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Merge pull request 'TV test procedures' (#83) from kranz/master into develop

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Reviewed-on: #83
This commit is contained in:
Robin Müller 2022-05-24 17:24:39 +02:00
commit fbc755deda
4 changed files with 312 additions and 44 deletions
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1
pus_tc/cmd_definitions.py
View File

@ -324,6 +324,7 @@ def add_bpx_cmd_definitions(cmd_dict: ServiceOpCodeDictT):
def add_pl_pcdu_cmds(cmd_dict: ServiceOpCodeDictT): def add_pl_pcdu_cmds(cmd_dict: ServiceOpCodeDictT):
from pus_tc.devs.plpcdu import OpCodes, Info from pus_tc.devs.plpcdu import OpCodes, Info
op_code_dict = dict() op_code_dict = dict()
add_op_code_entry( add_op_code_entry(
op_code_dict=op_code_dict, keys=OpCodes.SWITCH_ON, info=Info.SWITCH_ON op_code_dict=op_code_dict, keys=OpCodes.SWITCH_ON, info=Info.SWITCH_ON

4
pus_tc/devs/imtq.py
View File

@ -211,7 +211,6 @@ def pack_imtq_test_into(
z_dipole = 0 z_dipole = 0
duration = 0 # ms duration = 0 # ms
command = pack_dipole_command(object_id, x_dipole, y_dipole, z_dipole, duration) command = pack_dipole_command(object_id, x_dipole, y_dipole, z_dipole, duration)
command = PusTelecommand(service=8, subservice=128, ssc=20, app_data=command)
tc_queue.appendleft(command.pack_command_tuple()) tc_queue.appendleft(command.pack_command_tuple())
if op_code == "0" or op_code == "8": if op_code == "0" or op_code == "8":
@ -225,7 +224,7 @@ def pack_imtq_test_into(
def pack_dipole_command( def pack_dipole_command(
object_id: bytearray, x_dipole: int, y_dipole: int, z_dipole: int, duration: int object_id: bytearray, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
) -> bytearray: ) -> PusTelecommand:
"""This function packs the command causing the ISIS IMTQ to generate a dipole. """This function packs the command causing the ISIS IMTQ to generate a dipole.
@param object_id The object id of the IMTQ handler. @param object_id The object id of the IMTQ handler.
@param x_dipole The dipole of the x coil in 10^-4*Am^2 (max. 2000) @param x_dipole The dipole of the x coil in 10^-4*Am^2 (max. 2000)
@ -242,4 +241,5 @@ def pack_dipole_command(
command.extend(y_dipole.to_bytes(length=2, byteorder="big")) command.extend(y_dipole.to_bytes(length=2, byteorder="big"))
command.extend(z_dipole.to_bytes(length=2, byteorder="big")) command.extend(z_dipole.to_bytes(length=2, byteorder="big"))
command.extend(duration.to_bytes(length=2, byteorder="big")) command.extend(duration.to_bytes(length=2, byteorder="big"))
command = PusTelecommand(service=8, subservice=128, ssc=22, app_data=command)
return command return command

4
pus_tc/system/core.py
View File

@ -133,7 +133,9 @@ def pack_core_commands(tc_queue: TcQueueT, op_code: str):
) )
if op_code in OpCodes.REBOOT_FULL: if op_code in OpCodes.REBOOT_FULL:
tc_queue.appendleft((QueueCommands.PRINT, f"Core Command: {Info.REBOOT_FULL}")) tc_queue.appendleft((QueueCommands.PRINT, f"Core Command: {Info.REBOOT_FULL}"))
cmd = generate_action_command(object_id=CORE_CONTROLLER_ID, action_id=ActionIds.FULL_REBOOT) cmd = generate_action_command(
object_id=CORE_CONTROLLER_ID, action_id=ActionIds.FULL_REBOOT
)
tc_queue.appendleft(cmd.pack_command_tuple()) tc_queue.appendleft(cmd.pack_command_tuple())
if op_code in OpCodes.XSC_REBOOT_SELF: if op_code in OpCodes.XSC_REBOOT_SELF:
