From f5367ac38136d281f4fe3cee9b04de5b338af39c Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Tue, 24 May 2022 18:57:52 +0200
Subject: [PATCH] imtq hk parsing

---
 .run/tmtccli.run.xml           |  2 +-
 pus_tc/cmd_definitions.py      | 23 ++++----
 pus_tc/devs/imtq.py            | 55 +++++++++++++++----
 pus_tc/devs/ploc_supervisor.py |  2 +-
 pus_tm/devs/imtq_mgt.py        | 98 ++++++++++++++++++++++++++++++++++
 pus_tm/hk_handling.py          | 11 +++-
 tmtccmd                        |  2 +-
 7 files changed, 170 insertions(+), 23 deletions(-)

diff --git a/.run/tmtccli.run.xml b/.run/tmtccli.run.xml
index 1b4b29b..e11ccfd 100644
--- a/.run/tmtccli.run.xml
+++ b/.run/tmtccli.run.xml
@@ -13,7 +13,7 @@
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
     <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtccli.py" />
-    <option name="PARAMETERS" value="" />
+    <option name="PARAMETERS" value="-l" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="true" />
     <option name="MODULE_MODE" value="false" />
diff --git a/pus_tc/cmd_definitions.py b/pus_tc/cmd_definitions.py
index 16bd542..3900101 100644
--- a/pus_tc/cmd_definitions.py
+++ b/pus_tc/cmd_definitions.py
@@ -423,15 +423,20 @@ def add_time_cmds(cmd_dict: ServiceOpCodeDictT):
 
 def add_imtq_cmds(cmd_dict: ServiceOpCodeDictT):
     op_code_dict_srv_imtq = {
-        "0": ("IMTQ Tests All", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "1": ("IMTQ perform pos X self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "2": ("IMTQ perform neg X self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "3": ("IMTQ perform pos Y self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "4": ("IMTQ perform neg Y self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "5": ("IMTQ perform pos Z self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "6": ("IMTQ perform neg Z self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "7": ("IMTQ command dipole", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "8": ("IMTQ get commanded dipole", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "0": ("Mode off", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "1": ("Mode on", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "2": ("Mode normal", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "3": ("IMTQ perform pos X self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "4": ("IMTQ perform neg X self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "5": ("IMTQ perform pos Y self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "6": ("IMTQ perform neg Y self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "7": ("IMTQ perform pos Z self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "8": ("IMTQ perform neg Z self test", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "9": ("IMTQ command dipole", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "10": ("IMTQ get commanded dipole", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "11": ("IMTQ get engineering hk set", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "12": ("IMTQ get calibrated MTM measurement one shot", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "13": ("IMTQ get raw MTM measurement one shot", {OpCodeDictKeys.TIMEOUT: 2.0}),
     }
     service_imtq_tuple = ("IMTQ Device", op_code_dict_srv_imtq)
     cmd_dict[CustomServiceList.IMTQ.value] = service_imtq_tuple
diff --git a/pus_tc/devs/imtq.py b/pus_tc/devs/imtq.py
index 7c1f136..4c409d2 100644
--- a/pus_tc/devs/imtq.py
+++ b/pus_tc/devs/imtq.py
@@ -9,7 +9,8 @@ from tmtccmd.config.definitions import QueueCommands
 
 from tmtccmd.tc.packer import TcQueueT
 from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tc.pus_3_fsfw_hk import make_sid, generate_one_hk_command
+from tmtccmd.tc.pus_3_fsfw_hk import make_sid, generate_one_diag_command, generate_one_hk_command
+from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
 
 
 class ImtqSetIds:
@@ -48,7 +49,22 @@ def pack_imtq_test_into(
         )
     )
 
