Merge pull request 'action reply update' (#299) from small-action-reply-update into main

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

.gitignore

@@ -6,6 +6,7 @@ log
 /gps_log.txt
 /config/*.json
 
+/.tmtc-history.txt
 /scex_conf.json
 /tmtc_conf.json
 /seqcnt*.txt
@@ -27,3 +28,7 @@ log
 /.installed.cfg
 /*.egg
 /MANIFEST
+
+# Telemetry database.
+/tm.db
+

CHANGELOG.md

@@ -10,6 +10,80 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+# [v7.0.0] 2024-05-06
+
+- Reworked PLOC MPSoC commanding to be inline with OBSW update.
+
+## Fixed
+
+- GNSS commands working again (again).
+
+## Added
+
+- Added handling for new clock events.
+
+# [v6.2.0] 2024-04-10
+
+## Added
+
+- Added version set for STR.
+- Command for relative timeshift.
+- Health commands for payload components.
+
+## Fixed
+
+- EPS power commands working again.
+- GNSS commands working again.
+
+## Changed
+
+- Fixed PLOC commanding
+
+# [v6.1.1] 2024-03-06
+
+## Added
+
+- Added Core Ctrl cmd to update leap seconds.
+
+# [v6.1.0] 2024-02-29
+
+## Added
+
+- Added commands to unlock and use STR secondary firmware slot.
+- STR BlobStats TM handling
+- New ACS CTRL commands.
+
+## Fixed
+
+- RW commanding
+
+# [v6.0.0] 2024-02-08
+
+## Changed
+
+- Bumped `tmccmd` to `v8.0.0rc1` to introduce new command tree handling.
+- Added new PLOC SUPV commands to test sets, cleaned up PLOC SUPV commanding.
+
+# [v5.13.0] 2024-01-30
+
+## Added
+
+- First variant of TM handling with a DB which might serve as a foundation for better TM
+  handling with an ORM in the future.
+- Added new parameter commands for PLOC MPSoC to skip SUPV commanding.
+
+# [v5.12.1] 2023-12-13
+
+## Added
+
+- A few new commands to test the TC scheduler.
+
+# [v5.12.0] 2023-12-06
+
+## Added
+
+- New ACS controller commands.
+
 # [v5.11.0] 2023-11-30
 
 ## Added

eive_tmtc/cfdp/fault_handler.py

@@ -1,20 +1,28 @@
 import logging
 
-from spacepackets.cfdp import ConditionCode
-from tmtccmd.cfdp.mib import DefaultFaultHandlerBase
+from spacepackets.cfdp import ConditionCode, TransactionId
+from cfdppy.mib import DefaultFaultHandlerBase
 
 _LOGGER = logging.getLogger(__name__)
 
 
 class EiveCfdpFaultHandler(DefaultFaultHandlerBase):
-    def notice_of_suspension_cb(self, cond: ConditionCode):
+    def notice_of_suspension_cb(
+        self, transaction_id: TransactionId, cond: ConditionCode, progress: int
+    ):
         _LOGGER.info(f"Received notice of suspension: {cond!r}")
 
-    def notice_of_cancellation_cb(self, cond: ConditionCode):
+    def notice_of_cancellation_cb(
+        self, transaction_id: TransactionId, cond: ConditionCode, progress: int
+    ):
         _LOGGER.info(f"Received notice of cancellation: {cond!r}")
 
-    def abandoned_cb(self, cond: ConditionCode):
+    def abandoned_cb(
+        self, transaction_id: TransactionId, cond: ConditionCode, progress: int
+    ):
         _LOGGER.info(f"Abandoned transaction: {cond!r}")
 
-    def ignore_cb(self, cond: ConditionCode):
+    def ignore_cb(
+        self, transaction_id: TransactionId, cond: ConditionCode, progress: int
+    ):
         _LOGGER.info(f"Ignored transaction: {cond!r}")

eive_tmtc/cfdp/handler.py

@@ -5,22 +5,22 @@ import deprecation
 from spacepackets import PacketType, SpacePacket, SpacePacketHeader
 from spacepackets.cfdp import GenericPduPacket, PduFactory
 from spacepackets.cfdp.pdu import PduHolder
-from tmtccmd.cfdp import (
+from cfdppy import (
     CfdpUserBase,
     LocalEntityCfg,
     RemoteEntityCfgTable,
 )
-from tmtccmd.cfdp.defs import CfdpState
-from tmtccmd.cfdp.handler import (
+from cfdppy.defs import CfdpState
+from cfdppy.handler import (
     DestHandler,
     DestStateWrapper,
     SourceHandler,
     SourceStateWrapper,
 )
-from tmtccmd.cfdp.handler.common import PacketDestination, get_packet_destination
-from tmtccmd.cfdp.mib import CheckTimerProvider
-from tmtccmd.cfdp.request import PutRequest
-from tmtccmd.util import ProvidesSeqCount
+from cfdppy.handler.common import PacketDestination, get_packet_destination
+from cfdppy.mib import CheckTimerProvider
+from cfdppy.request import PutRequest
+from spacepackets.seqcount import ProvidesSeqCount
 from tmtccmd.version import get_version
 
 
@@ -62,13 +62,7 @@ class CfdpHandler:
         )
 
     def put_request(self, request: PutRequest):
-        if not self.remote_cfg_table.get_cfg(request.destination_id):
-            raise ValueError(
-                f"No remote CFDP config found for entity ID {request.destination_id}"
-            )
-        self.source_handler.put_request(
-            request, self.remote_cfg_table.get_cfg(request.destination_id)  # type: ignore
-        )
+        self.source_handler.put_request(request)
 
     def pull_next_source_packet(self) -> Optional[PduHolder]:
         res = self.source_handler.state_machine()

eive_tmtc/cfdp/tm.py

@@ -4,7 +4,7 @@ from typing import Any
 from eive_tmtc.config.definitions import CFDP_APID
 from spacepackets.ccsds import SPACE_PACKET_HEADER_SIZE
 from spacepackets.cfdp import PduFactory, PduType
-from tmtccmd.cfdp.handler import CfdpInCcsdsHandler
+from eive_tmtc.cfdp.handler import CfdpInCcsdsHandler
 from tmtccmd.tmtc import SpecificApidHandlerBase
 
 _LOGGER = logging.getLogger(__name__)

eive_tmtc/cfdp/user.py

@@ -3,12 +3,13 @@ import logging
 
 from spacepackets.cfdp import ConditionCode
 from spacepackets.util import UnsignedByteField
-from tmtccmd.cfdp import CfdpUserBase, TransactionId
-from tmtccmd.cfdp.mib import CheckTimerProvider, Countdown, EntityType
-from tmtccmd.cfdp.user import (
+from cfdppy import CfdpUserBase, TransactionId
+from cfdppy.mib import CheckTimerProvider, Countdown, EntityType
+from cfdppy.user import (
     TransactionFinishedParams,
     MetadataRecvParams,
     FileSegmentRecvdParams,
+    TransactionParams,
 )
 
 _LOGGER = logging.getLogger(__name__)
@@ -25,17 +26,22 @@ class EiveCheckTimerProvider(CheckTimerProvider):
 
 
 class EiveCfdpUser(CfdpUserBase):
-    def transaction_indication(self, transaction_id: TransactionId):
-        _LOGGER.info(f"CFDP User: Start of File {transaction_id}")
+    def transaction_indication(
+        self,
+        transaction_indication_params: TransactionParams,
+    ):
+        _LOGGER.info(
+            f"CFDP User: Start of File {transaction_indication_params.transaction_id}"
+        )
 
     def eof_sent_indication(self, transaction_id: TransactionId):
         _LOGGER.info(f"CFDP User: EOF sent for {transaction_id}")
 
     def transaction_finished_indication(self, params: TransactionFinishedParams):
         _LOGGER.info(f"CFDP User: {params.transaction_id} finished")
-        _LOGGER.info(f"Delivery Code: {params.delivery_code!r}")
-        _LOGGER.info(f"Condition code: {params.condition_code!r}")
-        _LOGGER.info(f"File delivery status: {params.delivery_code!r}")
+        _LOGGER.info(f"Delivery Code: {params.finished_params.delivery_code!r}")
+        _LOGGER.info(f"Condition code: {params.finished_params.condition_code!r}")
+        _LOGGER.info(f"File delivery status: {params.finished_params.delivery_code!r}")
 
     def metadata_recv_indication(self, params: MetadataRecvParams):
         pass

eive_tmtc/config/__init__.py

@@ -0,0 +1 @@
+from .definitions import *  # noqa

eive_tmtc/config/custom_mode_op.py

@@ -3,6 +3,7 @@
 @details    Template configuration file. Copy this folder to the TMTC commander root and adapt
             it to your needs.
 """
+
 import enum
 
 from tmtccmd import CcsdsTmtcBackend

eive_tmtc/config/definitions.py

@@ -11,6 +11,15 @@ from spacepackets.ccsds import PacketId
 from spacepackets.util import UnsignedByteField
 
 
+TM_DB_PATH = "tm.db"
+# Separate DB or not? Not sure..
+# RAW_TM_PATH = "raw_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
 CFDP_APID = 0x66
 PUS_PACKET_ID = PacketId(PacketType.TM, True, PUS_APID)

eive_tmtc/config/events.csv

@@ -75,9 +75,12 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;Clock has been set. P1: old timeval seconds. P2: new timeval seconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8904;0x22c8;CLOCK_DUMP_BEFORE_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8905;0x22c9;CLOCK_DUMP_AFTER_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@@ -88,14 +91,17 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
 10805;0x2a35;HANDLING_CFDP_REQUEST_FAILED;LOW;CFDP request handling failed. P2: Returncode.;fsfw/src/fsfw/cfdp/handler/defs.h
 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
-11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
+11201;0x2bc1;RATE_RECOVERY;MEDIUM;The system has recovered from a rate rotation violation.;mission/acs/defs.h
 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
-11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
+11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
+11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
+11210;0x2bca;PTG_RATE_VIOLATION;MEDIUM;The limits for the rotation in pointing mode were violated.;mission/acs/defs.h
+11211;0x2bcb;DETUMBLE_TRANSITION_FAILED;HIGH;The detumble transition has failed. //! P1: Last detumble state before failure.;mission/acs/defs.h
 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/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@@ -122,14 +128,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
-11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
-11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
-11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
+11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
@@ -230,8 +237,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/tcs/TcsBoardAssembly.h
-13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/acs/archive/GPSDefinitions.h
-13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/acs/archive/GPSDefinitions.h
+13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: New fix. P2: Missed fix changes 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;linux/acs/GPSDefinitions.h
+13101;0x332d;CANT_GET_FIX;MEDIUM;Could not get fix in maximum allowed time. Trying to reset both GNSS devices. P1: Maximum allowed time to get a fix after the GPS was switched on.;linux/acs/GPSDefinitions.h
+13102;0x332e;RESET_FAIL;HIGH;Failed to reset an GNNS Device. P1: Board-Side.;linux/acs/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/power/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/power/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/power/P60DockHandler.h

eive_tmtc/config/hook.py

@@ -1,33 +1,147 @@
 from typing import Optional
 
-from eive_tmtc.config.definitions import SPACE_PACKET_IDS
-from tmtccmd import HookBase, CcsdsTmtcBackend
+from prompt_toolkit.history import FileHistory
+from tmtccmd import CcsdsTmtcBackend, HookBase
 from tmtccmd.com import ComInterface
-from tmtccmd.config import TmtcDefinitionWrapper
-
-from eive_tmtc.config.retvals import get_retval_dict
-from eive_tmtc.pus_tc.cmd_definitions import get_eive_service_op_code_dict
+from tmtccmd.config import CmdTreeNode
+from tmtccmd.config.hook import History
 from tmtccmd.util import ObjectIdDictT, RetvalDictT
 
