Merge pull request 'fixes fixes fixes' (#126) from acs-ctrl-fixes into main

Reviewed-on: #126
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -11,6 +11,7 @@ list yields a list of all related PRs for each release.
 # [unreleased]
 
 - Unify and move Syrlinks module, some bugfixes
+- Add/Re-enable handling for SUS temp packets
 
 # [v2.3.0] and [v2.3.1] 18.01.2023
 

eive_tmtc/config/object_ids.py

@@ -126,6 +126,7 @@ SUS_11_R_LOC_XBYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x43])
 # System and Assembly Objects
 ACS_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x01])
 PL_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x02])
+TCS_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x03])
 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])

eive_tmtc/pus_tc/devs/rtd.py

@@ -99,7 +99,7 @@ def pack_rtd_commands(
             )
         )
     if op_code in OpCode.WRITE_CONFIG:
-        command = object_id.as_bytes + struct.pack('!I', CommandId.WRITE_CONFIG)
+        command = object_id.as_bytes + struct.pack("!I", CommandId.WRITE_CONFIG)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
 
 

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -41,45 +41,54 @@ class SetId(enum.IntEnum):
     CTRL_VAL_DATA = 8
     ACTUATOR_CMD_DATA = 9
 
+class Submode(enum.IntEnum):
+    SAFE = 2
+    DETUMBLE = 3
+    IDLE = 4
+
 
 class OpCodes:
     OFF = ["off"]
-    NML = ["normal"]
+    SAFE = ["normal_safe"]
+    DTBL = ["normal_detumble"]
+    IDLE = ["normal_idle"]
     REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"]
-    ENABLE_RAW_MGM_HK = ["1", "enable_mgm_raw_hk"]
-    DISABLE_RAW_MGM_HK = ["2", "disable_mgm_raw_hk"]
+    ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"]
+    DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"]
     REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"]
-    ENABLE_PROC_MGM_HK = ["4", "enable_mgm_proc_hk"]
-    DISABLE_PROC_MGM_HK = ["5", "disable_mgm_proc_hk"]
+    ENABLE_PROC_MGM_HK = ["4", "mgm_proc_enable_hk"]
+    DISABLE_PROC_MGM_HK = ["5", "mgm_proc_disable_hk"]
     REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"]
-    ENABLE_RAW_SUS_HK = ["7", "enable_sus_raw_hk"]
-    DISABLE_RAW_SUS_HK = ["8", "disable_sus_raw_hk"]
+    ENABLE_RAW_SUS_HK = ["7", "sus_raw_enable_hk"]
+    DISABLE_RAW_SUS_HK = ["8", "sus_raw_disable_hk"]
     REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"]
-    ENABLE_PROC_SUS_HK = ["10", "enable_sus_proc_hk"]
-    DISABLE_PROC_SUS_HK = ["11", "disable_sus_proc_hk"]
+    ENABLE_PROC_SUS_HK = ["10", "sus_proc_enable_hk"]
+    DISABLE_PROC_SUS_HK = ["11", "sus_proc_disable_hk"]
     REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"]
-    ENABLE_RAW_GYR_HK = ["13", "enable_gyr_raw_hk"]
-    DISABLE_RAW_GYR_HK = ["14", "disable_gyr_raw_hk"]
+    ENABLE_RAW_GYR_HK = ["13", "gyr_raw_enable_hk"]
+    DISABLE_RAW_GYR_HK = ["14", "gyr_raw_disable_hk"]
     REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"]
-    ENABLE_PROC_GYR_HK = ["16", "enable_gyr_proc_hk"]
-    DISABLE_PROC_GYR_HK = ["17", "disable_gyr_proc_hk"]
+    ENABLE_PROC_GYR_HK = ["16", "gyr_proc_enable_hk"]
+    DISABLE_PROC_GYR_HK = ["17", "gyr_proc_disable_hk"]
     REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"]
-    ENABLE_PROC_GPS_HK = ["19", "enable_gps_proc_hk"]
-    DISABLE_PROC_GPS_HK = ["20", "disable_gps_proc_hk"]
+    ENABLE_PROC_GPS_HK = ["19", "gps_proc_enable_hk"]
+    DISABLE_PROC_GPS_HK = ["20", "gps_proc_disable_hk"]
     REQUEST_MEKF_HK = ["21", "mekf_hk"]
-    ENABLE_MEKF_HK = ["22", "enable_mekf_hk"]
-    DISABLE_MEKF_HK = ["23", "disable_mekf_hk"]
+    ENABLE_MEKF_HK = ["22", "mekf_enable_hk"]
+    DISABLE_MEKF_HK = ["23", "mekf_disable_hk"]
     REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"]
-    ENABLE_CTRL_VAL_HK = ["25", "enable_ctrl_val_hk"]
-    DISABLE_CTRL_VAL_HK = ["26", "disable_ctrl_val_hk"]
+    ENABLE_CTRL_VAL_HK = ["25", "ctrl_val_enable_hk"]
+    DISABLE_CTRL_VAL_HK = ["26", "ctrl_val_disable_hk"]
     REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"]
-    ENABLE_ACT_CMD_HK = ["28", "enable act_cmd_hk"]
-    DISABLE_ACT_CMD_HK = ["29", "disable act_cmd_hk"]
+    ENABLE_ACT_CMD_HK = ["28", "act_cmd_enable_hk"]
+    DISABLE_ACT_CMD_HK = ["29", "act_cmd_disable_hk"]
 
