rw cmds cntd

Reviewed-on: #64

config/definitions.py

@@ -27,10 +27,11 @@ class CustomServiceList(enum.Enum):
     PCDU = "pcdu"
     PL_PCDU = "plpcdu"
     SA_DEPLYOMENT = "sa_depl"
-    REACTION_WHEEL_1 = "reaction_wheel_1"
+    REACTION_WHEEL_1 = "rw-1"
-    REACTION_WHEEL_2 = "reaction_wheel_2"
+    REACTION_WHEEL_2 = "rw-2"
-    REACTION_WHEEL_3 = "reaction_wheel_3"
+    REACTION_WHEEL_3 = "rw-3"
-    REACTION_WHEEL_4 = "reaction_wheel_4"
+    REACTION_WHEEL_4 = "rw-4"
+    RW_ASSEMBLY = "rw-ass"
     RAD_SENSOR = "rad_sensor"
     PLOC_UPDATER = "ploc_updater"
     GPS_0 = "gps0"

config/events.csv

@@ -80,7 +80,6 @@
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
-11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
 11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
 11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h

config/hook_implementations.py

@@ -65,7 +65,6 @@ def get_eive_service_op_code_dict(service_op_code_dict: ServiceOpCodeDictT):
         add_pcdu_cmds,
         add_pl_pcdu_cmds,
         add_imtq_cmds,
-        add_rw_cmds,
         add_rad_sens_cmds,
         add_ploc_mpsoc_cmds,
         add_ploc_supv_cmds,
@@ -73,6 +72,7 @@ def get_eive_service_op_code_dict(service_op_code_dict: ServiceOpCodeDictT):
         add_time_cmds,
     )
     from pus_tc.devs.gps import GpsOpCodes
+    from pus_tc.devs.reaction_wheels import add_rw_cmds
 
     add_bpx_cmd_definitions(cmd_dict=service_op_code_dict)
     add_core_controller_definitions(cmd_dict=service_op_code_dict)

config/object_ids.py

@@ -71,6 +71,7 @@ PL_PCDU_ID = bytes([0x44, 0x30, 0x00, 0x00])
 ACS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x01])
 SUS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x02])
 TCS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x03])
+RW_ASSEMBLY = bytes([0x73, 0x00, 0x00, 0x04])
 
 
 def get_object_ids() -> ObjectIdDictT:

pus_tc/cmd_definitions.py

@@ -489,25 +489,6 @@ def add_imtq_cmds(cmd_dict: ServiceOpCodeDictT):
     cmd_dict[CustomServiceList.IMTQ.value] = service_imtq_tuple
 
 
-def add_rw_cmds(cmd_dict: ServiceOpCodeDictT):
-    op_code_dict_srv_rw = {
-        "0": ("Reaction Wheel: Run all commands", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "1": ("Reaction Wheel: Set speed", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "2": ("Reaction Wheel: Set mode on", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "3": ("Reaction Wheel: Set mode normal", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "4": ("Reaction Wheel: Set mode off", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "5": (
-            "Reaction Wheel: Send get-telemetry-command",
-            {OpCodeDictKeys.TIMEOUT: 2.0},
-        ),
-    }
-    service_rw_tuple = ("Reaction Wheel", op_code_dict_srv_rw)
-    cmd_dict[CustomServiceList.REACTION_WHEEL_1.value] = service_rw_tuple
-    cmd_dict[CustomServiceList.REACTION_WHEEL_2.value] = service_rw_tuple
-    cmd_dict[CustomServiceList.REACTION_WHEEL_3.value] = service_rw_tuple
-    cmd_dict[CustomServiceList.REACTION_WHEEL_4.value] = service_rw_tuple
-
-
 def add_rad_sens_cmds(cmd_dict: ServiceOpCodeDictT):
     op_code_dict_srv_rad_sensor = {
         "0": ("Radiation Sensor: Set mode on", {OpCodeDictKeys.TIMEOUT: 2.0}),
@@ -560,7 +541,6 @@ def add_ploc_supv_cmds(cmd_dict: ServiceOpCodeDictT):
         "1": ("PLOC Supervisor: Set mode on", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "2": ("PLOC Supervisor: Set mode normal", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "3": ("PLOC Supervisor: Get HK Report", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "4": ("PLOC Supervisor: Restart MPSoC", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "5": ("PLOC Supervisor: Start MPSoC", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "6": ("PLOC Supervisor: Shutdown MPSoC", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "7": (
@@ -576,18 +556,9 @@ def add_ploc_supv_cmds(cmd_dict: ServiceOpCodeDictT):
             "PLOC Supervisor: Request boot status report",
             {OpCodeDictKeys.TIMEOUT: 2.0},
         ),
-        "14": ("PLOC Supervisor: Update available", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "15": ("PLOC Supervisor: Watchdogs enable", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "16": (
-            "PLOC Supervisor: Watchdog Configure Timeout",
-            {OpCodeDictKeys.TIMEOUT: 2.0},
-        ),
         "17": ("PLOC Supervisor: Enable latchup alert", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "18": ("PLOC Supervisor: Disable latchup alert", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "19": ("PLOC Supervisor: Auto calibrate alert", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "20": ("PLOC Supervisor: Set alert limit", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "21": ("PLOC Supervisor: Set alert irq filter", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "22": ("PLOC Supervisor: Set ADC sweep period", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "23": (
             "PLOC Supervisor: Set ADC enabled channels",
             {OpCodeDictKeys.TIMEOUT: 2.0},
@@ -604,8 +575,6 @@ def add_ploc_supv_cmds(cmd_dict: ServiceOpCodeDictT):
         "27": ("PLOC Supervisor: Copy ADC data to MRAM", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "30": ("PLOC Supervisor: Run auto EM tests", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "31": ("PLOC Supervisor: MRAM Wipe", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "33": ("PLOC Supervisor: Print CPU stats", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "34": ("PLOC Supervisor: Set debug verbosity", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "35": ("PLOC Supervisor: Set GPIO", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "36": ("PLOC Supervisor: Read GPIO", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "37": ("PLOC Supervisor: Restart supervisor", {OpCodeDictKeys.TIMEOUT: 2.0}),
@@ -622,18 +591,28 @@ def add_ploc_supv_cmds(cmd_dict: ServiceOpCodeDictT):
             {OpCodeDictKeys.TIMEOUT: 2.0},
         ),
         "42": ("PLOC Supervisor: Perform update", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "43": ("PLOC Supervisor: Terminate supervisor process", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "43": (
+            "PLOC Supervisor: Terminate supervisor process",
+            {OpCodeDictKeys.TIMEOUT: 2.0},
+        ),
         "44": ("PLOC Supervisor: Start MPSoC quiet", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "45": ("PLOC Supervisor: Set shutdown timeout", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "46": ("PLOC Supervisor: Factory flash", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "47": ("PLOC Supervisor: Enable auto TM", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "48": ("PLOC Supervisor: Disable auto TM", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "49": ("PLOC Supervisor: Enable ADC monitor task", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "51": (
-        "50": ("PLOC Supervisor: Disable ADC monitor task", {OpCodeDictKeys.TIMEOUT: 2.0}),
+            "PLOC Supervisor: Logging request event buffers",
-        "51": ("PLOC Supervisor: Logging request event buffers", {OpCodeDictKeys.TIMEOUT: 2.0}),
+            {OpCodeDictKeys.TIMEOUT: 2.0},
-        "52": ("PLOC Supervisor: Logging clear counters", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        ),
+        "52": (
+            "PLOC Supervisor: Logging clear counters",
+            {OpCodeDictKeys.TIMEOUT: 2.0},
+        ),
         "53": ("PLOC Supervisor: Logging set topic", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "54": ("PLOC Supervisor: Logging request counters", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "54": (
+            "PLOC Supervisor: Logging request counters",
+            {OpCodeDictKeys.TIMEOUT: 2.0},
+        ),
         "55": ("PLOC Supervisor: Request ADC Report", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "56": ("PLOC Supervisor: Reset PL", {OpCodeDictKeys.TIMEOUT: 2.0}),
     }

