hk"]
-    REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"]
+    REQUEST_ACT_CMD_HK = ["act_cmd_hk"]
-    ENABLE_ACT_CMD_HK = ["28", "act_cmd_enable_hk"]
+    ENABLE_ACT_CMD_HK = ["act_cmd_enable_hk"]
-    DISABLE_ACT_CMD_HK = ["29", "act_cmd_disable_hk"]
+    DISABLE_ACT_CMD_HK = ["act_cmd_disable_hk"]
 
 
 class Info:
@@ -273,9 +274,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -292,9 +294,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -311,9 +314,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -330,9 +334,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -349,9 +354,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -370,9 +376,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             )
         )
     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), 2.0
+            True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -389,9 +396,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -408,9 +416,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -425,9 +434,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -444,9 +454,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
             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), 2.0
+            False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA), interval
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
@@ -880,7 +891,7 @@ def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
     current_idx = 0
     for i in range(4):
         gyr_vec = [
-            f"{val:8.3f}"
+            f"{val*180/math.pi:8.3f}"
             for val in struct.unpack(
                 fmt_str, hk_data[current_idx : current_idx + inc_len]
             )
@@ -888,7 +899,7 @@ def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
         pw.dlog(f"{GYR_NAMES[i]}: {gyr_vec}")
         current_idx += inc_len
     gyr_vec_tot = [
-        f"{val:8.3f}"
+        f"{val*180/math.pi:8.3f}"
         for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
     ]
     pw.dlog(f"GYR Vec Total: {gyr_vec_tot}")
@@ -907,19 +918,26 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
         return
     current_idx = 0
     lat = [
-        f"{val:8.3f}"
+        f"{val*180/math.pi:8.3f}"
         for val in struct.unpack(
             fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
         )
     ]
     current_idx += inc_len_scalar
     long = [
-        f"{val:8.3f}"
+        f"{val*180/math.pi:8.3f}"
         for val in struct.unpack(
             fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
         )
     ]
     current_idx += inc_len_scalar
+    alt = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_scalar, hk_data[current_idx: current_idx + inc_len_scalar]
+        )
+    ]
+    current_idx += inc_len_scalar
     pos = [
         f"{val:8.3f}"
         for val in struct.unpack(
@@ -934,8 +952,9 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
         )
     ]
     current_idx += inc_len_vec
-    pw.dlog(f"GPS Latitude: {lat} [rad]")
+    pw.dlog(f"GPS Latitude: {lat} [deg]")
-    pw.dlog(f"GPS Longitude: {long} [rad]")
+    pw.dlog(f"GPS Longitude: {long} [deg]")
+    pw.dlog(f"GPS Altitude: {alt} [m]")
     pw.dlog(f"GPS Position: {pos} [m]")
     pw.dlog(f"GPS Velocity: {velo} [m/s]")
     pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=4)
@@ -966,7 +985,7 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
     current_idx = 0
     quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])
     current_idx += inc_len_quat
-    rate = struct.unpack(fmt_vec, hk_data[current_idx : current_idx + inc_len_vec])
+    rate = struct.unpack(fmt_vec, hk_data[current_idx : current_idx + inc_len_vec])*180/math.pi
     current_idx += inc_len_vec
     status = struct.unpack(fmt_sts, hk_data[current_idx : current_idx + inc_len_sts])[0]
     current_idx += inc_len_sts
@@ -1003,14 +1022,14 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
     ]
     current_idx += inc_len_quat
     err_ang = [
-        f"{val:8.3f}"
+        f"{val*180/math.pi:8.3f}"
         for val in struct.unpack(
             fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
         )
     ]
     current_idx += inc_len_scalar
     tgt_rot = [
-        f"{val:8.3f}"
+        f"{val*180/math.pi:8.3f}"
         for val in struct.unpack(
             fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
         )
@@ -1018,8 +1037,8 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
     current_idx += inc_len_vec
     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} [rad]")
+    pw.dlog(f"Control Values Error Angle: {err_ang} [deg]")
-    pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [rad/s]")
+    pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [deg/s]")
     pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=4)