 
 class Info:
     OFF = "Switch ACS CTRL off"
-    NML = "Switch ACS CTRL normal"
+    SAFE = "Switch ACS CTRL normal safe"
+    DTBL = "Switch ACS CTRL normal detumble"
+    IDLE = "Switch ACS CTRL normal idle"
     REQUEST_RAW_MGM_HK = "Request Raw MGM HK once"
     ENABLE_RAW_MGM_HK = "Enable Raw MGM HK data generation"
     DISABLE_RAW_MGM_HK = "Disable Raw MGM HK data generation"
@@ -128,7 +137,9 @@ if PERFORM_MGM_CALIBRATION:
 def acs_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     oce.add(keys=OpCodes.OFF, info=Info.OFF)
-    oce.add(keys=OpCodes.NML, info=Info.NML)
+    oce.add(keys=OpCodes.SAFE, info=Info.SAFE)
+    oce.add(keys=OpCodes.DTBL, info=Info.DTBL)
+    oce.add(keys=OpCodes.IDLE, info=Info.IDLE)
     oce.add(keys=OpCodes.REQUEST_RAW_MGM_HK, info=Info.REQUEST_RAW_MGM_HK)
     oce.add(keys=OpCodes.ENABLE_RAW_MGM_HK, info=Info.ENABLE_RAW_MGM_HK)
     oce.add(keys=OpCodes.DISABLE_RAW_MGM_HK, info=Info.DISABLE_RAW_MGM_HK)
@@ -171,10 +182,16 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
     if op_code in OpCodes.OFF:
         q.add_log_cmd(f"{Info.OFF}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
-    if op_code in OpCodes.NML:
-        q.add_log_cmd(f"{Info.NML}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, 0))
-    if op_code in OpCodes.REQUEST_RAW_MGM_HK:
+    elif op_code in OpCodes.SAFE:
+        q.add_log_cmd(f"{Info.SAFE}")
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.SAFE))
+    elif op_code in OpCodes.DTBL:
+        q.add_log_cmd(f"{Info.DTBL}")
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.DTBL))
+    elif op_code in OpCodes.IDLE:
+        q.add_log_cmd(f"{Info.IDLE}")
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.IDLE))
+    elif op_code in OpCodes.REQUEST_RAW_MGM_HK:
         q.add_log_cmd(Info.REQUEST_RAW_MGM_HK)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET))
@@ -320,9 +337,7 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
     elif op_code in OpCodes.DISABLE_MEKF_HK:
         q.add_log_cmd(Info.DISABLE_MEKF_HK)
         q.add_pus_tc(
-            disable_periodic_hk_command(
-                True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA)
-            )
+            disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA))
         )
     elif op_code in OpCodes.REQUEST_CTRL_VAL_HK:
         q.add_log_cmd(Info.REQUEST_CTRL_VAL_HK)
@@ -430,10 +445,9 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
     fmt_str = "!ddd"
     inc_len = struct.calcsize(fmt_str)
-    sus_vec_tot = list(
-        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
-    )
-    sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}]
+    sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+
+    sus_vec_tot = [f"{val:8.3f}" for val in sus_vec_tot]
     current_idx += inc_len
     pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
     sus_vec_tot_deriv = struct.unpack(
@@ -442,10 +456,8 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
     sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
     current_idx += inc_len
     pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
-    sun_ijk_model = list(
-        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
-    )
-    sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}]
+    sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+    sun_ijk_model = [f"{val:8.3f}" for val in sun_ijk_model]
     current_idx += inc_len
     pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
     pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=15)