pus_tc/devs/ploc_mpsoc.py

@@ -59,8 +59,9 @@ class MemAddresses(enum.IntEnum):
     DEADBEEF = 0x40000004
 
 
-class PlocReplyIds:
+class PlocReplyIds(enum.IntEnum):
-    tm_mem_read_report = 6
+    TM_MEM_READ_RPT = 6
+    TM_CAM_CMD_RPT = 19
 
 
 def pack_ploc_mpsoc_commands(
@@ -172,7 +173,11 @@ def pack_ploc_mpsoc_commands(
     elif op_code == "16":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC MPSoC: Tc cam command send"))
         cam_cmd = input("Specify cam command string: ")
-        command = object_id + struct.pack("!I", CommandIds.TC_CAM_CMD_SEND) + bytearray(cam_cmd, 'utf-8')
+        command = (
+            object_id
+            + struct.pack("!I", CommandIds.TC_CAM_CMD_SEND)
+            + bytearray(cam_cmd, "utf-8")
+        )
         command = PusTelecommand(service=8, subservice=128, ssc=32, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 

pus_tc/devs/ploc_supervisor.py

@@ -32,8 +32,14 @@ MANUAL_INPUT = "1"
 update_file_dict = {
     MANUAL_INPUT: ["manual input", ""],
     "2": ["/mnt/sd0/ploc/supervisor/update.bin", "/mnt/sd0/ploc/supervisor/update.bin"],
-    "3": ["/mnt/sd0/ploc/supervisor/update-large.bin", "/mnt/sd0/ploc/supervisor/update-large.bin"],
+    "3": [
-    "4": ["/mnt/sd0/ploc/supervisor/update-small.bin", "/mnt/sd0/ploc/supervisor/update-small.bin"],
+        "/mnt/sd0/ploc/supervisor/update-large.bin",
+        "/mnt/sd0/ploc/supervisor/update-large.bin",
+    ],
+    "4": [
+        "/mnt/sd0/ploc/supervisor/update-small.bin",
+        "/mnt/sd0/ploc/supervisor/update-small.bin",
+    ],
 }
 