-    if op_code == "0" or op_code == "1":
+    if op_code == "0":
+        tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Set mode off"))
+        command = pack_mode_data(object_id, Modes.OFF, 0)
+        command = PusTelecommand(service=200, subservice=1, ssc=9, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "1":
+        tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Set mode on"))
+        command = pack_mode_data(object_id, Modes.ON, 0)
+        command = PusTelecommand(service=200, subservice=1, ssc=10, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "2":
+        tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Mode Normal"))
+        command = pack_mode_data(object_id, Modes.NORMAL, 0)
+        command = PusTelecommand(service=200, subservice=1, ssc=11, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "3":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform positive x self test"))
         command = object_id + ImtqActionIds.perform_positive_x_test
         command = PusTelecommand(service=8, subservice=128, ssc=22, app_data=command)
@@ -74,7 +90,7 @@ def pack_imtq_test_into(
         command = generate_one_hk_command(sid, 24)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "2":
+    if op_code == "4":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform negative x self test"))
         command = object_id + ImtqActionIds.perform_negative_x_test
         command = PusTelecommand(service=8, subservice=128, ssc=25, app_data=command)
@@ -100,7 +116,7 @@ def pack_imtq_test_into(
         command = generate_one_hk_command(sid, 27)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "3":
+    if op_code == "5":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform positive y self test"))
         command = object_id + ImtqActionIds.perform_positive_y_test
         command = PusTelecommand(service=8, subservice=128, ssc=28, app_data=command)
@@ -126,7 +142,7 @@ def pack_imtq_test_into(
         command = generate_one_hk_command(sid, 30)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "4":
+    if op_code == "6":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform negative y self test"))
         command = object_id + ImtqActionIds.perform_negative_y_test
         command = PusTelecommand(service=8, subservice=128, ssc=31, app_data=command)
@@ -152,7 +168,7 @@ def pack_imtq_test_into(
         command = generate_one_hk_command(sid, 33)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "5":
+    if op_code == "7":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform positive z self test"))
         command = object_id + ImtqActionIds.perform_positive_z_test
         command = PusTelecommand(service=8, subservice=128, ssc=34, app_data=command)
@@ -178,7 +194,7 @@ def pack_imtq_test_into(
         command = generate_one_hk_command(sid, 36)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "6":
+    if op_code == "8":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform negative z self test"))
         command = object_id + ImtqActionIds.perform_negative_z_test
         command = PusTelecommand(service=8, subservice=128, ssc=35, app_data=command)
@@ -204,7 +220,7 @@ def pack_imtq_test_into(
         command = generate_one_hk_command(sid, 37)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "7":
+    if op_code == "9":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Commanding dipole"))
         x_dipole = 0
         y_dipole = 0
@@ -214,12 +230,33 @@ def pack_imtq_test_into(
         command = PusTelecommand(service=8, subservice=128, ssc=20, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "0" or op_code == "8":
+    if op_code == "10":
         tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get commanded dipole"))
         command = object_id + ImtqActionIds.get_commanded_dipole
         command = PusTelecommand(service=8, subservice=128, ssc=21, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 
+    if op_code == "11":
+        tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get engineering hk set"))
+        command = generate_one_diag_command(
+            sid=make_sid(object_id=object_id, set_id=ImtqSetIds.ENG_HK_SET), ssc=0
+        )
+        tc_queue.appendleft(command.pack_command_tuple())
+
+    if op_code == "12":
+        tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get calibrated MTM hk set"))
+        command = generate_one_diag_command(
+            sid=make_sid(object_id=object_id, set_id=ImtqSetIds.CAL_MTM_SET), ssc=0
+        )
+        tc_queue.appendleft(command.pack_command_tuple())
+
+    if op_code == "13":
+        tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get raw MTM hk set"))
+        command = generate_one_diag_command(
+            sid=make_sid(object_id=object_id, set_id=ImtqSetIds.RAW_MTM_SET), ssc=0
+        )
+        tc_queue.appendleft(command.pack_command_tuple())
+
     return tc_queue
 
 
diff --git a/pus_tc/devs/ploc_supervisor.py b/pus_tc/devs/ploc_supervisor.py
index 8222cc7..45810d3 100644
--- a/pus_tc/devs/ploc_supervisor.py
+++ b/pus_tc/devs/ploc_supervisor.py
@@ -126,7 +126,7 @@ def pack_ploc_supv_commands(
         command = PusTelecommand(service=200, subservice=1, ssc=10, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "2":
-        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Normal"))
+        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Mode Normal"))
         command = pack_mode_data(object_id, Modes.NORMAL, 0)
         command = PusTelecommand(service=200, subservice=1, ssc=11, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
diff --git a/pus_tm/devs/imtq_mgt.py b/pus_tm/devs/imtq_mgt.py
index 8ed68c6..6277f2d 100644
--- a/pus_tm/devs/imtq_mgt.py
+++ b/pus_tm/devs/imtq_mgt.py
@@ -4,6 +4,104 @@ from pus_tm.defs import PrintWrapper
 from tmtccmd.utility.tmtc_printer import FsfwTmTcPrinter
 