perform_reboot_cmd(tc_queue=tc_queue, reboot_self=True) perform_reboot_cmd(tc_queue=tc_queue, reboot_self=True)

337
pus_tc/system/proc.py
View File

@ -1,6 +1,8 @@
from tmtccmd.config import QueueCommands from tmtccmd.config import QueueCommands
from tmtccmd.tc.definitions import TcQueueT from tmtccmd.tc.definitions import TcQueueT
from tmtccmd.tc.pus_3_fsfw_hk import * from tmtccmd.tc.pus_3_fsfw_hk import *
"""
from config.object_ids import ( from config.object_ids import (
BPX_HANDLER_ID, BPX_HANDLER_ID,
P60_DOCK_HANDLER, P60_DOCK_HANDLER,
@ -9,10 +11,25 @@ from config.object_ids import (
ACU_HANDLER_ID, ACU_HANDLER_ID,
CORE_CONTROLLER_ID, CORE_CONTROLLER_ID,
) )
"""
import config.object_ids as oids import config.object_ids as oids
from pus_tc.devs.bpx_batt import BpxSetIds from pus_tc.devs.bpx_batt import BpxSetIds
from pus_tc.system.core import SetIds as CoreSetIds from pus_tc.system.core import SetIds as CoreSetIds
from gomspace.gomspace_common import SetIds as GsSetIds from gomspace.gomspace_common import SetIds as GsSetIds
from pus_tc.devs.rad_sensor import SetIds as RadSetIds
from pus_tc.devs.mgms import MgmLis3SetIds as MgmSetIds_0_2
from pus_tc.devs.mgms import MgmRm3100SetIds as MgmSetIds_1_3
from pus_tc.devs.gyros import AdisGyroSetIds as GyroSetIds_0_2
from pus_tc.devs.gyros import L3gGyroSetIds as GyroSetIds_1_3
from pus_tc.devs.gps import Gnss0SetIds as GnssSetIds_0
from pus_tc.devs.gps import Gnss1SetIds as GnssSetIds_1
from pus_tc.devs.imtq import ImtqSetIds
from pus_tc.system.tcs import pack_tcs_sys_commands
from pus_tc.system.controllers import pack_controller_commands
from pus_tc.system.acs import pack_acs_command
from pus_tc.devs.imtq import pack_dipole_command
class OpCodes: class OpCodes:
@ -20,68 +37,235 @@ class OpCodes:
BAT_FT = ["bat-ft"] BAT_FT = ["bat-ft"]
CORE_FT = ["core-ft"] CORE_FT = ["core-ft"]
PCDU_FT = ["pcdu-ft"] PCDU_FT = ["pcdu-ft"]
RAD_SEN_FT = ["rad-sen-ft"]
TCS_FT_ON = ["tcs-ft-on"]
TCS_FT_OFF = ["tcs-ft-off"]
ACS_FT = ["acs-ft"]
MGT_FT = ["mgt-ft"]
MGT_FT_DP = ["mgt-ft-dp"]
class KeyAndInfo: class KeyAndInfo:
HEATER = ["Heater", "heater procedure"] HEATER = ["Heater", "heater procedure"]
BAT_FT = ["BPX Battery", "battery functional test"] BAT_FT = ["BPX Battery", "battery functional test"]
PCDU_FT = ["PCDU", "PCDU functional test"]
CORE_FT = ["OBC", "OBC functional test"] CORE_FT = ["OBC", "OBC functional test"]
PCDU_FT = ["PCDU", "PCDU functional test"]
RAD_SEN_FT = ["Radiation Sensor", "Radiation Sensor functional test"]
TCS_FT_ON = ["TCS Act.", "TCS functional test activation"]
TCS_FT_OFF = ["TCS Deact.", "TCS functional test deactivation"]
ACS_FT = ["ACS", "ACS functional test"]
MGT_FT = ["MGT", "MGT functional test"]
MGT_FT_DP = ["MGT dipole", "MGT functional test with dipole"]
KAI = KeyAndInfo KAI = KeyAndInfo
PROC_INFO_DICT = { PROC_INFO_DICT = {
KAI.BAT_FT[0]: [OpCodes.BAT_FT, KAI.BAT_FT[1], 120.0, 10.0], KAI.BAT_FT[0]: [OpCodes.BAT_FT, KAI.BAT_FT[1], 120.0, 10.0],
KAI.PCDU_FT[0]: [OpCodes.PCDU_FT, KeyAndInfo.PCDU_FT[1], 120.0, 10.0], KAI.CORE_FT[0]: [OpCodes.CORE_FT, KAI.CORE_FT[1], 120.0, 10.0],
KAI.CORE_FT[0]: [OpCodes.CORE_FT, KeyAndInfo.CORE_FT[1], 120.0, 10.0], KAI.PCDU_FT[0]: [OpCodes.PCDU_FT, KAI.PCDU_FT[1], 120.0, 10.0],
KAI.RAD_SEN_FT[0]: [OpCodes.RAD_SEN_FT, KAI.RAD_SEN_FT[1], 120.0, 10.0],
KAI.TCS_FT_ON[0]: [OpCodes.TCS_FT_ON, KAI.TCS_FT_ON[1], 120.0, 10.0],
KAI.TCS_FT_OFF[0]: [OpCodes.TCS_FT_OFF, KAI.TCS_FT_OFF[1], 120.0, 10.0],