 event_buffer_path_dict = {
@@ -44,7 +50,6 @@ event_buffer_path_dict = {
 
 class SupvActionIds:
     HK_REPORT = 1
-    RESTART_MPSOC = 2
     START_MPSOC = 3
     SHUTWOWN_MPSOC = 4
     SEL_MPSOC_BOOT_IMAGE = 5
@@ -55,27 +60,19 @@ class SupvActionIds:
     DISABLE_HK = 10
     GET_BOOT_STATUS_REPORT = 11
     UPDATE_AVAILABLE = 12
-    WATCHDOGS_ENABLE = 13
-    WATCHDOGS_CONFIG_TIMEOUT = 14
     ENABLE_LATCHUP_ALERT = 15
     DISABLE_LATCHUP_ALERT = 16
-    AUTO_CALIBRATE_ALERT = 17
     SET_ALERT_LIMIT = 18
-    SET_ALERT_IRQ_FILTER = 19
     SET_ADC_SWEEP_PERIOD = 20
     SET_ADC_ENABLED_CHANNELS = 21
     SET_ADC_WINDOW_AND_STRIDE = 22
     SET_ADC_THRESHOLD = 23
     GET_LATCHUP_STATUS_REPORT = 24
     COPY_ADC_DATA_TO_MRAM = 25
-    ENABLE_NVMS = 26
     SELECT_NVM = 27
     RUN_AUTO_EM_TESTS = 28
     WIPE_MRAM = 29
     DUMP_MRAM = 30
-    SET_DBG_VERBOSITY = 31
-    CAN_LOOPBACK_TEST = 32
-    PRINT_CPU_STATS = 33
     SET_GPIO = 34
     READ_GPIO = 35
     RESTART_SUPERVISOR = 36
@@ -91,8 +88,6 @@ class SupvActionIds:
     TERMINATE_SUPV_HELPER = 49
     ENABLE_AUTO_TM = 50
     DISABLE_AUTO_TM = 51
-    ENABLE_ADC_MONITOR_TASK = 52
-    DISABLE_ADC_MONITOR_TASK = 53
     LOGGING_REQUEST_EVENT_BUFFERS = 54
     LOGGING_CLEAR_COUNTERS = 55
     LOGGING_SET_TOPIC = 56
@@ -134,11 +129,6 @@ def pack_ploc_supv_commands(
         command = object_id + struct.pack("!I", SupvActionIds.HK_REPORT)
         command = PusTelecommand(service=8, subservice=128, ssc=20, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "4":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Restart MPSoC"))
-        command = object_id + struct.pack("!I", SupvActionIds.RESTART_MPSOC)
-        command = PusTelecommand(service=8, subservice=128, ssc=21, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "5":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Start MPSoC"))
         command = object_id + struct.pack("!I", SupvActionIds.START_MPSOC)
@@ -162,9 +152,9 @@ def pack_ploc_supv_commands(
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "8":
         tc_queue.appendleft(
-            (QueueCommands.PRINT, "PLOC Supervisor: Set max restart tries: ")
+            (QueueCommands.PRINT, "PLOC Supervisor: Set max restart tries")
         )
-        restart_tries = int(input("Set maximum restart tries:"))
+        restart_tries = int(input("Specify maximum restart tries: "))
         command = (
             object_id
             + struct.pack("!I", SupvActionIds.SET_MAX_RESTART_TRIES)
@@ -186,7 +176,7 @@ def pack_ploc_supv_commands(
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "11":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Set boot timeout"))
-        boot_timeout = int(input("Specify boot timeout [ms]:"))
+        boot_timeout = int(input("Specify boot timeout [ms]: "))
         command = (
             object_id
             + struct.pack("!I", SupvActionIds.SET_BOOT_TIMEOUT)
@@ -206,23 +196,6 @@ def pack_ploc_supv_commands(
         command = object_id + struct.pack("!I", SupvActionIds.GET_BOOT_STATUS_REPORT)
         command = PusTelecommand(service=8, subservice=128, ssc=30, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "14":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Update available"))
-        command = pack_update_available_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=31, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "15":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Watchdogs Enable"))
-        command = pack_watchdogs_enable_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=32, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "16":
-        tc_queue.appendleft(
-            (QueueCommands.PRINT, "PLOC Supervisor: Watchdog configure timeout")
-        )
-        command = pack_watchdog_config_timeout_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=33, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "17":
         tc_queue.appendleft(
             (QueueCommands.PRINT, "PLOC Supervisor: Enable latchup alert")
@@ -237,32 +210,11 @@ def pack_ploc_supv_commands(
         command = pack_lachtup_alert_cmd(object_id, False)
         command = PusTelecommand(service=8, subservice=128, ssc=35, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "19":
-        tc_queue.appendleft(
-            (QueueCommands.PRINT, "PLOC Supervisor: Auto calibrate alert")
-        )
-        command = pack_auto_calibrate_alert_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=36, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "20":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Set alert limit"))
         command = pack_set_alert_limit_cmd(object_id)
         command = PusTelecommand(service=8, subservice=128, ssc=37, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "21":
-        tc_queue.appendleft(
-            (QueueCommands.PRINT, "PLOC Supervisor: Set alert irq filter")
-        )
-        command = pack_set_alert_irq_filter_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=38, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "22":
-        tc_queue.appendleft(
-            (QueueCommands.PRINT, "PLOC Supervisor: Set ADC sweep period")
-        )
-        command = pack_set_adc_sweep_period_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=39, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "23":
         tc_queue.appendleft(
             (QueueCommands.PRINT, "PLOC Supervisor: Set ADC enabled channels")
@@ -306,18 +258,6 @@ def pack_ploc_supv_commands(
         command = pack_mram_wipe_cmd(object_id)
         command = PusTelecommand(service=8, subservice=128, ssc=46, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "33":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Print CPU stats"))
-        command = pack_print_cpu_stats_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=48, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "34":
-        tc_queue.appendleft(
-            (QueueCommands.PRINT, "PLOC Supervisor: Set debug verbosity")
-        )
-        command = pack_set_debug_verbosity_cmd(object_id)
-        command = PusTelecommand(service=8, subservice=128, ssc=49, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "35":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Set GPIO command"))
         command = pack_set_gpio_cmd(object_id)
@@ -373,69 +313,51 @@ def pack_ploc_supv_commands(
         command = PusTelecommand(service=8, subservice=128, ssc=57, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "43":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Terminate supervisor process"))
+        tc_queue.appendleft(
-        command = object_id + struct.pack(
+            (QueueCommands.PRINT, "PLOC Supervisor: Terminate supervisor process")
-            "!I", SupvActionIds.TERMINATE_SUPV_HELPER
         )
+        command = object_id + struct.pack("!I", SupvActionIds.TERMINATE_SUPV_HELPER)
         command = PusTelecommand(service=8, subservice=128, ssc=58, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "44":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Start MPSoC quiet"))
-        command = object_id + struct.pack(
+        command = object_id + struct.pack("!I", SupvActionIds.START_MPSOC_QUIET)
-            "!I", SupvActionIds.START_MPSOC_QUIET
-        )
         command = PusTelecommand(service=8, subservice=128, ssc=59, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "45":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Set shutdown timeout"))
+        tc_queue.appendleft(
+            (QueueCommands.PRINT, "PLOC Supervisor: Set shutdown timeout")
+        )
         command = pack_set_shutdown_timeout_command(object_id)
         command = PusTelecommand(service=8, subservice=128, ssc=60, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "46":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Factory flash"))
-        command = object_id + struct.pack(
+        command = object_id + struct.pack("!I", SupvActionIds.FACTORY_FLASH)
-            "!I", SupvActionIds.FACTORY_FLASH
-        )
         command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "47":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Enable auto TM"))
-        command = object_id + struct.pack(
+        command = object_id + struct.pack("!I", SupvActionIds.ENABLE_AUTO_TM)
-            "!I", SupvActionIds.ENABLE_AUTO_TM
-        )
         command = PusTelecommand(service=8, subservice=128, ssc=62, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "48":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Disable auto TM"))
-        command = object_id + struct.pack(
+        command = object_id + struct.pack("!I", SupvActionIds.DISABLE_AUTO_TM)
-            "!I", SupvActionIds.DISABLE_AUTO_TM
-        )
         command = PusTelecommand(service=8, subservice=128, ssc=63, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "49":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Enable ADC monitor task"))
-        command = object_id + struct.pack(
-            "!I", SupvActionIds.ENABLE_ADC_MONITOR_TASK
-        )
-        command = PusTelecommand(service=8, subservice=128, ssc=64, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
-    elif op_code == "50":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Disable ADC monitor task"))
-        command = object_id + struct.pack(
-            "!I", SupvActionIds.DISABLE_ADC_MONITOR_TASK
-        )
-        command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
-        tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "51":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Logging request event buffers"))
+        tc_queue.appendleft(
+            (QueueCommands.PRINT, "PLOC Supervisor: Logging request event buffers")
+        )
         command = pack_logging_buffer_request(object_id)
         command = PusTelecommand(service=8, subservice=128, ssc=66, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "52":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Logging clear counters"))
+        tc_queue.appendleft(
-        command = object_id + struct.pack(
+            (QueueCommands.PRINT, "PLOC Supervisor: Logging clear counters")
-            "!I", SupvActionIds.LOGGING_CLEAR_COUNTERS
         )
+        command = object_id + struct.pack("!I", SupvActionIds.LOGGING_CLEAR_COUNTERS)
         command = PusTelecommand(service=8, subservice=128, ssc=67, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "53":
@@ -444,18 +366,22 @@ def pack_ploc_supv_commands(
         command = PusTelecommand(service=8, subservice=128, ssc=68, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "54":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Logging request counters"))
+        tc_queue.appendleft(
-        command = object_id + struct.pack('!I', SupvActionIds.LOGGING_REQUEST_COUNTERS)
+            (QueueCommands.PRINT, "PLOC Supervisor: Logging request counters")
+        )
+        command = object_id + struct.pack("!I", SupvActionIds.LOGGING_REQUEST_COUNTERS)
         command = PusTelecommand(service=8, subservice=128, ssc=69, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "55":
-        tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Request ADC report"))
+        tc_queue.appendleft(
-        command = object_id + struct.pack('!I', SupvActionIds.REQUEST_ADC_REPORT)
+            (QueueCommands.PRINT, "PLOC Supervisor: Request ADC report")
+        )
+        command = object_id + struct.pack("!I", SupvActionIds.REQUEST_ADC_REPORT)
         command = PusTelecommand(service=8, subservice=128, ssc=70, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     elif op_code == "56":
         tc_queue.appendleft((QueueCommands.PRINT, "PLOC Supervisor: Reset PL"))
-        command = object_id + struct.pack('!I', SupvActionIds.RESET_PL)
+        command = object_id + struct.pack("!I", SupvActionIds.RESET_PL)
         command = PusTelecommand(service=8, subservice=128, ssc=71, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 
@@ -552,7 +478,7 @@ def pack_auto_calibrate_alert_cmd(object_id: bytearray) -> bytearray:
     @param object_id    The object id of the PLOC supervisor handler.
     """
     latchup_id = get_latchup_id()
-    mg = int(input("Specify MG:"))
+    mg = int(input("Specify MG: "))
     command = bytearray()
     command = object_id + struct.pack("!I", SupvActionIds.AUTO_CALIBRATE_ALERT)
     command = command + struct.pack("!B", latchup_id)
@@ -573,7 +499,7 @@ def get_latchup_id() -> int:
         key_string = key.ljust(key_column_width)
         description_string = latchup_id_dict[key].ljust(description_column_width)
         print(f"{key_string} | {description_string}")
-    return int(input("Specify latchup ID:"))
+    return int(input("Specify latchup ID: "))
 