+from eive_tmtc.config.definitions import SPACE_PACKET_IDS
+from eive_tmtc.config.retvals import get_retval_dict
+from eive_tmtc.tmtc.acs.acs_board import create_acs_board_node
+from eive_tmtc.tmtc.acs.acs_ctrl import create_acs_ctrl_node
+from eive_tmtc.tmtc.acs.gps import create_gnss_node
+from eive_tmtc.tmtc.acs.gyros import create_gyros_node
+from eive_tmtc.tmtc.acs.imtq import create_mgt_node
+from eive_tmtc.tmtc.acs.mgms import create_mgms_node
+from eive_tmtc.tmtc.acs.reaction_wheels import (
+    create_reaction_wheel_assembly_node,
+    create_reaction_wheels_nodes,
+)
+from eive_tmtc.tmtc.acs.star_tracker import create_str_node
+from eive_tmtc.tmtc.acs.subsystem import create_acs_subsystem_node
+from eive_tmtc.tmtc.com.ccsds_handler import create_ccsds_node
+from eive_tmtc.tmtc.com.subsystem import create_com_subsystem_node
+from eive_tmtc.tmtc.com.syrlinks_handler import create_syrlinks_node
+from eive_tmtc.tmtc.core import create_core_node
+from eive_tmtc.tmtc.health import create_global_health_node
+from eive_tmtc.tmtc.payload.ploc_mpsoc import create_ploc_mpsoc_node
+from eive_tmtc.tmtc.payload.ploc_supervisor import create_ploc_supv_node
+from eive_tmtc.tmtc.payload.plpcdu import create_pl_pcdu_node
+from eive_tmtc.tmtc.payload.scex import create_scex_node
+from eive_tmtc.tmtc.payload.subsystem import create_payload_subsystem_node
+from eive_tmtc.tmtc.power.acu import create_acu_node
+from eive_tmtc.tmtc.power.bpx_batt import create_bpx_batt_node
+from eive_tmtc.tmtc.power.p60dock import create_p60_dock_node
+from eive_tmtc.tmtc.power.pdu1 import create_pdu1_node
+from eive_tmtc.tmtc.power.pdu2 import create_pdu2_node
+from eive_tmtc.tmtc.power.power import create_power_node
+from eive_tmtc.tmtc.power.pwr_ctrl import create_pwr_ctrl_node
+from eive_tmtc.tmtc.power.subsystem import create_eps_subsystem_node
+from eive_tmtc.tmtc.system import create_system_node
+from eive_tmtc.tmtc.tcs.ctrl import create_tcs_ctrl_node
+from eive_tmtc.tmtc.tcs.heater import create_heater_node
+from eive_tmtc.tmtc.tcs.rtd import create_rtd_node
+from eive_tmtc.tmtc.tcs.tmp1075 import create_tmp_sens_node
+from eive_tmtc.tmtc.test import create_test_node
+from eive_tmtc.tmtc.time import create_time_node
+from eive_tmtc.tmtc.tm_store import create_persistent_tm_store_node
+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_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        return get_eive_service_op_code_dict()
-
-    def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com import (
-            create_com_interface_default,
-            create_com_interface_cfg_default,
+    def get_command_definitions(self) -> CmdTreeNode:
+        root_node = CmdTreeNode.root_node()
+        acs_node = create_acs_subsystem_node()
+        acs_brd_assy_node = create_acs_board_node()
+        acs_brd_assy_node.add_child(create_mgms_node())
+        acs_brd_assy_node.add_child(create_gyros_node())
+        acs_ctrl = create_acs_ctrl_node()
+        rw_list = create_reaction_wheels_nodes()
+        rws = CmdTreeNode("rws", "Reaction Wheel Devices")
+        for rw in rw_list:
+            rws.add_child(rw)
+        rws.add_child(create_reaction_wheel_assembly_node())
+        star_tracker = create_str_node()
+        star_tracker_img_helper = CmdTreeNode(
+            "str_img_helper", "Star Tracker Image Helper"
         )
+        star_tracker.add_child(star_tracker_img_helper)
+        gnss_devs = create_gnss_node()
+
+        acs_node.add_child(acs_brd_assy_node)
+        acs_node.add_child(acs_ctrl)
+        acs_node.add_child(rws)
+        acs_node.add_child(create_mgt_node())
+        acs_node.add_child(star_tracker)
+        acs_node.add_child(gnss_devs)
+
+        tcs_node = CmdTreeNode("tcs", "TCS Subsystem")
+        tmp_1075_node = create_tmp_sens_node()
+        rtds_node = create_rtd_node()
+        heaters_node = create_heater_node()
+        tcs_ctrl = create_tcs_ctrl_node()
+        tcs_node.add_child(rtds_node)
+        tcs_node.add_child(tmp_1075_node)
+        tcs_node.add_child(tcs_ctrl)
+        tcs_node.add_child(heaters_node)
+        tcs_brd_assy = CmdTreeNode("tcs_brd_assy", "TCS Board Assembly")
+        tcs_node.add_child(tcs_brd_assy)
+
+        com_node = create_com_subsystem_node()
+        com_node.add_child(create_syrlinks_node())
+        com_node.add_child(create_ccsds_node())
+
+        eps_node = create_eps_subsystem_node()
+        eps_node.add_child(create_pwr_ctrl_node())
+        eps_node.add_child(create_power_node())
+        eps_node.add_child(create_acu_node())
+        eps_node.add_child(create_pdu1_node())
+        eps_node.add_child(create_pdu2_node())
+        eps_node.add_child(create_p60_dock_node())
+        eps_node.add_child(create_bpx_batt_node())
+
+        payload_node = create_payload_subsystem_node()
+        payload_node.add_child(create_pl_pcdu_node())
+        payload_node.add_child(create_scex_node())
+        payload_node.add_child(create_ploc_mpsoc_node())
+        payload_node.add_child(create_ploc_supv_node())
+
+        obdh_node = CmdTreeNode("obdh", "OBDH Subsystem")
+        obdh_node.add_child(create_wdt_node())
+        obdh_node.add_child(create_core_node())
+        obdh_node.add_child(create_time_node())
+        obdh_node.add_child(create_persistent_tm_store_node())
+
+        root_node.add_child(create_test_node())
+        root_node.add_child(create_system_node())
+        root_node.add_child(create_global_health_node())
+        root_node.add_child(acs_node)
+        root_node.add_child(tcs_node)
+        root_node.add_child(com_node)
+        root_node.add_child(eps_node)
+        root_node.add_child(payload_node)
+        root_node.add_child(obdh_node)
+        return root_node
+
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
+            create_com_interface_cfg_default,
+            create_com_interface_default,
+        )
+
+        assert self.cfg_path is not None
 
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
             space_packet_ids=SPACE_PACKET_IDS,
         )
+        assert cfg is not None
         return create_com_interface_default(cfg)
 
     def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
@@ -42,3 +156,6 @@ class EiveHookObject(HookBase):
 
     def get_retval_dict(self) -> RetvalDictT:
         return get_retval_dict()
+
+    def get_cmd_history(self) -> Optional[History]:
+        return FileHistory(".tmtc-history.txt")

eive_tmtc/config/object_ids.py

@@ -3,6 +3,7 @@
 @details    Template configuration file. Copy this folder to the TMTC commander root and adapt
             it to your needs.
 """
+
 import logging
 import os.path
 from typing import Dict

eive_tmtc/config/objects.csv

@@ -56,6 +56,7 @@
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
+0x44330018;PLOC_MPSOC_COMMUNICATION
 0x44330032;SCEX
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER

eive_tmtc/config/returnvalues.csv

@@ -387,6 +387,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4304;PUS11_InvalidRelativeTime;No description;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4305;PUS11_ContainedTcTooSmall;No description;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4306;PUS11_ContainedTcCrcMissmatch;No description;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4307;PUS11_MapIsFull;No description;7;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4400;FILS_GenericFileError;No description;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4401;FILS_GenericDirError;No description;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4402;FILS_FilesystemInactive;No description;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
@@ -453,6 +454,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5208;IMTQ_CmdErrUnknown;No description;8;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x5209;IMTQ_StartupCfgError;No description;9;IMTQ_HANDLER;mission/acs/imtqHelpers.h
 0x520a;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;10;IMTQ_HANDLER;mission/acs/imtqHelpers.h
+0x53a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/acs/RwHandler.h
+0x53a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/acs/RwHandler.h
+0x53a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/acs/RwHandler.h
+0x53a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/acs/RwHandler.h
+0x53a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/acs/RwHandler.h
+0x53a5;RWHA_ValueNotRead;No description;165;RW_HANDLER;mission/acs/RwHandler.h
 0x53b0;RWHA_SpiWriteFailure;No description;176;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/acs/rwHelpers.h
 0x53b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/acs/rwHelpers.h
@@ -498,12 +505,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x58a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x58a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x58a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
-0x59a0;SUSS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a1;SUSS_InvalidRampTime;Action Message with invalid ramp time was received.;161;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a2;SUSS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a3;SUSS_ExecutionFailed;Command execution failed;163;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a4;SUSS_CrcError;Reaction wheel reply has invalid crc;164;SUS_HANDLER;mission/acs/RwHandler.h
-0x59a5;SUSS_ValueNotRead;No description;165;SUS_HANDLER;mission/acs/RwHandler.h
+0x59a0;SUSS_ErrorUnlockMutex;No description;160;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
+0x59a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/acs/archive/LegacySusHandler.h
 0x5aa0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
 0x5ba0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h
 0x5d01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/acs/StrComHandler.h
@@ -558,16 +561,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
-0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
-0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x6810;MPSOCRTVIF_CommandTimeout;Command has timed out.;16;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
 0x69a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69a1;SPVRTVIF_InvalidServiceId;No description;161;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
@@ -592,7 +596,11 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x69b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
-0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
+0x6aa0;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;160;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa1;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;161;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa2;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;162;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa3;ACSCTRL_SingleRwUnavailable;A single RW has failed.;163;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+0x6aa4;ACSCTRL_MultipleRwUnavailable;Multiple RWs have failed.;164;ACS_CTRL;mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
@@ -619,4 +627,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6f02;TMS_NoWriteActive;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x6f03;TMS_Timeout;No description;3;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h
-0x7200;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x7100;PLMPCOM_PacketReceived;No description;0;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
+0x7101;PLMPCOM_FaultyPacketSize;No description;1;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
+0x7102;PLMPCOM_CrcCheckFailed;No description;2;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
+0x7300;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

