changelog

Reviewed-on: #299
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -10,8 +10,14 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+## Changed
+
+- Added support for new fused rotation rate dataset.
+
 # [v7.0.0] 2024-05-06
 
+## Changed
+
 - Reworked PLOC MPSoC commanding to be inline with OBSW update.
 
 ## Fixed

eive_tmtc/config/definitions.py

@@ -17,6 +17,7 @@ TM_DB_PATH = "tm.db"
 
 # TODO: The cleanest way would be to load those from the config file..
 PRINT_RAW_HK_B64_STR = False
+PRINT_RAW_ACTION_DATA_REPLY_B64_STR = True
 PRINT_RAW_EVENTS_B64_STR = False
 
 PUS_APID = 0x65

eive_tmtc/config/hook.py

@@ -52,7 +52,7 @@ from eive_tmtc.tmtc.wdt import create_wdt_node
 
 class EiveHookObject(HookBase):
     def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)
 
     def get_command_definitions(self) -> CmdTreeNode:
         root_node = CmdTreeNode.root_node()

eive_tmtc/pus_tm/action_reply_handler.py

@@ -1,8 +1,10 @@
+import base64
 import logging
 import struct
 
 from spacepackets.ecss import PusTm
 from tmtccmd.pus.s8_fsfw_action_defs import CustomSubservice
+from eive_tmtc.config.definitions import PRINT_RAW_ACTION_DATA_REPLY_B64_STR
 from eive_tmtc.config.object_ids import (
     ACU_HANDLER_ID,
     PDU_1_HANDLER_ID,
@@ -51,6 +53,8 @@ def handle_action_service_tm(
     if object_id is None:
         object_id = ObjectIdU32(object_id_raw, "Unknown ID")
     if tm_packet.subservice == CustomSubservice.TM_DATA_REPLY:
+        if PRINT_RAW_ACTION_DATA_REPLY_B64_STR:
+            print(f"PUS TM Base64: {base64.b64encode(raw_tm)}")
         if object_id.as_bytes == IMTQ_HANDLER_ID:
             return handle_imtq_replies(action_id, pw, custom_data)
         elif object_id.as_bytes == PLOC_MPSOC_ID:

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -988,27 +988,43 @@ def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
     inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
     fmt_source = "!B"
     inc_len_source = struct.calcsize(fmt_source)
-    old_size = 3 * inc_len_vec3_double + 1
+    v0_size = 3 * inc_len_vec3_double + 1
-    new_size = 3 * inc_len_vec3_double + inc_len_source + 1
+    v1_size = 3 * inc_len_vec3_double + inc_len_source + 1
+    v2_size = 2 * inc_len_vec3_double + inc_len_source + 1
     size = len(hk_data)
-    if size not in [old_size, new_size]:
+    if size not in [v0_size, v1_size, v2_size]:
         pw.dlog(f"Received Fused Rot Rate HK set of unexpected size: {len(hk_data)}")
         return
     current_idx = 0
+    if size in [v0_size, v1_size]:
         rot_rate_orthogonal = [
             f"{val*180/math.pi:8.3f}"
             for val in struct.unpack(
-            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
+                fmt_vec3_double,
+                hk_data[current_idx : current_idx + inc_len_vec3_double],
             )
         ]
         current_idx += inc_len_vec3_double
+        pw.dlog(f"Fused Rotational Rate Orthogonal: {rot_rate_orthogonal} [deg/s]")
         rot_rate_parallel = [
             f"{val*180/math.pi:8.3f}"
             for val in struct.unpack(
-            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
+                fmt_vec3_double,
+                hk_data[current_idx : current_idx + inc_len_vec3_double],
             )
         ]
         current_idx += inc_len_vec3_double
+        pw.dlog(f"Fused Rotational Rate Parallel: {rot_rate_parallel} [deg/s]")
+    else:
+        rot_rate_susmgm = [
+            f"{val * 180 / math.pi:8.3f}"
+            for val in struct.unpack(
+                fmt_vec3_double,
+                hk_data[current_idx: current_idx + inc_len_vec3_double],
+            )
+        ]
+        current_idx += inc_len_vec3_double
+        pw.dlog(f"Fused Rotational Rate SUSMGM: {rot_rate_susmgm} [deg/s]")
     rot_rate_total = [
         f"{val*180/math.pi:8.3f}"
         for val in struct.unpack(
@@ -1016,10 +1032,8 @@ def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
         )
     ]
     current_idx += inc_len_vec3_double
-    pw.dlog(f"Fused Rotational Rate Orthogonal: {rot_rate_orthogonal} [deg/s]")
-    pw.dlog(f"Fused Rotational Rate Parallel: {rot_rate_parallel} [deg/s]")
     pw.dlog(f"Fused Rotational Rate Total: {rot_rate_total} [deg/s]")
-    if size == new_size:
+    if size in [v1_size, v2_size]:
         rot_rate_source = struct.unpack(
             fmt_source, hk_data[current_idx : current_idx + inc_len_source]
         )[0]
@@ -1030,9 +1044,10 @@ def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
             )
         else:
             pw.dlog(f"Ctrl Strategy (key unknown): {rot_rate_source}")
-        pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=4))
+    if size in [v0_size, v2_size]:
-        return
         pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
+    else:
+        pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=4))
 
 
 def handle_fused_rot_rate_source_data(pw: PrintWrapper, hk_data: bytes):