 
 def pack_set_alert_limit_cmd(object_id: bytearray) -> bytearray:
@@ -582,7 +508,7 @@ def pack_set_alert_limit_cmd(object_id: bytearray) -> bytearray:
     @param object_id    The object id of the PLOC supervisor handler.
     """
     latchup_id = get_latchup_id()
-    dutycycle = int(input("Specify dutycycle:"))
+    dutycycle = int(input("Specify dutycycle: "))
     command = bytearray()
     command = object_id + struct.pack("!I", SupvActionIds.SET_ALERT_LIMIT)
     command = command + struct.pack("!B", latchup_id)
@@ -590,49 +516,20 @@ def pack_set_alert_limit_cmd(object_id: bytearray) -> bytearray:
     return command
 
 
-def pack_set_alert_irq_filter_cmd(object_id: bytearray) -> bytearray:
-    """
-    @brief  This function packs the command to configure the latchup alert irq filter.
-    @param object_id    The object id of the PLOC supervisor handler.
-    """
-    latchup_id = get_latchup_id()
-    tp = int(input("Specify filter type (TP):"))
-    div = int(input("Specify clock divider (DIV):"))
-    command = bytearray()
-    command = object_id + struct.pack("!I", SupvActionIds.SET_ALERT_IRQ_FILTER)
-    command = command + struct.pack("!B", latchup_id)
-    command = command + struct.pack("!B", tp)
-    command = command + struct.pack("!B", div)
-    return command
-
-
-def pack_set_adc_sweep_period_cmd(object_id: bytearray) -> bytearray:
-    """
-    @brief  This function packs the command to set the limit of a latchup alert.
-    @param object_id    The object id of the PLOC supervisor handler.
-    """
-    sweep_period = int(input("Specify sweep period (min 21 us):"))
-    command = bytearray()
-    command = object_id + struct.pack("!I", SupvActionIds.SET_ADC_SWEEP_PERIOD)
-    command = command + struct.pack("!I", sweep_period)
-    return command
-
-
 def pack_set_adc_enabled_channels_cmd(object_id: bytearray) -> bytearray:
     """
     @brief  This function packs the command to enable or disable channels of the ADC.
     @param object_id    The object id of the PLOC supervisor handler.
     """
     ch = int(input("Specify ch: 0x"), 16)
-    command = bytearray()
+    cmd = object_id + struct.pack("!I", SupvActionIds.SET_ADC_ENABLED_CHANNELS)
-    command = object_id + struct.pack("!I", SupvActionIds.SET_ADC_ENABLED_CHANNELS)
+    cmd = cmd + struct.pack("!H", ch)
-    command = command + struct.pack("!H", ch)
+    return cmd
-    return command
 
 
 def pack_set_adc_window_and_stride_cmd(object_id: bytearray) -> bytearray:
-    window_size = int(input("Specify window size:"))
+    window_size = int(input("Specify window size: "))
-    striding_step_size = int(input("Specify striding step size:"))
+    striding_step_size = int(input("Specify striding step size: "))
     command = bytearray()
     command = object_id + struct.pack("!I", SupvActionIds.SET_ADC_WINDOW_AND_STRIDE)
     command = command + struct.pack("!H", window_size)
@@ -648,18 +545,8 @@ def pack_set_adc_threshold_cmd(object_id: bytearray) -> bytearray:
     return command
 
 
-def pack_enable_nvms_cmd(object_id: bytearray) -> bytearray:
-    n01 = int(input("NVM0/1 (0 - off, 1 - on):"))
-    n3 = int(input("NVM3 (0 - off, 1 - on):"))
-    command = bytearray()
-    command = object_id + struct.pack("!I", SupvActionIds.ENABLE_NVMS)
-    command = command + struct.pack("!B", n01)
-    command = command + struct.pack("!B", n3)
-    return command
-
-
 def pack_select_nvm_cmd(object_id: bytearray) -> bytearray:
-    mem = int(input("Specify NVM (0 - NVM0, 1 - MVM1):"))
+    mem = int(input("Specify NVM (0 - NVM0, 1 - MVM1): "))
     command = bytearray()
     command = object_id + struct.pack("!I", SupvActionIds.SELECT_NVM)
     command = command + struct.pack("!B", mem)
@@ -667,7 +554,7 @@ def pack_select_nvm_cmd(object_id: bytearray) -> bytearray:
 
 
 def pack_auto_em_tests_cmd(object_id: bytearray) -> bytearray:
-    test = int(input("Specify test (1 - complete, 2 - short):"))
+    test = int(input("Specify test (1 - complete, 2 - short): "))
     command = bytearray()
     command = object_id + struct.pack("!I", SupvActionIds.RUN_AUTO_EM_TESTS)
     command = command + struct.pack("!B", test)
@@ -684,80 +571,39 @@ def pack_mram_wipe_cmd(object_id: bytearray) -> bytearray:
     return command
 