eive_tmtc/tmtc/tcs.py

@@ -15,25 +15,39 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
 )
 
 from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
-from eive_tmtc.config.object_ids import TCS_BOARD_ASS_ID, TCS_CONTROLLER
+from eive_tmtc.config.object_ids import (
+    TCS_BOARD_ASS_ID,
+    TCS_CONTROLLER,
+    TCS_SUBSYSTEM_ID,
+)
 from tmtccmd.util import ObjectIdU32
 from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 
 
-class OpCode:
-    TCS_BOARD_ASS_NORMAL = ["0", "normal"]
-    TCS_BOARD_ASS_OFF = ["1", "off"]
+class OpCodeAssy:
+    TCS_BOARD_ASS_NORMAL = ["nml"]
+    TCS_BOARD_ASS_OFF = ["off"]
+
+
+class OpCodeSys:
+    OFF = ["off"]
+    NML = ["nml"]
     REQUEST_PRIMARY_TEMP_SET = ["temp"]
     REQUEST_DEVICE_TEMP_SET = ["temp_devs"]
     REQUEST_DEVICE_SUS_SET = ["temp_sus"]
 
 
-class Info:
+class InfoSys:
+    OFF = "Switch TCS subsystem OFF"
+    NML = "Switch TCS subsystem NORMAL (nominal)"
     REQUEST_PRIMARY_TEMP_SET = "Request HK set of primary sensor temperatures"
     REQUEST_DEVICE_TEMP_SET = (
         "Request HK set of device sensor (not dedicated sensors) temperatures"
     )
     REQUEST_DEVICE_SUS_SET = "Request HK set of the SUS temperatures"
+
+
+class InfoAssy:
     TCS_BOARD_ASS_NORMAL = "Switching TCS board assembly on"
     TCS_BOARD_ASS_OFF = "Switching TCS board assembly off"
 
@@ -48,57 +62,79 @@ class SetId(enum.IntEnum):
 def add_tcs_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     oce.add(
-        keys=OpCode.TCS_BOARD_ASS_NORMAL,
-        info=Info.TCS_BOARD_ASS_NORMAL,
+        keys=OpCodeAssy.TCS_BOARD_ASS_NORMAL,
+        info=InfoAssy.TCS_BOARD_ASS_NORMAL,
     )
     oce.add(
-        keys=OpCode.TCS_BOARD_ASS_OFF,
-        info=Info.TCS_BOARD_ASS_OFF,
+        keys=OpCodeAssy.TCS_BOARD_ASS_OFF,
+        info=InfoAssy.TCS_BOARD_ASS_OFF,
     )
-    oce.add(keys=OpCode.REQUEST_PRIMARY_TEMP_SET, info=Info.REQUEST_PRIMARY_TEMP_SET)
-    oce.add(keys=OpCode.REQUEST_DEVICE_TEMP_SET, info=Info.REQUEST_DEVICE_TEMP_SET)
-    oce.add(keys=OpCode.REQUEST_DEVICE_SUS_SET, info=Info.REQUEST_DEVICE_SUS_SET)
     defs.add_service(
-        name=CustomServiceList.TCS.value,
+        name=CustomServiceList.TCS_ASS.value,
         info="TCS Board Assembly",
         op_code_entry=oce,
     )
+    oce = OpCodeEntry()
+    oce.add(keys=OpCodeSys.OFF, info=InfoSys.OFF)
+    oce.add(keys=OpCodeSys.NML, info=InfoSys.NML)
+    oce.add(
+        keys=OpCodeSys.REQUEST_PRIMARY_TEMP_SET, info=InfoSys.REQUEST_PRIMARY_TEMP_SET
+    )
+    oce.add(
+        keys=OpCodeSys.REQUEST_DEVICE_TEMP_SET, info=InfoSys.REQUEST_DEVICE_TEMP_SET
+    )
+    oce.add(keys=OpCodeSys.REQUEST_DEVICE_SUS_SET, info=InfoSys.REQUEST_DEVICE_SUS_SET)
+    defs.add_service(
+        name=CustomServiceList.TCS,
+        info="TCS Board",
+        op_code_entry=oce,
+    )
 