KAI.ACS_FT[0]: [OpCodes.ACS_FT, KAI.ACS_FT[1], 120.0, 10.0],
KAI.MGT_FT[0]: [OpCodes.MGT_FT, KAI.MGT_FT[1], 120.0, 10.0],
KAI.MGT_FT_DP[0]: [OpCodes.MGT_FT_DP, KAI.MGT_FT_DP[1], 120.0, 10.0],
# collection_time for KAI.MGT_FT_DP maybe be reduced as a full 120seconds is not needed after MGTs are tested
} }
def generic_print(tc_queue: TcQueueT, key: str): def generic_print(tc_queue: TcQueueT, info: dict):
info = PROC_INFO_DICT[key]
tc_queue.appendleft( tc_queue.appendleft(
(QueueCommands.PRINT, f"Executing {info[0]} Procedure (OpCodes: {info[1]})") (QueueCommands.PRINT, f"Executing {info[1]} Procedure (OpCodes: {info[0]})")
) )
def pack_generic_hk_listening_cmds( def pack_generic_hk_listening_cmds(
tc_queue: TcQueueT, proc_key: str, sid: bytes, diag: bool tc_queue: TcQueueT,
proc_key: str,
sid_list: list[bytearray],
diag: bool,
mgt: bool,
): ):
generic_print(tc_queue=tc_queue, key=proc_key) info = PROC_INFO_DICT[proc_key]
listen_to_hk_for_x_seconds( collection_time = info[2]
generic_print(tc_queue=tc_queue, info=info)
for sid in sid_list:
enable_listen_to_hk_for_x_seconds(
diag=diag, diag=diag,
tc_queue=tc_queue, tc_queue=tc_queue,
device=proc_key, device=proc_key,
sid=sid, sid=sid,
interval_seconds=10.0, interval_seconds=info[3],
collection_time=120.0,
) )
if mgt is True:
activate_mgts_alternately(
tc_queue=tc_queue,
)
else:
pass
tc_queue.appendleft((QueueCommands.WAIT, collection_time))
for sid in sid_list:
disable_listen_to_hk_for_x_seconds(
diag=diag,
tc_queue=tc_queue,
device=proc_key,
sid=sid,
)
sid_list.clear()
def pack_proc_commands(tc_queue: TcQueueT, op_code: str): def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
sid_list = []
if op_code in OpCodes.BAT_FT: if op_code in OpCodes.BAT_FT:
key = KAI.BAT_FT[0] key = KAI.BAT_FT[0]
sid = make_sid(BPX_HANDLER_ID, BpxSetIds.GET_HK_SET) sid_list.append(make_sid(oids.BPX_HANDLER_ID, BpxSetIds.GET_HK_SET))
pack_generic_hk_listening_cmds( pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid=sid, diag=False tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
if op_code in OpCodes.PCDU_FT:
key = KAI.PCDU_FT[0]
sid = make_sid(P60_DOCK_HANDLER, GsSetIds.P60_CORE)
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
) )
if op_code in OpCodes.CORE_FT: if op_code in OpCodes.CORE_FT:
key = KAI.CORE_FT[0] key = KAI.CORE_FT[0]
sid = make_sid(oids.CORE_CONTROLLER_ID, CoreSetIds.HK) sid_list.append(make_sid(oids.CORE_CONTROLLER_ID, CoreSetIds.HK))
pack_generic_hk_listening_cmds( pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid=sid, diag=False tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
) )
if op_code in OpCodes.PCDU_FT:
key = KAI.PCDU_FT[0]
sid_list.append(make_sid(oids.P60_DOCK_HANDLER, GsSetIds.P60_CORE))
sid_list.append(make_sid(oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_CORE))
sid_list.append(make_sid(oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_CORE))
sid_list.append(make_sid(oids.ACU_HANDLER_ID, GsSetIds.ACU_CORE))
sid_list.append(make_sid(oids.P60_DOCK_HANDLER, GsSetIds.P60_AUX))
sid_list.append(make_sid(oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_AUX))
sid_list.append(make_sid(oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_AUX))
sid_list.append(make_sid(oids.ACU_HANDLER_ID, GsSetIds.ACU_AUX))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
if op_code in OpCodes.RAD_SEN_FT:
key = KAI.RAD_SEN_FT[0]