 
-def pack_print_cpu_stats_cmd(object_id: bytearray) -> bytearray:
-    en = 1
-    command = bytearray()
-    command = object_id + struct.pack("!I", SupvActionIds.PRINT_CPU_STATS)
-    command = command + struct.pack("!B", en)
-    return command
-
-
-def pack_set_debug_verbosity_cmd(object_id: bytearray) -> bytearray:
-    command = bytearray()
-    verbosity = get_debug_verbosity()
-    command = object_id + struct.pack("!I", SupvActionIds.SET_DBG_VERBOSITY)
-    command = command + struct.pack("!B", verbosity)
-    return command
-
-
 def pack_update_command(object_id: bytearray) -> bytearray:
     command = bytearray()
     memory_id = int(input("Specify memory ID: "))
     start_address = int(input("Specify start address: 0x"), 16)
     update_file = get_update_file()
     command += object_id
-    command += struct.pack('!I', SupvActionIds.PERFORM_UPDATE)
+    command += struct.pack("!I", SupvActionIds.PERFORM_UPDATE)
-    command += bytearray(update_file, 'utf-8')
+    command += bytearray(update_file, "utf-8")
     # Adding null terminator
-    command += struct.pack('!B', 0)
+    command += struct.pack("!B", 0)
-    command += struct.pack('!B', memory_id)
+    command += struct.pack("!B", memory_id)
-    command += struct.pack('!I', start_address)
+    command += struct.pack("!I", start_address)
     return command
 
 
 def pack_set_shutdown_timeout_command(object_id: bytearray) -> bytearray:
     command = bytearray()
     command += object_id
-    command += struct.pack('!I', SupvActionIds.SET_SHUTDOWN_TIMEOUT)
+    command += struct.pack("!I", SupvActionIds.SET_SHUTDOWN_TIMEOUT)
     timeout = int(input("Specify shutdown timeout (ms): "))
-    command += struct.pack('!I', timeout)
+    command += struct.pack("!I", timeout)
     return command
 
 
 def pack_logging_buffer_request(object_id: bytearray) -> bytearray:
     command = bytearray()
     command += object_id
-    command += struct.pack('!I', SupvActionIds.LOGGING_REQUEST_EVENT_BUFFERS)
+    command += struct.pack("!I", SupvActionIds.LOGGING_REQUEST_EVENT_BUFFERS)
     path = get_event_buffer_path()
-    command += bytearray(path, 'utf-8')
+    command += bytearray(path, "utf-8")
     return command
 
 
-def get_debug_verbosity() -> int:
-    tries = 0
-    while tries < 3:
-        try:
-            print("Debug verbosity options")
-            verbosity_options_dict = {
-                0: "None",
-                1: "Error",
-                2: "Warn",
-                3: "Info",
-            }
-            print("{:<6} | {}".format("Key", "Description"))
-            for entry in verbosity_options_dict.items():
-                print("{:<6} | {}".format(entry[0], entry[1]))
-            verbosity = int(input("Specify verbosity key: "))
-            if verbosity > len(verbosity_options_dict) - 1:
-                raise ValueError
-            return verbosity
-        except ValueError:
-            LOGGER.warning("Invalid verbosity key specified")
-            tries = tries + 1
-    LOGGER.error("get_debug_verbosity: Exceeded max tries to input verbosity key")
-    quit()
-
-
 def pack_set_gpio_cmd(object_id: bytearray) -> bytearray:
     port = int(input("Specify port : 0x"), 16)
     pin = int(input("Specify pin: 0x"), 16)
@@ -779,9 +625,9 @@ def pack_read_gpio_cmd(object_id: bytearray) -> bytearray:
 
 
 def pack_logging_set_topic(objetc_id: bytearray) -> bytearray:
-    command = objetc_id + struct.pack('!I', SupvActionIds.LOGGING_SET_TOPIC)
+    command = objetc_id + struct.pack("!I", SupvActionIds.LOGGING_SET_TOPIC)
     tpc = int(input("Specify logging topic: "))
-    command += struct.pack('!B', tpc)
+    command += struct.pack("!B", tpc)
     return command
 
 

pus_tc/devs/reaction_wheels.py

@@ -1,21 +1,52 @@
 # -*- coding: utf-8 -*-
-"""
+"""reaction_wheels.py
-@file   reaction_wheels.py
 @brief  Tests for the reaction wheel handler
 @author J. Meier
 @date   20.06.2021
 """
 import struct
-from tmtccmd.config.definitions import QueueCommands
+from tmtccmd.config.definitions import QueueCommands, ServiceOpCodeDictT, OpCodeDictKeys
-
+from tmtccmd.tc.service_3_housekeeping import generate_one_hk_command, make_sid
+from tmtccmd.config.globals import add_op_code_entry, add_service_op_code_entry
 from tmtccmd.tc.packer import TcQueueT
 from spacepackets.ecss.tc import PusTelecommand
-from pus_tc.service_200_mode import pack_mode_data
+from tmtccmd.tc.service_200_mode import pack_mode_data, Modes
+from config.definitions import CustomServiceList
+
+
+class OpCodesDevs:
+    SPEED = ["0", "speed"]
+    ON = ["1", "on"]
+    NML = ["2", "nml"]
+    OFF = ["3", "off"]
+    GET_TM = ["4", "tm"]
+
+
+class InfoDevs:
+    SPEED = "Set speed"
+    ON = "Set On"
+    NML = "Set Normal"
+    OFF = "Set Off"
+    GET_TM = "Get TM HK"
+
+
+class OpCodesAss:
+    ON = ["0", "on"]
+    NML = ["1", "nml"]
+    OFF = ["2", "off"]
+
+
+class InfoAss:
+    ON = "Mode On: 3/4 RWs min. on"
+    NML = "Mode Normal: 3/4 RWs min. normal"
+    OFF = "Mode Off: All RWs off"
 
 
 class RwSetIds:
     STATUS_SET_ID = 4
     TEMPERATURE_SET_ID = 8
+    LAST_RESET = 2
+    TM_SET = 9
 
 
 class RwCommandIds:
@@ -38,66 +69,116 @@ class RampTime:
     MS_1000 = 1000
 
 
-def pack_single_rw_test_into(
+def add_rw_cmds(cmd_dict: ServiceOpCodeDictT):
-    object_id: bytearray, tc_queue: TcQueueT, op_code: str
+    op_code_dict = dict()
-) -> TcQueueT:
+    add_op_code_entry(
-    tc_queue.appendleft(
+        op_code_dict=op_code_dict, info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED
-        (
+    )
-            QueueCommands.PRINT,
+    add_op_code_entry(op_code_dict=op_code_dict, info=InfoDevs.ON, keys=OpCodesDevs.ON)
-            "Testing reaction wheel handler with object id: 0x" + object_id.hex(),
+    add_op_code_entry(
-        )
+        op_code_dict=op_code_dict, info=InfoDevs.OFF, keys=OpCodesDevs.OFF
+    )
+    add_op_code_entry(
+        op_code_dict=op_code_dict, info=InfoDevs.NML, keys=OpCodesDevs.NML
+    )
+    add_op_code_entry(
+        op_code_dict=op_code_dict, info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM
     )
 