eive_tmtc/pus_tc/cmd_definitions.py

@@ -1,21 +0,0 @@
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry, CoreServiceList
-from tmtccmd.config.tmtc import (
-    call_all_definitions_providers,
-)
-from tmtccmd.config.globals import get_default_tmtc_defs
-
-
-def get_eive_service_op_code_dict() -> TmtcDefinitionWrapper:
-    """Call all registered TMTC definition providers. They were registered using
-    the :py:func:`tmtc_definitions_provider` decorator.
-    """
-    def_wrapper = get_default_tmtc_defs()
-    srv_5 = OpCodeEntry()
-    srv_5.add("0", "Event Test")
-    def_wrapper.add_service(
-        name=CoreServiceList.SERVICE_5.value,
-        info="PUS Service 5 Event",
-        op_code_entry=srv_5,
-    )
-    call_all_definitions_providers(def_wrapper)
-    return def_wrapper

eive_tmtc/pus_tc/cmd_demux.py

@@ -0,0 +1,309 @@
+"""Hook function which packs telecommands based on service and operation code string
+"""
+
+import logging
+from typing import List, cast
+
+from tmtccmd import TreeCommandingProcedure
+from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.util import ObjectIdU32
+
+import eive_tmtc.config.object_ids as oids
+from eive_tmtc.config.object_ids import (
+    ACU_HANDLER_ID,
+    CCSDS_HANDLER_ID,
+    HEATER_CONTROLLER_ID,
+    IMTQ_HANDLER_ID,
+    P60_DOCK_HANDLER,
+    PDEC_HANDLER_ID,
+    PDU_1_HANDLER_ID,
+    PDU_2_HANDLER_ID,
+    RAD_SENSOR_ID,
+    RW1_ID,
+    RW2_ID,
+    RW3_ID,
+    RW4_ID,
+    RW_ASSEMBLY,
+    STAR_TRACKER_ID,
+    STR_IMG_HELPER_ID,
+    SYRLINKS_HANDLER_ID,
+    TMP1075_HANDLER_IF_BRD_ID,
+    TMP1075_HANDLER_PLPCDU_0_ID,
+    TMP1075_HANDLER_TCS_BRD_0_ID,
+    TMP1075_HANDLER_TCS_BRD_1_ID,
+    get_object_ids,
+)
+from eive_tmtc.tmtc.acs.acs_board import pack_acs_board_command
+from eive_tmtc.tmtc.acs.acs_ctrl import pack_acs_ctrl_command
+from eive_tmtc.tmtc.acs.gps import pack_gps_command
+from eive_tmtc.tmtc.acs.gyros import handle_gyr_cmd
+from eive_tmtc.tmtc.acs.imtq import create_imtq_command
+from eive_tmtc.tmtc.acs.mgms import handle_mgm_cmd
+from eive_tmtc.tmtc.acs.reaction_wheels import (
+    create_single_rw_cmd,
+    pack_rw_ass_cmds,
+)
+from eive_tmtc.tmtc.acs.star_tracker import pack_star_tracker_commands
+from eive_tmtc.tmtc.acs.str_img_helper import pack_str_img_helper_command
+from eive_tmtc.tmtc.acs.subsystem import build_acs_subsystem_cmd
+from eive_tmtc.tmtc.com.ccsds_handler import pack_ccsds_handler_command
+from eive_tmtc.tmtc.com.pdec_handler import pack_pdec_handler_commands
+from eive_tmtc.tmtc.com.subsystem import build_com_subsystem_procedure
+from eive_tmtc.tmtc.com.syrlinks_handler import pack_syrlinks_command
+from eive_tmtc.tmtc.core import pack_core_commands
+from eive_tmtc.tmtc.health import build_health_cmds
+from eive_tmtc.tmtc.payload.subsystem import create_payload_subsystem_cmd
+from eive_tmtc.tmtc.payload.ploc_mpsoc import pack_ploc_mpsoc_commands
+from eive_tmtc.tmtc.payload.ploc_supervisor import pack_ploc_supv_commands
+from eive_tmtc.tmtc.payload.plpcdu import pack_pl_pcdu_commands
+from eive_tmtc.tmtc.payload.rad_sensor import create_rad_sensor_cmd
+from eive_tmtc.tmtc.payload.scex import pack_scex_cmds
+from eive_tmtc.tmtc.power.acu import pack_acu_commands
+from eive_tmtc.tmtc.power.p60dock import pack_p60dock_cmds
+from eive_tmtc.tmtc.power.pdu1 import pack_pdu1_commands
+from eive_tmtc.tmtc.power.pdu2 import pack_pdu2_commands
+from eive_tmtc.tmtc.power.power import pack_power_commands
+from eive_tmtc.tmtc.power.pwr_ctrl import pack_power_ctrl_command
+from eive_tmtc.tmtc.system import build_system_cmds
+from eive_tmtc.tmtc.tcs.ctrl import pack_tcs_ctrl_commands
+from eive_tmtc.tmtc.tcs.heater import pack_heater_cmds
+from eive_tmtc.tmtc.tcs.rtd import pack_rtd_commands
+from eive_tmtc.tmtc.tcs.subsystem import pack_tcs_sys_commands
+from eive_tmtc.tmtc.tcs.tmp1075 import pack_tmp1075_test_into
+from eive_tmtc.tmtc.test import build_test_commands
+from eive_tmtc.tmtc.time import pack_time_management_cmd
+from eive_tmtc.tmtc.tm_store import pack_tm_store_commands
+from eive_tmtc.tmtc.wdt import pack_wdt_commands
+from eive_tmtc.utility.input_helper import InputHelper
+
+
+def handle_pus_procedure(
+    info: TreeCommandingProcedure,
+    queue_helper: DefaultPusQueueHelper,
+):
+    cmd_path = info.cmd_path
+    assert cmd_path is not None
+    cmd_path_list = cmd_path.split("/")
+    if cmd_path_list[0] == "":
+        cmd_path_list = cmd_path_list[1:]
+    if len(cmd_path_list) == 0:
+        raise ValueError(
+            "command path list empty. Full command path {cmd_path} might have invalid format"
+        )
+    if cmd_path_list[0] == "system":
+        assert len(cmd_path_list) >= 1
+        return build_system_cmds(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "health":
+        assert len(cmd_path_list) >= 1
+        return build_health_cmds(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "eps":
+        return handle_eps_procedure(queue_helper, cmd_path_list[1:])
+    if cmd_path_list[0] == "tcs":
+        return handle_tcs_procedure(queue_helper, cmd_path_list[1:])
+    if cmd_path_list[0] == "acs":
+        return handle_acs_procedure(queue_helper, cmd_path_list[1:])
+    if cmd_path_list[0] == "payload":
+        return handle_payload_procedure(queue_helper, cmd_path_list[1:])
+    if cmd_path_list[0] == "obdh":
+        return handle_obdh_procedure(queue_helper, cmd_path_list[1:])
+    if cmd_path_list[0] == "test":
+        assert len(cmd_path_list) >= 1
+        return build_test_commands(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "com":
+        return handle_com_procedure(queue_helper, cmd_path_list[1:])
+    logging.getLogger(__name__).warning(
+        f"invalid or unimplemented command path {cmd_path}"
+    )
+
+
+def handle_eps_procedure(queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]):
+    obj_id_man = get_object_ids()
+    assert len(cmd_path_list) >= 1
+    if cmd_path_list[0] == "power":
+        return pack_power_commands(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "pwr_ctrl":
+        return pack_power_ctrl_command(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "p60_dock":
+        object_id = cast(ObjectIdU32, obj_id_man.get(P60_DOCK_HANDLER))
+        return pack_p60dock_cmds(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "pdu1":
+        object_id = cast(ObjectIdU32, obj_id_man.get(PDU_1_HANDLER_ID))
+        return pack_pdu1_commands(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "pdu2":
+        object_id = cast(ObjectIdU32, obj_id_man.get(PDU_2_HANDLER_ID))
+        return pack_pdu2_commands(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "acu":
+        object_id = cast(ObjectIdU32, obj_id_man.get(ACU_HANDLER_ID))
+        return pack_acu_commands(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+
+
+def handle_tcs_procedure(queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]):
+    obj_id_man = get_object_ids()
+    if len(cmd_path_list) == 1:
+        return pack_tcs_sys_commands(q=queue_helper, cmd_str=cmd_path_list[0])
+    assert len(cmd_path_list) >= 2
+    if cmd_path_list[0] == "tcs_brd_assy":
+        return pack_tcs_sys_commands(q=queue_helper, cmd_str=cmd_path_list[1])
+    if cmd_path_list[0] == "rtd_devs":
+        assert len(cmd_path_list) >= 2
+        return pack_rtd_commands(
+            object_id=None, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "tcs_ctrl":
+        assert len(cmd_path_list) >= 2
+        return pack_tcs_ctrl_commands(q=queue_helper, cmd_str=cmd_path_list[2])
+    if cmd_path_list[0] == "tmp1075_devs":
+        menu_dict = {
+            "0": ("TMP1075 TCS Board 0", TMP1075_HANDLER_TCS_BRD_0_ID),
+            "1": ("TMP1075 TCS Board 1", TMP1075_HANDLER_TCS_BRD_1_ID),
+            "2": ("TMP1075 PL PCDU 0", TMP1075_HANDLER_PLPCDU_0_ID),
+            "3": ("TMP1075 PL PCDU 1", oids.TMP1075_HANDLER_PLPCDU_1_ID),
+            "4": ("TMP1075 IF Board", TMP1075_HANDLER_IF_BRD_ID),
+        }
+        input_helper = InputHelper(menu_dict)
+        tmp_select = input_helper.get_key()
+        assert len(cmd_path_list) >= 2
+        object_id = obj_id_man.get(menu_dict[tmp_select][1])
+        assert object_id is not None
+        return pack_tmp1075_test_into(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "heaters":
+        object_id = HEATER_CONTROLLER_ID
+        return pack_heater_cmds(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+
+
+def handle_acs_procedure(queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]):
+    obj_id_man = get_object_ids()
+    if len(cmd_path_list) == 1:
+        return build_acs_subsystem_cmd(queue_helper, cmd_path_list[0])
+    assert len(cmd_path_list) >= 2
+    if cmd_path_list[0] == "mgt":
+        object_id = cast(ObjectIdU32, obj_id_man.get(IMTQ_HANDLER_ID))
+        return create_imtq_command(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "str":
+        object_id = cast(ObjectIdU32, obj_id_man.get(STAR_TRACKER_ID))
+        return pack_star_tracker_commands(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+
+    if cmd_path_list[0] == "rws":
+        assert len(cmd_path_list) >= 2
+        if cmd_path_list[1] == "rw_assy":
+            assert len(cmd_path_list) >= 3
+            return pack_rw_ass_cmds(
+                q=queue_helper, object_id=RW_ASSEMBLY, cmd_str=cmd_path_list[2]
+            )
+        if cmd_path_list[1] == "rw_1":
+            assert len(cmd_path_list) >= 3
+            return create_single_rw_cmd(
+                object_id=RW1_ID, rw_idx=1, q=queue_helper, cmd_str=cmd_path_list[2]
+            )
+        if cmd_path_list[1] == "rw_2":
+            assert len(cmd_path_list) >= 3
+            return create_single_rw_cmd(
+                object_id=RW2_ID, rw_idx=2, q=queue_helper, cmd_str=cmd_path_list[2]
+            )
+        if cmd_path_list[1] == "rw_3":
+            assert len(cmd_path_list) >= 3
+            return create_single_rw_cmd(
+                object_id=RW3_ID, rw_idx=3, q=queue_helper, cmd_str=cmd_path_list[2]
+            )
+        if cmd_path_list[1] == "rw_4":
+            assert len(cmd_path_list) >= 3
+            return create_single_rw_cmd(
+                object_id=RW4_ID, rw_idx=4, q=queue_helper, cmd_str=cmd_path_list[2]
+            )
+
+    if cmd_path_list[0] == "gnss_ctrl":
+        return pack_gps_command(
+            object_id=oids.GPS_CONTROLLER, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "acs_brd_assy":
+        if len(cmd_path_list) == 2:
+            return pack_acs_board_command(q=queue_helper, cmd_str=cmd_path_list[1])
+        else:
+            if cmd_path_list[1] == "mgm_devs":
+                return handle_mgm_cmd(q=queue_helper, cmd_str=cmd_path_list[2])
+            if cmd_path_list[1] == "gyro_devs":
+                assert len(cmd_path_list) >= 3
+                return handle_gyr_cmd(q=queue_helper, cmd_str=cmd_path_list[2])
+    if cmd_path_list[0] == "str_img_helper":
+        object_id = cast(ObjectIdU32, obj_id_man.get(STR_IMG_HELPER_ID))
+        return pack_str_img_helper_command(
+            object_id=object_id, q=queue_helper, op_code=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "acs_ctrl":
+        return pack_acs_ctrl_command(queue_helper, cmd_path_list[1])
+
+
+def handle_payload_procedure(
+    queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]
+):
+    obj_id_man = get_object_ids()
+    if cmd_path_list[0] == "subsystem":
+        return create_payload_subsystem_cmd(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "ploc_mpsoc":
+        return pack_ploc_mpsoc_commands(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "ploc_supv":
+        return pack_ploc_supv_commands(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "rad_sensor":
+        assert len(cmd_path_list) >= 3
+        object_id = cast(ObjectIdU32, obj_id_man.get(RAD_SENSOR_ID))
+        return create_rad_sensor_cmd(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
+        )
+    if cmd_path_list[0] == "pl_pcdu":
+        return pack_pl_pcdu_commands(q=queue_helper, cmd_str=cmd_path_list[1])
+    if cmd_path_list[0] == "scex":
+        return pack_scex_cmds(
+            cmd_str=cmd_path_list[1],
+            q=queue_helper,
+        )
+
+
+def handle_obdh_procedure(
+    queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]
+):
+    assert len(cmd_path_list) >= 2
+    if cmd_path_list[0] == "core":
+        return pack_core_commands(q=queue_helper, cmd_str=cmd_path_list[1])
+    if cmd_path_list[0] == "xiphos_wdt":
+        return pack_wdt_commands(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "time":
+        return pack_time_management_cmd(queue_helper, cmd_path_list[1])
+    if cmd_path_list[0] == "tm_store":
+        return pack_tm_store_commands(queue_helper, cmd_path_list[1])
+
+
+def handle_com_procedure(queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]):
+    obj_id_man = get_object_ids()
+    if len(cmd_path_list) == 1:
+        return build_com_subsystem_procedure(queue_helper, cmd_path_list[0])
+    assert len(cmd_path_list) >= 2
+    if cmd_path_list[0] == "ccsds":
+        object_id = cast(ObjectIdU32, obj_id_man.get(CCSDS_HANDLER_ID))
+        return pack_ccsds_handler_command(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[2]
+        )
+    if cmd_path_list[0] == "pdec":
+        return pack_pdec_handler_commands(
+            object_id=PDEC_HANDLER_ID, q=queue_helper, cmd_str=cmd_path_list[2]
+        )
+    if cmd_path_list[0] == "syrlinks":
+        object_id = cast(ObjectIdU32, obj_id_man.get(SYRLINKS_HANDLER_ID))
+        return pack_syrlinks_command(
+            object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[2]
+        )