sid_list.append(make_sid(oids.RAD_SENSOR_ID, RadSetIds.RAD_SEN_CORE))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
if op_code in OpCodes.TCS_FT_ON:
# check whether tcs_assembly also has to be commanded to NORMAL Mode
# pack_tcs_sys_commands(tc_queue=tc_queue, op_code="tcs-normal")
pack_controller_commands(tc_queue=tc_queue, op_code="thermal_controller")
if op_code in OpCodes.TCS_FT_OFF:
# check whether tcs_assembly also has to be commanded to OFF Mode
# pack_tcs_sys_commands(tc_queue=tc_queue, op_code="tcs-off")
pack_controller_commands(tc_queue=tc_queue, op_code="thermal_controller")
if op_code in OpCodes.ACS_FT:
key = KAI.ACS_FT[0]
pack_acs_command(tc_queue=tc_queue, op_code="acs-a")
# MGMs
sid_list.append(make_sid(oids.MGM_0_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.MGM_1_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
# Gyros
sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
sid_list.append(make_sid(oids.GYRO_1_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
# GNSS0
sid_list.append(make_sid(oids.GPS_HANDLER_0_ID, GnssSetIds_0.CORE_HK))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
tc_queue.appendleft((QueueCommands.WAIT, 5.0))
pack_acs_command(tc_queue=tc_queue, op_code="acs-b")
# MGMs
sid_list.append(make_sid(oids.MGM_2_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.MGM_3_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
# Gyros
sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
sid_list.append(make_sid(oids.GYRO_3_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
# GNSS1
sid_list.append(make_sid(oids.GPS_HANDLER_1_ID, GnssSetIds_1.CORE_HK))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
tc_queue.appendleft((QueueCommands.WAIT, 5.0))
pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
# MGMs
sid_list.append(make_sid(oids.MGM_0_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.MGM_1_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
sid_list.append(make_sid(oids.MGM_2_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.MGM_3_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
# Gyros
sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
sid_list.append(make_sid(oids.GYRO_1_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
sid_list.append(make_sid(oids.GYRO_3_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
# GNSS0+1
sid_list.append(make_sid(oids.GPS_HANDLER_0_ID, GnssSetIds_0.CORE_HK))
sid_list.append(make_sid(oids.GPS_HANDLER_1_ID, GnssSetIds_1.CORE_HK))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
if op_code in OpCodes.MGT_FT:
key = KAI.MGT_FT[0]
# missing imtq to ON
# mgt 1: imtq und hk
# MISSING: imtq board activation to ON (implementation pending by Jakob)
sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.ENG_HK_SET))
sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.CAL_MTM_SET))
sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.RAW_MTM_SET))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
)
# MISSING: imtq board deactivation to OFF (implementation pending by Jakob)
# missing imtq to ON
# mgt 2.: imtq + dual side + dipole
if op_code in OpCodes.MGT_FT_DP:
key = KAI.MGT_FT_DP[0]
pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
# MISSING: imtq board activation to ON (implementation pending by Jakob)
sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.ENG_HK_SET))
sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.CAL_MTM_SET))
sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.RAW_MTM_SET))
pack_generic_hk_listening_cmds(
tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=True
)
# MISSING: imtq board deactivation to OFF (implementation pending by Jakob)
pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
"""
def listen_to_hk_for_x_seconds( def listen_to_hk_for_x_seconds(
tc_queue: TcQueueT, tc_queue: TcQueueT,
diag: bool, diag: bool,
@ -90,20 +274,6 @@ def listen_to_hk_for_x_seconds(
interval_seconds: float, interval_seconds: float,
collection_time: float, collection_time: float,
): ):
"""
enable_periodic_hk_command_with_interval(
diag: bool, sid: bytes, interval_seconds: float, ssc: int
"""
"""
function with periodic HK generation
interval_seconds = at which rate HK is saved
collection_time = how long the HK is saved for
device = for which device the HK is saved
functional_test =
diagnostic Hk = yes diagnostic or no diagnostic
sid = structural ID for specific device
device Hk set ID
"""
tc_queue.appendleft((QueueCommands.PRINT, f"Enabling periodic HK for {device}")) tc_queue.appendleft((QueueCommands.PRINT, f"Enabling periodic HK for {device}"))
cmd_tuple = enable_periodic_hk_command_with_interval( cmd_tuple = enable_periodic_hk_command_with_interval(
@ -118,3 +288,98 @@ def listen_to_hk_for_x_seconds(
tc_queue.appendleft( tc_queue.appendleft(
disable_periodic_hk_command(diag=diag, sid=sid, ssc=0).pack_command_tuple() disable_periodic_hk_command(diag=diag, sid=sid, ssc=0).pack_command_tuple()
) )
"""
def enable_listen_to_hk_for_x_seconds(
tc_queue: TcQueueT,
diag: bool,
device: str,
sid: bytes,
interval_seconds: float,
):
tc_queue.appendleft((QueueCommands.PRINT, f"Enabling periodic HK for {device}"))
cmd_tuple = enable_periodic_hk_command_with_interval(
diag=diag, sid=sid, interval_seconds=interval_seconds, ssc=0
)
for cmd in cmd_tuple:
tc_queue.appendleft(cmd.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 2.0))
def disable_listen_to_hk_for_x_seconds(
tc_queue: TcQueueT,
diag: bool,
device: str,
sid: bytes,
):
tc_queue.appendleft((QueueCommands.PRINT, f"Disabling periodic HK for {device}"))
tc_queue.appendleft(
disable_periodic_hk_command(diag=diag, sid=sid, ssc=0).pack_command_tuple()
)
def activate_mgts_alternately(
tc_queue: TcQueueT,
):
command = pack_dipole_command(
object_id=oids.IMTQ_HANDLER_ID,
x_dipole=2000,
y_dipole=0,
z_dipole=0,
duration=30000,
)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 10.0))
command = pack_dipole_command(
object_id=oids.IMTQ_HANDLER_ID,
x_dipole=-2000,
y_dipole=0,
z_dipole=0,
duration=30000,
)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 10.0))
command = pack_dipole_command(
object_id=oids.IMTQ_HANDLER_ID,
x_dipole=0,
y_dipole=2000,
z_dipole=0,
duration=30000,
)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 10.0))
command = pack_dipole_command(
object_id=oids.IMTQ_HANDLER_ID,
x_dipole=0,
y_dipole=-2000,
z_dipole=0,
duration=30000,
)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 10.0))
command = pack_dipole_command(
object_id=oids.IMTQ_HANDLER_ID,
x_dipole=0,
y_dipole=0,
z_dipole=2000,
duration=30000,
)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 10.0))
command = pack_dipole_command(
object_id=oids.IMTQ_HANDLER_ID,
x_dipole=0,
y_dipole=0,
z_dipole=-2000,
duration=30000,
)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft((QueueCommands.WAIT, 10.0))