-    if op_code == "0" or op_code == "1":
+    add_service_op_code_entry(
+        srv_op_code_dict=cmd_dict,
+        name=CustomServiceList.REACTION_WHEEL_1.value,
+        op_code_entry=op_code_dict,
+        info="Reaction Wheel 1",
+    )
+    add_service_op_code_entry(
+        srv_op_code_dict=cmd_dict,
+        name=CustomServiceList.REACTION_WHEEL_2.value,
+        op_code_entry=op_code_dict,
+        info="Reaction Wheel 2",
+    )
+    add_service_op_code_entry(
+        srv_op_code_dict=cmd_dict,
+        name=CustomServiceList.REACTION_WHEEL_3.value,
+        op_code_entry=op_code_dict,
+        info="Reaction Wheel 3",
+    )
+    add_service_op_code_entry(
+        srv_op_code_dict=cmd_dict,
+        name=CustomServiceList.REACTION_WHEEL_4.value,
+        op_code_entry=op_code_dict,
+        info="Reaction Wheel 4",
+    )
+    op_code_dict = dict()
+    add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.ON, keys=OpCodesAss.ON)
+    add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.NML, keys=OpCodesAss.NML)
+    add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.OFF, keys=OpCodesAss.OFF)
+    add_service_op_code_entry(
+        srv_op_code_dict=cmd_dict,
+        name=CustomServiceList.RW_ASSEMBLY.value,
+        op_code_entry=op_code_dict,
+        info="Reaction Wheel Assembly",
+    )
+
+
+def pack_single_rw_test_into(
+    object_id: bytes, rw_idx: int, tc_queue: TcQueueT, op_code: str
+) -> TcQueueT:
+    if op_code in OpCodesDevs.SPEED:
         speed = int(input("Specify speed [0.1 RPM]: "))
         ramp_time = int(input("Specify ramp time [ms]: "))
-        tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Set speed"))
+        tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.SPEED}"))
         command = pack_set_speed_command(object_id, speed, ramp_time)
         command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "2":
+    if op_code in OpCodesDevs.ON:
-        tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Switch to mode on"))
+        tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.ON}"))
-        mode_data = pack_mode_data(object_id, 1, 0)
+        mode_data = pack_mode_data(object_id, Modes.ON, 0)
         command = PusTelecommand(service=200, subservice=1, ssc=41, app_data=mode_data)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "3":
+    if op_code in OpCodesDevs.NML:
-        tc_queue.appendleft(
+        tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.NML}"))
-            (QueueCommands.PRINT, "Reaction Wheel: Switch to mode normal")
+        mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
-        )
-        mode_data = pack_mode_data(object_id, 2, 0)
         command = PusTelecommand(service=200, subservice=1, ssc=42, app_data=mode_data)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "4":
+    if op_code in OpCodesDevs.OFF:
-        tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Switch to mode off"))
+        tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.OFF}"))
-        mode_data = pack_mode_data(object_id, 0, 0)
+        mode_data = pack_mode_data(object_id, Modes.OFF, 0)
         command = PusTelecommand(service=200, subservice=1, ssc=43, app_data=mode_data)
         tc_queue.appendleft(command.pack_command_tuple())
 
-    if op_code == "5":
+    if op_code in OpCodesDevs.GET_TM:
-        tc_queue.appendleft(
+        tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.GET_TM}"))
-            (QueueCommands.PRINT, "Reaction Wheel: Send get-telemetry-command")
+        command = generate_one_hk_command(
+            sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET), ssc=0
         )
-        command = object_id + RwCommandIds.GET_TM
-        command = PusTelecommand(service=8, subservice=128, ssc=44, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     return tc_queue
 
 
-def pack_set_speed_command(
+def pack_rw_ass_cmds(tc_queue: TcQueueT, object_id: bytes, op_code: str):
-    object_id: bytearray, speed: int, ramp_time: int
+    if op_code in OpCodesAss.OFF:
-) -> bytearray:
+        pass
+    if op_code in OpCodesAss.ON:
+        pass
+    if op_code in OpCodesAss.NML:
+        pass
+
+
+def pack_set_speed_command(object_id: bytes, speed: int, ramp_time: int) -> bytearray:
     """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 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 speed: Valid speeds are [-65000, -1000] and [1000, 65000]. Values are
-    @param ramp_time   The time after which the reaction wheel will reached the commanded speed. Valid times are
+        specified in 0.1 * RPM
-                       10 - 10000 ms
+    :param ramp_time: The time after which the reaction wheel will reached the commanded speed.
+        Valid times are 10 - 10000 ms
     """
     command_id = RwCommandIds.SET_SPEED
     command = bytearray()
-    command = object_id + command_id
+    command += object_id + command_id
     command = command + struct.pack("!i", speed)
     command = command + ramp_time.to_bytes(length=2, byteorder="big")
     return command