eive_tmtc/pus_tc/procedure_packer.py

@@ -1,220 +0,0 @@
-"""Hook function which packs telecommands based on service and operation code string
-"""
-import logging
-from typing import cast
-
-from eive_tmtc.tmtc.acs.gyros import handle_gyr_cmd
-from eive_tmtc.tmtc.acs.mgms import handle_mgm_cmd
-from eive_tmtc.tmtc.power.power import pack_power_commands
-from eive_tmtc.tmtc.tcs.ctrl import pack_tcs_ctrl_commands
-from eive_tmtc.tmtc.tcs.rtd import pack_rtd_commands
-from eive_tmtc.tmtc.payload.scex import pack_scex_cmds
-from eive_tmtc.tmtc.tcs.subsystem import pack_tcs_sys_commands
-from tmtccmd import DefaultProcedureInfo, TcHandlerBase
-from tmtccmd.config import CoreServiceList
-from tmtccmd.tmtc import DefaultPusQueueHelper
-from tmtccmd.tmtc.decorator import (
-    route_to_registered_service_handlers,
-    ServiceProviderParams,
-)
-
-from eive_tmtc.tmtc.misc.s200_test import pack_service_200_test_into
-from eive_tmtc.tmtc.power.p60dock import pack_p60dock_cmds
-from eive_tmtc.tmtc.power.pdu2 import pack_pdu2_commands
-from eive_tmtc.tmtc.power.pdu1 import pack_pdu1_commands
-from eive_tmtc.tmtc.power.acu import pack_acu_commands
-from eive_tmtc.tmtc.acs.imtq import pack_imtq_test_into
-from eive_tmtc.tmtc.tcs.heater import pack_heater_cmds
-from eive_tmtc.tmtc.acs.reaction_wheels import (
-    pack_single_rw_test_into,
-    pack_rw_ass_cmds,
-)
-from eive_tmtc.tmtc.payload.ploc_memory_dumper import pack_ploc_memory_dumper_cmd
-from eive_tmtc.tmtc.com.ccsds_handler import pack_ccsds_handler_command
-from eive_tmtc.tmtc.core import pack_core_commands
-from eive_tmtc.tmtc.acs.star_tracker import pack_star_tracker_commands
-from eive_tmtc.tmtc.com.syrlinks_handler import pack_syrlinks_command
-from eive_tmtc.tmtc.com.pdec_handler import pack_pdec_handler_test
-from eive_tmtc.tmtc.wdt import pack_wdt_commands
-from eive_tmtc.tmtc.acs.acs_board import pack_acs_command
-from eive_tmtc.config.definitions import CustomServiceList
-from eive_tmtc.config.object_ids import (
-    P60_DOCK_HANDLER,
-    PDU_1_HANDLER_ID,
-    PDU_2_HANDLER_ID,
-    ACU_HANDLER_ID,
-    TMP1075_HANDLER_TCS_BRD_0_ID,
-    TMP1075_HANDLER_TCS_BRD_1_ID,
-    TMP1075_HANDLER_PLPCDU_0_ID,
-    TMP1075_HANDLER_IF_BRD_ID,
-    HEATER_CONTROLLER_ID,
-    IMTQ_HANDLER_ID,
-    RW1_ID,
-    RW2_ID,
-    RW3_ID,
-    RW4_ID,
-    RAD_SENSOR_ID,
-    STAR_TRACKER_ID,
-    PLOC_MEMORY_DUMPER_ID,
-    CCSDS_HANDLER_ID,
-    PDEC_HANDLER_ID,
-    STR_IMG_HELPER_ID,
-    SYRLINKS_HANDLER_ID,
-    RW_ASSEMBLY,
-    get_object_ids,
-)
-
-from eive_tmtc.tmtc.tcs.tmp1075 import pack_tmp1075_test_into
-from eive_tmtc.tmtc.acs.gps import pack_gps_command
-from eive_tmtc.tmtc.payload.rad_sensor import pack_rad_sensor_test_into
-from eive_tmtc.tmtc.payload.plpcdu import pack_pl_pcdu_commands
-from eive_tmtc.tmtc.acs.str_img_helper import pack_str_img_helper_command
-from eive_tmtc.pus_tc.system.proc import pack_proc_commands
-
-import eive_tmtc.config.object_ids as oids
-from tmtccmd.util import ObjectIdU32
-
-from eive_tmtc.utility.input_helper import InputHelper
-
-
-def handle_default_procedure(  # noqa C901: Complexity okay here.
-    tc_base: TcHandlerBase,
-    info: DefaultProcedureInfo,
-    queue_helper: DefaultPusQueueHelper,
-):
-    service = info.service
-    op_code = info.op_code
-    obj_id_man = get_object_ids()
-    if service == CoreServiceList.SERVICE_200.value:
-        return pack_service_200_test_into(q=queue_helper)
-    if service == CustomServiceList.P60DOCK.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(P60_DOCK_HANDLER))
-        return pack_p60dock_cmds(object_id=object_id, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.RTD.value:
-        return pack_rtd_commands(object_id=None, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.PDU1.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(PDU_1_HANDLER_ID))
-        return pack_pdu1_commands(object_id=object_id, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.PDU2.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(PDU_2_HANDLER_ID))
-        return pack_pdu2_commands(object_id=object_id, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.ACU.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(ACU_HANDLER_ID))
-        return pack_acu_commands(object_id=object_id, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.TCS_SS.value:
-        return pack_tcs_sys_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.TCS_CTRL.value:
-        return pack_tcs_ctrl_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.TMP1075.value:
-        menu_dict = {
-            "0": ("TMP1075 TCS Board 0", TMP1075_HANDLER_TCS_BRD_0_ID),
-            "1": ("TMP1075 TCS Board 1", TMP1075_HANDLER_TCS_BRD_1_ID),
-            "2": ("TMP1075 PL PCDU 0", TMP1075_HANDLER_PLPCDU_0_ID),
-            "3": ("TMP1075 PL PCDU 1", oids.TMP1075_HANDLER_PLPCDU_1_ID),
-            "4": ("TMP1075 IF Board", TMP1075_HANDLER_IF_BRD_ID),
-        }
-        input_helper = InputHelper(menu_dict)
-        tmp_select = input_helper.get_key()
-        object_id = obj_id_man.get(menu_dict[tmp_select][1])
-        return pack_tmp1075_test_into(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.HEATER.value:
-        object_id = HEATER_CONTROLLER_ID
-        return pack_heater_cmds(object_id=object_id, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.IMTQ.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(IMTQ_HANDLER_ID))
-        return pack_imtq_test_into(object_id=object_id, q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.REACTION_WHEEL_1.value:
-        return pack_single_rw_test_into(
-            object_id=RW1_ID, rw_idx=1, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.REACTION_WHEEL_2.value:
-        return pack_single_rw_test_into(
-            object_id=RW2_ID, rw_idx=2, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.REACTION_WHEEL_3.value:
-        return pack_single_rw_test_into(
-            object_id=RW3_ID, rw_idx=3, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.REACTION_WHEEL_4.value:
-        return pack_single_rw_test_into(
-            object_id=RW4_ID, rw_idx=4, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.MGMS.value:
-        return handle_mgm_cmd(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.RAD_SENSOR.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(RAD_SENSOR_ID))
-        return pack_rad_sensor_test_into(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.STAR_TRACKER.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(STAR_TRACKER_ID))
-        return pack_star_tracker_commands(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.STR_IMG_HELPER.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(STR_IMG_HELPER_ID))
-        return pack_str_img_helper_command(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.CORE.value:
-        return pack_core_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.PLOC_MEMORY_DUMPER.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(PLOC_MEMORY_DUMPER_ID))
-        return pack_ploc_memory_dumper_cmd(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.POWER.value:
-        return pack_power_commands(queue_helper, op_code)
-    if service == CustomServiceList.ACS.value:
-        return pack_acs_command(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.GPS_CTRL.value:
-        return pack_gps_command(
-            object_id=oids.GPS_CONTROLLER, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.CCSDS_HANDLER.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(CCSDS_HANDLER_ID))
-        return pack_ccsds_handler_command(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.PDEC_HANDLER.value:
-        return pack_pdec_handler_test(
-            object_id=PDEC_HANDLER_ID, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.SYRLINKS.value:
-        object_id = cast(ObjectIdU32, obj_id_man.get(SYRLINKS_HANDLER_ID))
-        return pack_syrlinks_command(
-            object_id=object_id, q=queue_helper, op_code=op_code
-        )
-    if service == CustomServiceList.GYRO.value:
-        return handle_gyr_cmd(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.PROCEDURE.value:
-        return pack_proc_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.PL_PCDU.value:
-        return pack_pl_pcdu_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.TCS_ASS.value:
-        return pack_tcs_sys_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.RW_ASSEMBLY.value:
-        return pack_rw_ass_cmds(q=queue_helper, object_id=RW_ASSEMBLY, op_code=op_code)
-    if service == CustomServiceList.SCEX.value:
-        return pack_scex_cmds(
-            ServiceProviderParams(
-                handler_base=tc_base,
-                op_code=op_code,
-                info=info,
-                queue_helper=queue_helper,
-            )
-        )
-    if service == CustomServiceList.XIPHOS_WDT.value:
-        return pack_wdt_commands(queue_helper, op_code)
-    if not route_to_registered_service_handlers(
-        service,
-        ServiceProviderParams(
-            handler_base=tc_base,
-            op_code=op_code,
-            info=info,
-            queue_helper=queue_helper,
-        ),
-    ):
-        logging.getLogger(__name__).warning(f"Invalid Service {service}")