 
+def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Digital Voltage [mV]",
+        "Analog Voltage [mV]",
+        "Digital Current [mA]",
+        "Analog Current [mA]",
+        "Coil Current X [mA]",
+        "Coil Current Y [mA]",
+        "Coil Current Z [mA]",
+        "Coil X Temperature [°C]",
+        "Coil Y Temperature [°C]",
+        "Coil Z Temperature [°C]",
+        "Coil Z Temperature [°C]",
+        "MCU Temperature [°C]",
+    ]
+    digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
+    analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
+    digital_current = struct.unpack("!f", hk_data[4:8])[0]
+    analog_current = struct.unpack("!f", hk_data[8:12])[0]
+    coil_x_current = struct.unpack("!f", hk_data[12:16])[0]
+    coil_y_current = struct.unpack("!f", hk_data[16:20])[0]
+    coil_z_current = struct.unpack("!f", hk_data[20:24])[0]
+    coil_x_temperature = struct.unpack("!H", hk_data[24:26])[0]
+    coil_y_temperature = struct.unpack("!H", hk_data[26:28])[0]
+    coil_z_temperature = struct.unpack("!H", hk_data[30:32])[0]
+    mcu_temperature = struct.unpack("!H", hk_data[32:34])[0]
+
+    validity_buffer = hk_data[42:]
+    content_list = [
+        digital_voltage,
+        analog_voltage,
+        digital_current,
+        analog_current,
+        coil_x_current,
+        coil_y_current,
+        coil_z_current,
+        coil_x_temperature,
+        coil_y_temperature,
+        coil_z_temperature,
+        mcu_temperature
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Calibrated MTM X [nT]",
+        "Calibrated MTM Y [nT]",
+        "Calibrated MTM Z [nT]",
+        "Coild actuation status"
+    ]
+    mtm_x = struct.unpack("!I", hk_data[0:4])[0]
+    mtm_y = struct.unpack("!I", hk_data[4:8])[0]
+    mtm_z = struct.unpack("!I", hk_data[8:12])[0]
+    coil_actuation_status = hk_data[12]
+    validity_buffer = hk_data[12:]
+    content_list = [
+        mtm_x,
+        mtm_y,
+        mtm_z,
+        coil_actuation_status
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Raw MTM X [nT]",
+        "Raw MTM Y [nT]",
+        "Raw MTM Z [nT]",
+        "Coild actuation status"
+    ]
+    mtm_x = struct.unpack("!f", hk_data[0:4])[0]
+    mtm_y = struct.unpack("!f", hk_data[4:8])[0]
+    mtm_z = struct.unpack("!f", hk_data[8:12])[0]
+    coil_actuation_status = hk_data[12]
+    validity_buffer = hk_data[12:]
+    content_list = [
+        mtm_x,
+        mtm_y,
+        mtm_z,
+        coil_actuation_status
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
 def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
     pw = PrintWrapper(printer)
     header_list = [
diff --git a/pus_tm/hk_handling.py b/pus_tm/hk_handling.py
index 427017c..09ab28e 100644
--- a/pus_tm/hk_handling.py
+++ b/pus_tm/hk_handling.py
@@ -15,7 +15,8 @@ from tmtccmd.logging import get_console_logger
 from pus_tm.devs.bpx_bat import handle_bpx_hk_data
 from pus_tm.devs.gps import handle_gps_data
 from pus_tm.devs.gyros import handle_gyros_hk_data
-from pus_tm.devs.imtq_mgt import handle_self_test_data
+from pus_tm.devs.imtq_mgt import handle_self_test_data, handle_eng_set, handle_calibrated_mtm_measurement, \
+    handle_raw_mtm_measurement
 from pus_tm.devs.pcdu import handle_pdu_data, handle_p60_hk_data, handle_acu_hk_data
 from pus_tm.devs.syrlinks import handle_syrlinks_hk_data
 from pus_tc.devs.imtq import ImtqSetIds
@@ -82,8 +83,14 @@ def handle_regular_hk_print(
             set_id <= ImtqSetIds.NEGATIVE_Z_TEST
         ):
             return handle_self_test_data(printer, hk_data)
+        elif set_id == ImtqSetIds.ENG_HK_SET:
+            return handle_eng_set(printer, hk_data)
+        elif set_id == ImtqSetIds.CAL_MTM_SET:
+            return handle_calibrated_mtm_measurement(printer, hk_data)
+        elif set_id == ImtqSetIds.RAW_MTM_SET:
+            return handle_raw_mtm_measurement(printer, hk_data)
         else:
-            LOGGER.info("Service 3 TM: Syrlinks handler reply with unknown set id")
+            LOGGER.info("Service 3 TM: IMTQ handler reply with unknown set id")
     if objb == obj_ids.GPS_HANDLER_0_ID or object_id == obj_ids.GPS_HANDLER_1_ID:
         handle_gps_data(printer=printer, hk_data=hk_data)
     if objb == obj_ids.BPX_HANDLER_ID:
diff --git a/tmtccmd b/tmtccmd
index 0e193f9..4fbbf12 160000
--- a/tmtccmd
+++ b/tmtccmd
@@ -1 +1 @@
-Subproject commit 0e193f9c76973a6105926ed133b179f8ea467981
+Subproject commit 4fbbf129e140e593b1cc54a0361fa20cc8726789