pus_tc/devs/syrlinks_hk_handler.py

@@ -64,17 +64,17 @@ def pack_syrlinks_command(
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "3":
         tc_queue.appendleft((QueueCommands.PRINT, "syrlinks: Set TX mode standby"))
-        command = object_id + struct.pack('!I', CommandIds.SET_TX_MODE_STANDBY)
+        command = object_id + struct.pack("!I", CommandIds.SET_TX_MODE_STANDBY)
         command = PusTelecommand(service=8, subservice=128, ssc=10, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "4":
         tc_queue.appendleft((QueueCommands.PRINT, "syrlinks: Set TX mode modulation"))
-        command = object_id + struct.pack('!I', CommandIds.SET_TX_MODE_MODULATION)
+        command = object_id + struct.pack("!I", CommandIds.SET_TX_MODE_MODULATION)
         command = PusTelecommand(service=8, subservice=128, ssc=11, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "5":
         tc_queue.appendleft((QueueCommands.PRINT, "syrlinks: Set TX mode CW"))
-        command = object_id + struct.pack('!I', CommandIds.SET_TX_MODE_CW)
+        command = object_id + struct.pack("!I", CommandIds.SET_TX_MODE_CW)
         command = PusTelecommand(service=8, subservice=128, ssc=12, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "6":
@@ -89,26 +89,26 @@ def pack_syrlinks_command(
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "8":
         tc_queue.appendleft((QueueCommands.PRINT, "Syrlinks: Read TX status"))
-        command = object_id + struct.pack('!I', CommandIds.READ_TX_STATUS)
+        command = object_id + struct.pack("!I", CommandIds.READ_TX_STATUS)
         command = PusTelecommand(service=8, subservice=128, ssc=13, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "9":
         tc_queue.appendleft((QueueCommands.PRINT, "Syrlinks: Read TX waveform"))
-        command = object_id + struct.pack('!I', CommandIds.READ_TX_WAVEFORM)
+        command = object_id + struct.pack("!I", CommandIds.READ_TX_WAVEFORM)
         command = PusTelecommand(service=8, subservice=128, ssc=14, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "10":
         tc_queue.appendleft(
             (QueueCommands.PRINT, "Syrlinks: Read TX AGC value high byte")
         )
-        command = object_id + struct.pack('!I', CommandIds.READ_TX_AGC_VALUE_HIGH_BYTE)
+        command = object_id + struct.pack("!I", CommandIds.READ_TX_AGC_VALUE_HIGH_BYTE)
         command = PusTelecommand(service=8, subservice=128, ssc=15, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "11":
         tc_queue.appendleft(
             (QueueCommands.PRINT, "Syrlinks: Read TX AGC value low byte")
         )
-        command = object_id + struct.pack('!I', CommandIds.READ_TX_AGC_VALUE_LOW_BYTE)
+        command = object_id + struct.pack("!I", CommandIds.READ_TX_AGC_VALUE_LOW_BYTE)
         command = PusTelecommand(service=8, subservice=128, ssc=16, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "12":

pus_tc/tc_packer_hook.py

@@ -27,7 +27,7 @@ from pus_tc.devs.tmp1075 import pack_tmp1075_test_into
 from pus_tc.devs.ploc_mpsoc import pack_ploc_mpsoc_commands
 from pus_tc.devs.ploc_supervisor import pack_ploc_supv_commands
 from pus_tc.devs.heater import pack_heater_test_into
-from pus_tc.devs.reaction_wheels import pack_single_rw_test_into
+from pus_tc.devs.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
 from pus_tc.devs.rad_sensor import pack_rad_sensor_test_into
 from pus_tc.devs.ploc_upater import pack_ploc_updater_test_into
 from pus_tc.devs.ploc_memory_dumper import pack_ploc_memory_dumper_cmd
@@ -68,6 +68,7 @@ from config.object_ids import (
     STR_IMG_HELPER_ID,
     SYRLINKS_HANDLER_ID,
     SOLAR_ARRAY_DEPLOYMENT_ID,
+    RW_ASSEMBLY,
 )
 
 
@@ -146,24 +147,20 @@ def pack_service_queue_user(
             object_id=object_id, tc_queue=service_queue, op_code=op_code
         )
     if service == CustomServiceList.REACTION_WHEEL_1.value:
-        object_id = RW1_ID
         return pack_single_rw_test_into(
-            object_id=object_id, tc_queue=service_queue, op_code=op_code
+            object_id=RW1_ID, rw_idx=1, tc_queue=service_queue, op_code=op_code
         )
     if service == CustomServiceList.REACTION_WHEEL_2.value:
-        object_id = RW2_ID
         return pack_single_rw_test_into(
-            object_id=object_id, tc_queue=service_queue, op_code=op_code
+            object_id=RW2_ID, rw_idx=2, tc_queue=service_queue, op_code=op_code
         )
     if service == CustomServiceList.REACTION_WHEEL_3.value:
-        object_id = RW3_ID
         return pack_single_rw_test_into(
-            object_id=object_id, tc_queue=service_queue, op_code=op_code
+            object_id=RW3_ID, rw_idx=3, tc_queue=service_queue, op_code=op_code
         )
     if service == CustomServiceList.REACTION_WHEEL_4.value:
-        object_id = RW4_ID
         return pack_single_rw_test_into(
-            object_id=object_id, tc_queue=service_queue, op_code=op_code
+            object_id=RW4_ID, rw_idx=4, tc_queue=service_queue, op_code=op_code
         )
     if service == CustomServiceList.RAD_SENSOR.value:
         object_id = RAD_SENSOR_ID
@@ -233,6 +230,10 @@ def pack_service_queue_user(
         return pack_tcs_sys_commands(tc_queue=service_queue, op_code=op_code)
     if service == CustomServiceList.TIME.value:
         return pack_set_current_time_ascii_command(tc_queue=service_queue, ssc=0)
+    if service == CustomServiceList.RW_ASSEMBLY:
+        return pack_rw_ass_cmds(
+            tc_queue=service_queue, object_id=RW_ASSEMBLY, op_code=op_code
+        )
     LOGGER.warning("Invalid Service !")
 
 

pus_tm/action_reply_handler.py

@@ -58,7 +58,7 @@ def handle_imtq_replies(
 def handle_ploc_replies(
     action_id: int, printer: FsfwTmTcPrinter, custom_data: bytearray
 ):
-    if action_id == PlocReplyIds.tm_mem_read_report:
+    if action_id == PlocReplyIds.TM_MEM_READ_RPT:
         header_list = [
             "PLOC Memory Address",
             "PLOC Mem Len",
@@ -73,6 +73,16 @@ def handle_ploc_replies(
         print(content_list)
         printer.file_logger.info(header_list)
         printer.file_logger.info(content_list)
+    elif action_id == PlocReplyIds.TM_CAM_CMD_RPT:
+        header_list = ["Camera reply string", "ACK"]
+        content_list = [
+            custom_data[: len(custom_data) - 1].decode("utf-8"),
+            hex(custom_data[-1]),
+        ]
+        print(header_list)
+        print(content_list)
+        printer.file_logger.info(header_list)
+        printer.file_logger.info(content_list)
 
 
 def handle_supervisor_replies(
@@ -86,6 +96,13 @@ def handle_supervisor_replies(
         print(content_list)
         printer.file_logger.info(header_list)
         printer.file_logger.info(content_list)
+    elif action_id == SupvActionIds.READ_GPIO:
+        header_list = ["GPIO state"]
+        content_list = [struct.unpack("!H", custom_data[:2])[0]]
+        print(header_list)
+        print(content_list)
+        printer.file_logger.info(header_list)
+        printer.file_logger.info(content_list)
 