eive_tmtc/pus_tc/system/proc.py

@@ -34,9 +34,9 @@ from eive_tmtc.pus_tc.system.controllers import (
     pack_cmd_ctrl_to_off,
     pack_cmd_ctrl_to_nml,
 )
-from eive_tmtc.tmtc.acs.acs_board import pack_acs_command
+from eive_tmtc.tmtc.acs.acs_board import pack_acs_board_command
 from eive_tmtc.tmtc.acs.sus_board import pack_sus_cmds
-from eive_tmtc.tmtc.acs.imtq import pack_imtq_test_into, pack_dipole_command
+from eive_tmtc.tmtc.acs.imtq import create_imtq_command, pack_dipole_command
 from eive_tmtc.tmtc.acs.star_tracker import pack_star_tracker_commands
 from eive_tmtc.tmtc.acs.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command
 
@@ -312,7 +312,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
         # Enable scheduling
         q.add_pus_tc(create_enable_tc_sched_cmd())
         # check whether tcs_assembly also has to be commanded to NORMAL Mode
-        pack_tcs_sys_commands(q=q, op_code=TcsOpCodes.TCS_BOARD_ASS_NORMAL[0])
+        pack_tcs_sys_commands(q=q, cmd_str=TcsOpCodes.TCS_BOARD_ASS_NORMAL[0])
         pack_cmd_ctrl_to_nml(q=q, object_id=obj_id_dict.get(oids.THERMAL_CONTROLLER_ID))
 
     if op_code in OpCode.TV_TEARDOWN_TCS_FT_OFF:
@@ -337,7 +337,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
         ]
         d_side_pairs = a_side_pairs + b_side_pairs
         diag_list = [False, False, True, False, False]
-        pack_acs_command(q=q, op_code="acs-a")
+        pack_acs_board_command(q=q, cmd_str="acs-a")
 
         for a_side_dev in a_side_pairs:
             oid = a_side_dev[0]
@@ -351,9 +351,9 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_acs_command(q=q, op_code="acs-off")
+        pack_acs_board_command(q=q, cmd_str="acs-off")
         q.add_wait_seconds(5.0)
-        pack_acs_command(q=q, op_code="acs-b")
+        pack_acs_board_command(q=q, cmd_str="acs-b")
 
         sid_list.clear()
         diag_list = [False, False, True, False, False]
@@ -370,9 +370,9 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_acs_command(q=q, op_code="acs-off")
+        pack_acs_board_command(q=q, cmd_str="acs-off")
         q.add_wait_seconds(5.0)
-        pack_acs_command(q=q, op_code="acs-d")
+        pack_acs_board_command(q=q, cmd_str="acs-d")
 
         sid_list.clear()
 
@@ -400,7 +400,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_acs_command(q=q, op_code="acs-off")
+        pack_acs_board_command(q=q, cmd_str="acs-off")
 
     if op_code in OpCode.MGT_FT:
         key = KAI.MGT_FT[0]
@@ -416,10 +416,10 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
         ]
 
         # Command MGT to mode on
-        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, q=q, op_code="1")
+        create_imtq_command(oids.IMTQ_HANDLER_ID, q=q, cmd_str="1")
         q.add_wait_seconds(5.0)
         # Command MGT to normal mode
-        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, q=q, op_code="2")
+        create_imtq_command(oids.IMTQ_HANDLER_ID, q=q, cmd_str="2")
 
         for imtq_dev in imtq_pairs:
             oid = imtq_dev[0]
@@ -433,7 +433,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, q=q, op_code="0")
+        create_imtq_command(oids.IMTQ_HANDLER_ID, q=q, cmd_str="0")
 
     if op_code in OpCode.MGT_FT_DP:
         key = KAI.MGT_FT_DP[0]
@@ -472,12 +472,12 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             True,
             True,
         ]
-        pack_acs_command(q=q, op_code="acs-d")
+        pack_acs_board_command(q=q, cmd_str="acs-d")
         # Command MGT to mode on
-        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, q=q, op_code="1")
+        create_imtq_command(oids.IMTQ_HANDLER_ID, q=q, cmd_str="1")
         q.add_wait_seconds(20.0)
         # Command MGT to normal mode
-        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, q=q, op_code="2")
+        create_imtq_command(oids.IMTQ_HANDLER_ID, q=q, cmd_str="2")
 
         for d_side_and_imtq_dev in d_side_and_imtq_pairs:
             oid = d_side_and_imtq_dev[0]
@@ -494,8 +494,8 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=cfg,
         )
 
-        pack_imtq_test_into(oids.IMTQ_HANDLER_ID, q=q, op_code="0")
-        pack_acs_command(q=q, op_code="acs-off")
+        create_imtq_command(oids.IMTQ_HANDLER_ID, q=q, cmd_str="0")
+        pack_acs_board_command(q=q, cmd_str="acs-off")
 
     if op_code in OpCode.SUS_FT:
         key = KAI.SUS_FT[0]
@@ -538,7 +538,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_acs_command(q=q, op_code="sus-off")
+        pack_acs_board_command(q=q, cmd_str="sus-off")
         q.add_wait_seconds(5.0)
         pack_sus_cmds(q=q, op_code="sus-red")
 
@@ -562,7 +562,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_acs_command(q=q, op_code="sus-off")
+        pack_acs_board_command(q=q, cmd_str="sus-off")
         q.add_wait_seconds(5.0)
         pack_sus_cmds(q=q, op_code="sus-d")
 
@@ -593,7 +593,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_acs_command(q=q, op_code="sus-off")
+        pack_acs_board_command(q=q, cmd_str="sus-off")
 
     if op_code in OpCode.SYRLINKS_FT:
         key = KAI.SYRLINKS_FT[0]
@@ -612,7 +612,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
     if op_code in OpCode.STR_FT:
         key = KAI.STR_FT[0]
 
-        pack_star_tracker_commands(object_id=oids.STAR_TRACKER_ID, q=q, op_code="2")
+        pack_star_tracker_commands(object_id=oids.STAR_TRACKER_ID, q=q, cmd_str="2")
 
         # STR
         sid_list.append(make_sid(oids.STAR_TRACKER_ID, StrSetIds.TEMPERATURE))
@@ -625,7 +625,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg.default(),
         )
 
-        pack_star_tracker_commands(object_id=oids.STAR_TRACKER_ID, q=q, op_code="3")
+        pack_star_tracker_commands(object_id=oids.STAR_TRACKER_ID, q=q, cmd_str="3")
 
     if op_code in OpCode.RW_FT_ONE_RW:
         key = KAI.RW_FT_ONE_RW[0]
@@ -658,7 +658,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             False,
         ]
         # RW NORMAL
-        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, op_code="nml")
+        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, cmd_str="nml")
 
         # RW HK für alle RWs nur einzeln
         for rw_dev in rw_pairs:
@@ -673,7 +673,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg(mgt=False, one_rw=True, two_rws=False),
         )
         # RW OFF
-        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, op_code="off")
+        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, cmd_str="off")
 