 
 def pack_tcs_sys_commands(q: DefaultPusQueueHelper, op_code: str):
-    if op_code in OpCode.REQUEST_PRIMARY_TEMP_SET:
+    if op_code in OpCodeSys.REQUEST_PRIMARY_TEMP_SET:
         sensor_set_sid = make_sid(TCS_CONTROLLER, SetId.PRIMARY_SENSORS)
-        q.add_log_cmd(Info.REQUEST_PRIMARY_TEMP_SET)
+        q.add_log_cmd(InfoSys.REQUEST_PRIMARY_TEMP_SET)
         q.add_pus_tc(generate_one_hk_command(sensor_set_sid))
-    if op_code in OpCode.REQUEST_DEVICE_TEMP_SET:
-        q.add_log_cmd(Info.REQUEST_DEVICE_TEMP_SET)
+    if op_code in OpCodeSys.REQUEST_DEVICE_TEMP_SET:
+        q.add_log_cmd(InfoSys.REQUEST_DEVICE_TEMP_SET)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(TCS_CONTROLLER, SetId.DEVICE_SENSORS))
         )
-    if op_code in OpCode.REQUEST_DEVICE_SUS_SET:
-        q.add_log_cmd(Info.REQUEST_DEVICE_SUS_SET)
+    if op_code in OpCodeSys.REQUEST_DEVICE_SUS_SET:
+        q.add_log_cmd(InfoSys.REQUEST_DEVICE_SUS_SET)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(TCS_CONTROLLER, SetId.SUS_TEMP_SENSORS))
         )
+    if op_code in OpCodeSys.OFF:
+        q.add_log_cmd(InfoSys.OFF)
+        q.add_pus_tc(
+            pack_mode_cmd_with_info(TCS_SUBSYSTEM_ID, Mode.OFF, 0, q, InfoSys.OFF)
+        )
+    if op_code in OpCodeSys.NML:
+        q.add_log_cmd(InfoSys.NML)
+        q.add_pus_tc(
+            pack_mode_cmd_with_info(TCS_SUBSYSTEM_ID, Mode.NORMAL, 0, q, InfoSys.OFF)
+        )
     pack_tcs_ass_cmds(q, op_code)
 
 
 def pack_tcs_ass_cmds(q: DefaultPusQueueHelper, op_code: str):
-    if op_code in OpCode.TCS_BOARD_ASS_NORMAL:
+    if op_code in OpCodeAssy.TCS_BOARD_ASS_NORMAL:
         pack_mode_cmd_with_info(
             object_id=TCS_BOARD_ASS_ID,
             mode=Mode.NORMAL,
             submode=0,
             q=q,
-            info=Info.TCS_BOARD_ASS_NORMAL,
+            info=InfoAssy.TCS_BOARD_ASS_NORMAL,
         )
-    if op_code in OpCode.TCS_BOARD_ASS_OFF:
+    if op_code in OpCodeAssy.TCS_BOARD_ASS_OFF:
         pack_mode_cmd_with_info(
             object_id=TCS_BOARD_ASS_ID,
             mode=Mode.OFF,
             submode=0,
             q=q,
-            info=Info.TCS_BOARD_ASS_OFF,
+            info=InfoAssy.TCS_BOARD_ASS_OFF,
         )