 
 def handle_startracker_replies(

pus_tm/hk_handling.py

@@ -55,40 +55,46 @@ def handle_regular_hk_print(
     hk_packet: Service3Base,
     hk_data: bytes,
 ):
-    object_id = object_id.as_bytes
+    objb = object_id.as_bytes
     set_id = hk_packet.set_id
     """This function is called when a Service 3 Housekeeping packet is received."""
-    if object_id == obj_ids.SYRLINKS_HANDLER_ID:
+    if object_id in [obj_ids.RW1_ID, obj_ids.RW2_ID, obj_ids.RW3_ID, obj_ids.RW4_ID]:
+        handle_rw_hk_data(printer, object_id, set_id, hk_data)
+    if objb == obj_ids.SYRLINKS_HANDLER_ID:
         if set_id == SetIds.RX_REGISTERS_DATASET:
             return handle_syrlinks_rx_registers_dataset(printer, hk_data)
         elif set_id == SetIds.TX_REGISTERS_DATASET:
             return handle_syrlinks_tx_registers_dataset(printer, hk_data)
         else:
             LOGGER.info("Service 3 TM: Syrlinks handler reply with unknown set id")
-    elif object_id == obj_ids.IMTQ_HANDLER_ID:
+    if objb == obj_ids.IMTQ_HANDLER_ID:
         if (set_id >= ImtqSetIds.POSITIVE_X_TEST) and (
             set_id <= ImtqSetIds.NEGATIVE_Z_TEST
         ):
             return handle_self_test_data(printer, hk_data)
         else:
             LOGGER.info("Service 3 TM: Syrlinks handler reply with unknown set id")
-    elif object_id == obj_ids.GPS_HANDLER_0_ID or object_id == obj_ids.GPS_HANDLER_1_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)
-    elif object_id == obj_ids.BPX_HANDLER_ID:
+    if objb == obj_ids.BPX_HANDLER_ID:
         handle_bpx_hk_data(hk_data=hk_data, set_id=set_id, printer=printer)
-    elif object_id == obj_ids.CORE_CONTROLLER_ID:
+    if objb == obj_ids.CORE_CONTROLLER_ID:
         return handle_core_hk_data(printer=printer, hk_data=hk_data)
-    elif object_id == obj_ids.PDU_1_HANDLER_ID:
+    if objb == obj_ids.PDU_1_HANDLER_ID:
         return handle_pdu_data(
             printer=printer, pdu_idx=1, set_id=set_id, hk_data=hk_data
         )
-    elif object_id == obj_ids.PDU_2_HANDLER_ID:
+    if objb == obj_ids.PDU_2_HANDLER_ID:
         return handle_pdu_data(
             printer=printer, pdu_idx=2, set_id=set_id, hk_data=hk_data
         )
-    elif object_id == obj_ids.P60_DOCK_HANDLER:
+    if objb in [obj_ids.RW1_ID, obj_ids.RW2_ID, obj_ids.RW3_ID, obj_ids.RW4_ID]:
+        return handle_rw_hk_data(
+            printer=printer, object_id=object_id, set_id=set_id, hk_data=hk_data
+        )
+    if objb == obj_ids.P60_DOCK_HANDLER:
         handle_p60_hk_data(printer=printer, set_id=set_id, hk_data=hk_data)
-    elif object_id == obj_ids.PL_PCDU_ID:
+    if objb == obj_ids.PL_PCDU_ID:
         log_to_both(printer, "Received PL PCDU HK data")
     else:
         LOGGER.info("Service 3 TM: Parsing for this SID has not been implemented.")
@@ -702,6 +708,91 @@ def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
         )
 
 
+def handle_rw_hk_data(
+    printer: FsfwTmTcPrinter, object_id: ObjectId, set_id: int, hk_data: bytes
+):
+    from pus_tc.devs.reaction_wheels import RwSetIds
+
+    current_idx = 0
+    if set_id == RwSetIds.TEMPERATURE_SET_ID:
+        log_to_both(
+            printer,
+            f"Received Temperature HK (ID {set_id}) from Reaction Wheel {object_id.name}",
+        )
+        temp = struct.unpack("!I", hk_data[0:4])
+        log_to_both(printer, f"Temperature {temp}")
+        current_idx += 4
+    if set_id == RwSetIds.STATUS_SET_ID:
+        log_to_both(
+            printer,
+            f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}",
+        )
+        fmt_str = "!iiBB"
+        inc_len = struct.calcsize(fmt_str)
+        (speed, ref_speed, state, clc_mode) = struct.unpack(
+            fmt_str, hk_data[current_idx : current_idx + inc_len]
+        )
+        current_idx += inc_len
+        log_to_both(
+            printer,
+            f"Speed {speed} rpm | Reference Speed {ref_speed} rpm | State {state} | CLC Mode {clc_mode}",
+        )
+    if set_id == RwSetIds.LAST_RESET:
+        log_to_both(
+            printer,
+            f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}",
+        )
+        fmt_str = "!BB"
+        inc_len = struct.calcsize(fmt_str)
+        (last_reset_status, curr_reset_status) = struct.unpack(
+            fmt_str, hk_data[current_idx : current_idx + inc_len]
+        )
+        current_idx += inc_len
+        log_to_both(
+            printer,
+            f"Last Reset Status {last_reset_status} | Current Reset Status {curr_reset_status}",
+        )
+    if set_id == RwSetIds.TM_SET:
+        log_to_both(
+            printer,
+            f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}",
+        )
+        fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
+        inc_len = struct.calcsize(fmt_str)
+        (
+            last_reset_status,
+            mcu_temp,
+            pressure_sens_temp,
+            pressure,
+            state,
+            clc_mode,
+            current_speed,
+            ref_speed,
+            num_invalid_crc_packets,
+            num_invalid_len_packets,
+            num_invalid_cmd_packets,
+            num_of_cmd_executed_requests,
+            num_of_cmd_replies,
+            uart_num_of_bytes_written,
+            uart_num_of_bytes_read,
+            uart_num_parity_errors,
+            uart_num_noise_errors,
+            uart_num_frame_errors,
+            uart_num_reg_overrun_errors,
+            uart_total_num_errors,
+            spi_num_bytes_written,
+            spi_num_bytes_read,
+            spi_num_reg_overrun_errors,
+            spi_total_num_errors,
+        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+        pass
+    if current_idx > 0:
+        printer.print_validity_buffer(
+            validity_buffer=hk_data[current_idx:], num_vars=27
+        )
+    pass
+
+
 def log_to_both(printer: FsfwTmTcPrinter, string: str):
     print(string)
     printer.file_logger.info(string)