     # ass command with 2 rws to speed
     if op_code in OpCode.RW_FT_TWO_RWS:
@@ -715,7 +715,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             False,
         ]
         # RW NORMAL
-        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, op_code="nml")
+        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, cmd_str="nml")
 
         # RW
         for rw_dev in rw_pairs:
@@ -730,7 +730,7 @@ def pack_proc_commands(  # noqa C901: Complexity is okay here.
             cfg=GenericHkListeningCfg(mgt=False, one_rw=False, two_rws=True),
         )
         # RW OFF
-        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, op_code="off")
+        pack_rw_ass_cmds(object_id=oids.RW_ASSEMBLY, q=q, cmd_str="off")
 
 
 def enable_listen_to_hk_for_x_seconds(

eive_tmtc/pus_tc/tc_handler.py

@@ -6,10 +6,10 @@ from eive_tmtc.config.definitions import (
     PUS_APID,
     CFDP_LOCAL_ENTITY_ID,
 )
-from eive_tmtc.pus_tc.procedure_packer import handle_default_procedure
+from eive_tmtc.pus_tc.cmd_demux import handle_pus_procedure
+from eive_tmtc.cfdp.handler import CfdpInCcsdsHandler
 from tmtccmd import TcHandlerBase, ProcedureWrapper
-from tmtccmd.cfdp.defs import CfdpRequestType
-from tmtccmd.cfdp.handler import CfdpInCcsdsHandler
+from cfdppy.defs import CfdpRequestType
 from tmtccmd.logging import get_current_time_string
 from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
 from tmtccmd.tmtc import (
@@ -22,7 +22,7 @@ from tmtccmd.tmtc import (
 )
 from tmtccmd.config.cfdp import generic_cfdp_params_to_put_request
 from spacepackets.ecss import PusVerificator
-from tmtccmd.util import FileSeqCountProvider
+from spacepackets.seqcount import FileSeqCountProvider
 from spacepackets.cfdp import PduHolder, DirectiveType
 
 
@@ -68,8 +68,8 @@ class TcHandler(TcHandlerBase):
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         self.queue_helper.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            handle_default_procedure(self, info.to_def_procedure(), self.queue_helper)
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            handle_pus_procedure(info.to_tree_commanding_procedure(), self.queue_helper)
         elif info.proc_type == TcProcedureType.CFDP:
             self.handle_cfdp_procedure(info)
 
@@ -124,40 +124,38 @@ class TcHandler(TcHandlerBase):
                 _LOGGER.info(
                     f"CFDP: Starting file put request with parameters:\n{put_req}"
                 )
+                assert put_req is not None
                 self.cfdp_in_ccsds_handler.cfdp_handler.put_request(put_req)
                 self.cfdp_handler_started = True
 
-                for source_pair, dest_pair in self.cfdp_in_ccsds_handler:
-                    pdu, sp = source_pair
-                    pdu = cast(PduHolder, pdu)
-                    if pdu.is_file_directive:
-                        if pdu.pdu_directive_type == DirectiveType.METADATA_PDU:
-                            metadata = pdu.to_metadata_pdu()
+                for source_pair, _ in self.cfdp_in_ccsds_handler:
+                    if source_pair is not None:
+                        pdu, sp = source_pair
+                        pdu = cast(PduHolder, pdu)
+                        if pdu.is_file_directive:
+                            if pdu.pdu_directive_type == DirectiveType.METADATA_PDU:
+                                metadata = pdu.to_metadata_pdu()
+                                self.queue_helper.add_log_cmd(
+                                    "CFDP Source: Sending Metadata PDU for file with size "
+                                    f"{metadata.file_size}"
+                                )
+                            elif pdu.pdu_directive_type == DirectiveType.EOF_PDU:
+                                self.queue_helper.add_log_cmd(
+                                    "CFDP Source: Sending EOF PDU"
+                                )
+                        else:
+                            fd_pdu = pdu.to_file_data_pdu()
                             self.queue_helper.add_log_cmd(
-                                "CFDP Source: Sending Metadata PDU for file with size "
-                                f"{metadata.file_size}"
+                                "CFDP Source: Sending File Data PDU for segment at offset "
+                                f"{fd_pdu.offset} with length {len(fd_pdu.file_data)}"
                             )
-                        elif pdu.pdu_directive_type == DirectiveType.EOF_PDU:
-                            self.queue_helper.add_log_cmd(
-                                "CFDP Source: Sending EOF PDU"
-                            )
-                    else:
-                        fd_pdu = pdu.to_file_data_pdu()
-                        self.queue_helper.add_log_cmd(
-                            "CFDP Source: Sending File Data PDU for segment at offset "
-                            f"{fd_pdu.offset} with length {len(fd_pdu.file_data)}"
-                        )
-                    self.queue_helper.add_ccsds_tc(sp)
-                    self.cfdp_in_ccsds_handler.confirm_source_packet_sent()
+                        self.queue_helper.add_ccsds_tc(sp)
                 self.cfdp_in_ccsds_handler.source_handler.state_machine()
 
     def queue_finished_cb(self, info: ProcedureWrapper):
         if info is not None:
             if info.proc_type == TcQueueEntryType.PUS_TC:
-                def_proc = info.to_def_procedure()
-                _LOGGER.info(
-                    f"Finished queue for service {def_proc.service} and op code"
-                    f" {def_proc.op_code}"
-                )
+                def_proc = info.to_tree_commanding_procedure()
+                _LOGGER.info(f"Finished queue for command {def_proc.cmd_path}")
             elif info.proc_type == TcProcedureType.CFDP:
                 _LOGGER.info("Finished CFDP queue")

eive_tmtc/pus_tm/action_reply_handler.py

@@ -1,5 +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,
@@ -10,6 +15,7 @@ from eive_tmtc.config.object_ids import (
     CORE_CONTROLLER_ID,
     STAR_TRACKER_ID,
     P60_DOCK_HANDLER,
+    ACS_CONTROLLER,
 )
 from eive_tmtc.tmtc.acs.imtq import ImtqActionId
 from eive_tmtc.pus_tm.defs import PrintWrapper
@@ -17,55 +23,78 @@ from eive_tmtc.tmtc.core import handle_core_ctrl_action_replies
 from eive_tmtc.tmtc.payload.ploc_mpsoc import handle_mpsoc_data_reply
 from eive_tmtc.tmtc.payload.ploc_supervisor import SupvActionId
 from eive_tmtc.tmtc.acs.star_tracker import handle_star_tracker_action_replies
+from eive_tmtc.tmtc.acs.acs_ctrl import handle_acs_ctrl_action_replies
 from eive_tmtc.tmtc.power.tm import handle_get_param_data_reply
-from tmtccmd.pus.s8_fsfw_action import Service8FsfwTm
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
 from spacepackets.ccsds.time import CdsShortTimestamp
-from tmtccmd.util import ObjectIdDictT
+from tmtccmd.util import ObjectIdBase, ObjectIdDictT, ObjectIdU32
 
 _LOGGER = logging.getLogger(__name__)
 
 
-def handle_action_reply(
-    raw_tm: bytes, printer: FsfwTmTcPrinter, obj_id_dict: ObjectIdDictT
+_LOGGER = logging.getLogger(__name__)
+
+
+def handle_action_service_tm(
+    raw_tm: bytes, pw: PrintWrapper, obj_id_dict: ObjectIdDictT
 ):
     """Core Action reply handler
     :return:
     """
-    tm_packet = Service8FsfwTm.unpack(
-        raw_telemetry=raw_tm, time_reader=CdsShortTimestamp.empty()
-    )
-    object_id = obj_id_dict.get(tm_packet.source_object_id_as_bytes)
-    pw = PrintWrapper(printer.file_logger)
-    custom_data = tm_packet.custom_data
-    action_id = tm_packet.action_id
-    generic_print_str = printer.generic_action_packet_tm_print(
-        packet=tm_packet, obj_id=object_id
-    )
-    pw.dlog(generic_print_str)
-    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:
-        return handle_mpsoc_data_reply(action_id, pw, custom_data)
-    elif object_id.as_bytes == PLOC_SUPV_ID:
-        return handle_supervisor_replies(action_id, pw, custom_data)
-    elif object_id.as_bytes == CORE_CONTROLLER_ID:
-        return handle_core_ctrl_action_replies(action_id, pw, custom_data)
-    elif object_id.as_bytes == STAR_TRACKER_ID:
-        return handle_star_tracker_action_replies(action_id, pw, custom_data)
-    elif object_id.as_bytes in [
-        ACU_HANDLER_ID,
-        PDU_1_HANDLER_ID,
-        PDU_2_HANDLER_ID,
-        P60_DOCK_HANDLER,
-    ]:
-        return handle_get_param_data_reply(object_id, action_id, pw, custom_data)
+    tm_packet = PusTm.unpack(raw_tm, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE)
+    if len(tm_packet.source_data) < 8:
+        _LOGGER.warning(
+            "received action service reply with source data smaller than 8 bytes"
+        )
+        return
+    object_id_raw = struct.unpack("!I", tm_packet.source_data[0:4])[0]
+    action_id = struct.unpack("!I", tm_packet.source_data[4:8])[0]
+    object_id = obj_id_dict.get(object_id_raw)
+    custom_data = tm_packet.source_data[8:]
+    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:
+            return handle_mpsoc_data_reply(action_id, pw, custom_data)
+        elif object_id.as_bytes == PLOC_SUPV_ID:
+            return handle_supervisor_replies(action_id, pw, custom_data)
+        elif object_id.as_bytes == CORE_CONTROLLER_ID:
+            return handle_core_ctrl_action_replies(action_id, pw, custom_data)
+        elif object_id.as_bytes == STAR_TRACKER_ID:
+            return handle_star_tracker_action_replies(action_id, pw, custom_data)
+        elif object_id.as_bytes == ACS_CONTROLLER:
+            return handle_acs_ctrl_action_replies(action_id, pw, custom_data)
+        elif object_id.as_bytes in [
+            ACU_HANDLER_ID,
+            PDU_1_HANDLER_ID,
+            PDU_2_HANDLER_ID,
+            P60_DOCK_HANDLER,
+        ]:
+            return handle_get_param_data_reply(object_id, action_id, pw, custom_data)
+        else:
+            # TODO: Could add a handler here depending on action ID and object ID.
+            handle_action_data_reply(tm_packet, object_id, action_id, pw)
     else:
-        pw.dlog(f"No dedicated action reply handler found for reply from {object_id}")
-        pw.dlog(f"Raw Data: {tm_packet.custom_data.hex(sep=',')}")
+        pw.dlog(
+            f"service 8 packet from {object_id} with action ID {action_id} "
+            f"and unknown subservice {tm_packet.subservice}"
+        )
 
