Merge remote-tracking branch 'origin/develop' into mueller/gps-hk-parsing

pus_tc/devs/reaction_wheels.py

@@ -196,20 +196,36 @@ def pack_rw_ass_cmds(tc_queue: TcQueueT, object_id: bytes, op_code: str):
 
 
 def pack_set_speed_command(
-    object_id: bytes, speed: int, ramp_time: int, ssc: int
+    object_id: bytes, speed: int, ramp_time_ms: int, ssc: int
 ) -> PusTelecommand:
     """With this function a command is packed to set the speed of a reaction wheel
     :param object_id: The object id of the reaction wheel handler.
     :param speed: Valid speeds are [-65000, -1000] and [1000, 65000]. Values are
         specified in 0.1 * RPM
-    :param ramp_time: The time after which the reaction wheel will reach the commanded speed.
+    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
         Valid times are 10 - 10000 ms
     :param ssc: Source sequence count
     """
+    if speed > 0:
+        if speed < 1000 or speed > 65000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [1000, 65000] 0.1 * RPM"
+            )
+    else:
+        if speed < -65000 or speed > -1000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [-65000, -1000] 0.1 * RPM"
+            )
+    if ramp_time_ms < 0 or (
+        ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
+    ):
+        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-10000] ms")
     command_id = RwCommandIds.SET_SPEED
     command = bytearray()
     command += object_id + command_id
     command = command + struct.pack("!i", speed)
-    command = command + ramp_time.to_bytes(length=2, byteorder="big")
+    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
     command = PusTelecommand(service=8, subservice=128, ssc=ssc, app_data=command)
     return command