 
-def handle_imtq_replies(action_id: int, pw: PrintWrapper, custom_data: bytearray):
+def handle_action_data_reply(
+    tm_packet: PusTm, named_obj_id: ObjectIdBase, action_id: int, printer: PrintWrapper
+):
+    print_string = (
+        f"service 8 data reply from {named_obj_id} with action ID {action_id} "
+        f"and data size {len(tm_packet.tm_data[8:])}"
+    )
+    printer.dlog(print_string)
+
+
+def handle_imtq_replies(action_id: int, pw: PrintWrapper, custom_data: bytes):
     if action_id == struct.unpack("!I", ImtqActionId.get_commanded_dipole)[0]:
         header_list = [
             "Commanded X-Dipole",
@@ -78,7 +107,7 @@ def handle_imtq_replies(action_id: int, pw: PrintWrapper, custom_data: bytearray
         pw.dlog(f"{content_list}")
 
 
-def handle_supervisor_replies(action_id: int, pw: PrintWrapper, custom_data: bytearray):
+def handle_supervisor_replies(action_id: int, pw: PrintWrapper, custom_data: bytes):
     if action_id == SupvActionId.DUMP_MRAM:
         header_list = ["MRAM Dump"]
         content_list = [custom_data[: len(custom_data)]]

eive_tmtc/pus_tm/event_handler.py

@@ -1,7 +1,9 @@
 import logging
 import datetime
 import sys
+import base64
 
+from eive_tmtc.config.definitions import PRINT_RAW_EVENTS_B64_STR
 from eive_tmtc.config.events import get_event_dict
 from eive_tmtc.config.object_ids import get_object_ids
 from eive_tmtc.pus_tm.defs import PrintWrapper
@@ -21,7 +23,9 @@ _LOGGER = logging.getLogger(__name__)
 def handle_event_packet(  # noqa C901: Complexity okay here
     raw_tm: bytes, pw: PrintWrapper
 ):  # noqa C901: Complexity okay here
-    tm = Service5Tm.unpack(data=raw_tm, time_reader=CdsShortTimestamp.empty())
+    if PRINT_RAW_EVENTS_B64_STR:
+        print(f"PUS Event TM Base64: {base64.b64encode(raw_tm)}")
+    tm = Service5Tm.unpack(data=raw_tm, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE)
     event_dict = get_event_dict()
     event_def = tm.event_definition
     info = event_dict.get(event_def.event_id)
@@ -36,9 +40,10 @@ def handle_event_packet(  # noqa C901: Complexity okay here
         obj_name = event_def.reporter_id.hex(sep=",")
     else:
         obj_name = obj_id_obj.name
+    timestamp = CdsShortTimestamp.unpack(tm.timestamp)
     generic_event_string = (
         f"Object {obj_name} generated Event {info.name} (ID: {event_def.event_id:#04x})"
-        f" at {tm.time_provider.as_date_time()}"
+        f" at {timestamp.as_date_time()}"
     )
     _LOGGER.info(generic_event_string)
     pw.file_logger.info(
@@ -122,12 +127,22 @@ def handle_event_packet(  # noqa C901: Complexity okay here
         new_time_dt = datetime.datetime.fromtimestamp(new_time, datetime.timezone.utc)
         pw.dlog(f"Old time (UTC): {old_time_dt}")
         pw.dlog(f"New time (UTC): {new_time_dt}")
-    if info.name == "CLOCK_DUMP":
+    if info.name == "CLOCK_DUMP_LEGACY":
         specific_handler = True
         # param 1 is timeval seconds, param 2 is timeval subsecond milliseconds
         time = event_def.param1 + event_def.param2 / 1000.0
         time_dt = datetime.datetime.fromtimestamp(time, datetime.timezone.utc)
         pw.dlog(f"Current time: {time_dt}")
+    if (
+        info.name == "CLOCK_DUMP"
+        or info.name == "CLOCK_DUMP_BEFORE_SETTING_TIME"
+        or info.name == "CLOCK_DUMP_AFTER_SETTING_TIME"
+    ):
+        specific_handler = True
+        # param 1 is timeval seconds, param 2 is timeval subsecond microseconds
+        time = event_def.param1 + event_def.param2 / 1000000.0
+        time_dt = datetime.datetime.fromtimestamp(time, datetime.timezone.utc)
+        pw.dlog(f"Clock dump event {info.name}. Current time: {time_dt}")
     if info.name == "ACTIVE_SD_INFO":
         sd_0_state = (event_def.param2 >> 16) & 0xFFFF
         sd_1_state = event_def.param2 & 0xFFFF

eive_tmtc/pus_tm/hk.py

@@ -0,0 +1,18 @@
+import uuid
+import dataclasses
+import datetime
+import sqlite3
+from spacepackets.ecss.tm import CdsShortTimestamp, PusTm
+
+
+@dataclasses.dataclass
+class HkTmInfo:
+    packet_uuid: uuid.UUID
+    hk_packet: PusTm
+    set_id: int
+    db_con: sqlite3.Connection
+    hk_data: bytes
+
+    @property
+    def packet_datetime(self) -> datetime.datetime:
+        return CdsShortTimestamp.unpack(self.hk_packet.timestamp).as_datetime()

eive_tmtc/pus_tm/hk_handler.py

@@ -1,7 +1,17 @@
 """HK Handling for EIVE OBSW"""
+
 import dataclasses
 import logging
-from typing import List
+import base64
+import sqlite3
+import struct
+from typing import List, cast
+from uuid import UUID
+
+from spacepackets.ccsds.time import CdsShortTimestamp
+from spacepackets.ecss import PusTm
+from eive_tmtc.config.definitions import PRINT_RAW_HK_B64_STR
+from eive_tmtc.pus_tm.hk import HkTmInfo
 
 from eive_tmtc.tmtc.acs.acs_ctrl import handle_acs_ctrl_hk_data
 from eive_tmtc.tmtc.internal_err_reporter import handle_ier_hk_data
@@ -13,15 +23,11 @@ from eive_tmtc.tmtc.payload.rad_sensor import handle_rad_sensor_data
 from eive_tmtc.tmtc.acs.sus import handle_sus_hk
 from eive_tmtc.tmtc.payload.ploc_supervisor import handle_supv_hk_data
 from eive_tmtc.tmtc.acs.reaction_wheels import handle_rw_hk_data
+from eive_tmtc.tmtc.power.pwr_ctrl import handle_pwr_ctrl_hk_data
 from eive_tmtc.tmtc.com.syrlinks_handler import handle_syrlinks_hk_data
 from eive_tmtc.tmtc.tcs import handle_thermal_controller_hk_data
 from eive_tmtc.tmtc.tcs.tmp1075 import handle_tmp_1075_hk_data
-from spacepackets.ecss import PusTelemetry
-from tmtccmd.pus.tm.s3_fsfw_hk import (
-    Service3Base,
-    HkContentType,
-    Service3FsfwTm,
-)
+from tmtccmd.pus.tm.s3_hk_base import HkContentType
 from tmtccmd.util.obj_id import ObjectIdU32, ObjectIdDictT
 
 from eive_tmtc.tmtc.power.bpx_batt import handle_bpx_hk_data
@@ -50,45 +56,54 @@ FORWARD_SENSOR_TEMPS = False
 
 @dataclasses.dataclass
 class HkFilter:
-    object_ids: List[ObjectIdU32]
+    object_ids: List[bytes]
     set_ids: List[int]
 
 
 def handle_hk_packet(
     raw_tm: bytes,
+    packet_uuid: UUID,
     obj_id_dict: ObjectIdDictT,
     printer: FsfwTmTcPrinter,
     hk_filter: HkFilter,
     hk_level: int,
+    db_con: sqlite3.Connection,
 ):
-    tm_packet = Service3FsfwTm.unpack(raw_telemetry=raw_tm, custom_hk_handling=False)
-    named_obj_id = obj_id_dict.get(tm_packet.object_id.as_bytes)
+    tm_packet = PusTm.unpack(raw_tm, CdsShortTimestamp.TIMESTAMP_SIZE)
+    obj_id_raw = struct.unpack("!I", tm_packet.tm_data[0:4])[0]
+    named_obj_id = cast(ObjectIdU32, obj_id_dict.get(obj_id_raw))
     if named_obj_id is None:
-        named_obj_id = tm_packet.object_id
+        named_obj_id = ObjectIdU32(obj_id_raw, "Unknown ID")
     if tm_packet.subservice == 25 or tm_packet.subservice == 26:
+        set_id = struct.unpack("!I", tm_packet.tm_data[4:8])[0]
         hk_data = tm_packet.tm_data[8:]
-
-        if named_obj_id in hk_filter.object_ids:
+        if named_obj_id.as_bytes in hk_filter.object_ids:
+            if PRINT_RAW_HK_B64_STR:
+                print(f"PUS TM Base64: {base64.b64encode(raw_tm)}")
             handle_regular_hk_print(
                 printer=printer,
+                set_id=set_id,
+                packet_uuid=packet_uuid,
                 object_id=named_obj_id,
                 hk_packet=tm_packet,
-                tm=tm_packet.pus_tm,
                 hk_data=hk_data,
+                db=db_con,
             )
             return
         try:
             if hk_level >= 1:
                 printer.generic_hk_tm_print(
-                    HkContentType.HK, named_obj_id, tm_packet.set_id, hk_data
+                    HkContentType.HK, named_obj_id, set_id, hk_data
                 )
             if hk_level >= 1:
                 handle_regular_hk_print(
                     printer=printer,
+                    set_id=set_id,
+                    packet_uuid=packet_uuid,
                     object_id=named_obj_id,
                     hk_packet=tm_packet,
-                    tm=tm_packet.pus_tm,
                     hk_data=hk_data,
+                    db=db_con,
                 )
         except ValueError as e:
             _LOGGER.exception(
@@ -99,26 +114,41 @@ def handle_hk_packet(
 
 
 def handle_regular_hk_print(  # noqa C901: Complexity okay here
-    printer: FsfwTmTcPrinter,
-    object_id: ObjectIdU32,
-    hk_packet: Service3Base,
-    tm: PusTelemetry,
+    hk_packet: PusTm,
+    set_id: int,
+    packet_uuid: UUID,
     hk_data: bytes,
+    db: sqlite3.Connection,
+    object_id: ObjectIdU32,
+    printer: FsfwTmTcPrinter,
 ):
     objb = object_id.as_bytes
-    set_id = hk_packet.set_id
-    packet_dt = tm.time_provider.as_date_time()
+    hk_info = HkTmInfo(
+        packet_uuid=packet_uuid,
+        hk_packet=hk_packet,
+        db_con=db,
+        hk_data=hk_data,
+        set_id=set_id,
+    )
+    timestamp = CdsShortTimestamp.unpack(hk_packet.timestamp)
+    packet_dt = timestamp.as_datetime()
     pw = PrintWrapper(printer.file_logger)
     """This function is called when a Service 3 Housekeeping packet is received."""
     if objb in [obj_ids.RW1_ID, obj_ids.RW2_ID, obj_ids.RW3_ID, obj_ids.RW4_ID]:
         return handle_rw_hk_data(pw, object_id, set_id, hk_data)
     elif objb == obj_ids.SYRLINKS_HANDLER_ID:
-        return handle_syrlinks_hk_data(pw=pw, hk_data=hk_data, set_id=set_id)
+        return handle_syrlinks_hk_data(
+            hk_info=hk_info,
+            pw=pw,
+        )
     elif objb == obj_ids.IMTQ_HANDLER_ID:
         return handle_imtq_hk(pw=pw, hk_data=hk_data, set_id=set_id)
     elif objb == obj_ids.GPS_CONTROLLER:
         return handle_gps_data(
-            pw=pw, set_id=set_id, hk_data=hk_data, packet_time=packet_dt
+            pw=pw,
+            set_id=set_id,
+            hk_data=hk_data,
+            packet_time=timestamp.as_datetime(),
         )
     elif objb == obj_ids.PCDU_HANDLER_ID:
         return handle_pcdu_hk(pw=pw, set_id=set_id, hk_data=hk_data)
@@ -127,9 +157,21 @@ def handle_regular_hk_print(  # noqa C901: Complexity okay here
     elif objb == obj_ids.CORE_CONTROLLER_ID:
         return handle_core_hk_data(pw=pw, hk_data=hk_data, set_id=set_id)
     elif objb == obj_ids.PDU_1_HANDLER_ID:
-        return handle_pdu_data(pw=pw, pdu_idx=1, set_id=set_id, hk_data=hk_data)
+        return handle_pdu_data(
+            hk_info=hk_info,
+            pw=pw,
+            pdu_idx=1,
+            set_id=set_id,
+            hk_data=hk_data,
+        )
     elif objb == obj_ids.PDU_2_HANDLER_ID:
-        return handle_pdu_data(pw=pw, pdu_idx=2, set_id=set_id, hk_data=hk_data)
+        return handle_pdu_data(
+            hk_info=hk_info,
+            pw=pw,
+            pdu_idx=2,
+            set_id=set_id,
+            hk_data=hk_data,
+        )
     elif objb == obj_ids.PLOC_MPSOC_ID:
         return handle_ploc_mpsoc_hk_data(pw=pw, hk_data=hk_data, set_id=set_id)
     elif objb == obj_ids.ACU_HANDLER_ID:
@@ -201,6 +243,10 @@ def handle_regular_hk_print(  # noqa C901: Complexity okay here
         return handle_acs_ctrl_hk_data(
             pw=pw, set_id=set_id, hk_data=hk_data, packet_time=packet_dt
         )
+    elif objb == obj_ids.PWR_CONTROLLER:
+        return handle_pwr_ctrl_hk_data(
+            pw=pw, set_id=set_id, hk_data=hk_data, packet_time=packet_dt
+        )
     else:
         _LOGGER.info(
             f"Service 3 TM: Parsing for object {object_id} and set ID {set_id} "

eive_tmtc/pus_tm/pus_demux.py

@@ -1,126 +0,0 @@
-"""Core EIVE TM handler module
-"""
-import logging
-
-from spacepackets.ccsds.time import CdsShortTimestamp
-from spacepackets.ecss import PusTelemetry
-from spacepackets.ecss.pus_17_test import Service17Tm
-from spacepackets.util import PrintFormats
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
-from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
-from tmtccmd.pus import VerificationWrapper
-from tmtccmd.pus.s20_fsfw_param import Service20FsfwTm, Service20ParamDumpWrapper
-from tmtccmd.pus.s20_fsfw_param_defs import CustomSubservice as ParamSubservice
-from tmtccmd.pus.s200_fsfw_mode import Service200FsfwTm
-from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
-
-from eive_tmtc.config.object_ids import get_object_ids
-
-from .action_reply_handler import handle_action_reply
-from .defs import PrintWrapper
-from .event_handler import handle_event_packet
-from .hk_handler import HkFilter, handle_hk_packet
-from .verification_handler import generic_retval_printout, handle_service_1_fsfw_packet
-
-_LOGGER = logging.getLogger(__name__)
-
-
-def pus_factory_hook(  # noqa C901 : Complexity okay here
-    packet: bytes,
-    verif_wrapper: VerificationWrapper,
-    printer: FsfwTmTcPrinter,
-    raw_logger: RawTmtcTimedLogWrapper,
-    hk_level: int,
-    hk_filter: HkFilter,
-):
-    if len(packet) < 8:
-        _LOGGER.warning("Detected packet shorter than 8 bytes!")
-        return
-    try:
-        tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
-        # _LOGGER.info(f"Sequence count: {tm_packet.seq_count}")
-    except ValueError as value_error:
-        _LOGGER.warning(f"{value_error}")
-        _LOGGER.warning("Could not generate PUS TM object from raw data")
-        _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
-        return
-    service = tm_packet.service
-    obj_id_dict = get_object_ids()
-    pw = PrintWrapper(printer.file_logger)
-    dedicated_handler = True
-    if service == 1:
-        handle_service_1_fsfw_packet(wrapper=verif_wrapper, raw_tm=packet)
-    elif service == 3:
-        handle_hk_packet(
-            printer=printer,
-            raw_tm=packet,
-            obj_id_dict=obj_id_dict,
-            hk_level=hk_level,
-            hk_filter=hk_filter,
-        )
-    elif service == 5:
-        handle_event_packet(raw_tm=packet, pw=pw)
-    elif service == 8:
-        handle_action_reply(raw_tm=packet, printer=printer, obj_id_dict=obj_id_dict)
-    elif service == 17:
-        tm_packet = Service17Tm.unpack(
-            data=packet, time_reader=CdsShortTimestamp.empty()
-        )
-        if tm_packet.subservice == 2:
-            verif_wrapper.dlog("Received Ping Reply TM[17,2]")
-        dedicated_handler = True
-    elif service == 20:
-        param_packet = Service20FsfwTm.unpack(
-            raw_telemetry=packet, time_reader=CdsShortTimestamp.empty()
-        )
-        if tm_packet.subservice == ParamSubservice.TM_DUMP_REPLY:
-            param_wrapper = Service20ParamDumpWrapper(param_tm=param_packet)
-            try:
-                param = param_wrapper.get_param()
-                obj = obj_id_dict.get(param_wrapper.param_tm.object_id)
-                pw.dlog(f"Received parameter dump TM from {obj}")
-                pw.dlog(f"Parameter: {param}")
-                if param.rows == 1 and param.columns == 1:
-                    try:
-                        scalar_param = param.parse_scalar_param()
-                        if isinstance(scalar_param, int):
-                            pw.dlog(f"Scalar integer parameter: {scalar_param}")
-                        elif isinstance(scalar_param, float):
-                            pw.dlog(f"Scalar floating point parameter: {scalar_param}")
-                    except ValueError as e:
-                        pw.dlog(f"received {e} trying to parse scalar parameter")
-                else:
-                    # TODO: Could improve display further by actually displaying a matrix as a
-                    #       matrix using row and column information
-                    pw.dlog(
-                        "Received vector or matrix data:"
-                        f" {param.param_raw.hex(sep=',')}"
-                    )
-            except ValueError as e:
-                pw.dlog(f"received {e} when trying to parse parameters")
-            except NotImplementedError as e:
-                pw.dlog(f"received {e} when trying to parse parameters")
-        else:
-            pw.dlog(f"unknown subservice {tm_packet.subservice} for parameter service")
-    elif service == 200:
-        tm_packet = Service200FsfwTm.unpack(
-            raw_telemetry=packet, time_reader=CdsShortTimestamp.empty()
-        )
-        if tm_packet.subservice == ModeSubservice.TM_CANT_REACH_MODE:
-            obj_id = tm_packet.object_id
-            obj_id_obj = obj_id_dict.get(obj_id)
-            retval = tm_packet.return_value
-            string_list = generic_retval_printout(retval)
-            pw.dlog(f"Received Mode Reply from {obj_id_obj}: Can't reach mode.")
-            for string in string_list:
-                pw.dlog(f"Reason: {string}")
-            dedicated_handler = True
-        else:
-            dedicated_handler = False
-    else:
-        _LOGGER.info(f"The service {service} is not implemented in Telemetry Factory")
-        tm_packet.print_source_data(PrintFormats.HEX)
-        dedicated_handler = True
-    if not dedicated_handler and tm_packet is not None:
-        printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
-    raw_logger.log_tm(tm_packet)

eive_tmtc/pus_tm/pus_handler.py

@@ -0,0 +1,218 @@
+"""Core EIVE TM handler module
+"""
+
+import logging
+import sqlite3
+import uuid
+from typing import Any
+
+from spacepackets.ccsds.time import CdsShortTimestamp
+from spacepackets.ecss import PusTelemetry
+from spacepackets.ecss.pus_17_test import Service17Tm
+from spacepackets.util import PrintFormats
+from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.pus.s20_fsfw_param import Service20FsfwTm, Service20ParamDumpWrapper
+from tmtccmd.pus.s20_fsfw_param_defs import CustomSubservice as ParamSubservice
+from tmtccmd.pus.s200_fsfw_mode import Service200FsfwTm
+from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
+from tmtccmd.tmtc import GenericApidHandlerBase, SpecificApidHandlerBase
+from eive_tmtc.config.definitions import TM_DB_PATH, PUS_APID
+
+from eive_tmtc.config.object_ids import get_object_ids
+
+from .action_reply_handler import handle_action_service_tm
+from .defs import PrintWrapper
+from .event_handler import handle_event_packet
+from .hk_handler import HkFilter, handle_hk_packet
+from .verification_handler import generic_retval_printout, handle_service_1_fsfw_packet
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class PusHandler(SpecificApidHandlerBase):
+    def __init__(
+        self,
+        wrapper: VerificationWrapper,
+        printer: FsfwTmTcPrinter,
+        raw_logger: RawTmtcTimedLogWrapper,
+        hk_level: int,
+    ):
+        super().__init__(PUS_APID, None)
+        self.printer = printer
+        self.verif_wrapper = wrapper
+        self.raw_logger = raw_logger
+        self.hk_level = hk_level
+        self.these_objs_hk_only = []
+        self.hk_filter = HkFilter(object_ids=self.these_objs_hk_only, set_ids=[])
+        self.obj_id_dict = get_object_ids()
+        self.pw = PrintWrapper(printer.file_logger)
+
+    def handle_tm(self, packet: bytes, _user_args: Any):
+        self.pus_handler(
+            packet,
+        )
+
+    def pus_handler(  # noqa C901 : Complexity okay here
+        self,
+        packet: bytes,
+    ):
+        packet_uuid = uuid.uuid4()
+        if len(packet) < 8:
+            _LOGGER.warning("Detected packet shorter than 8 bytes!")
+            return
+        try:
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+            # _LOGGER.info(f"Sequence count: {tm_packet.seq_count}")
+        except ValueError as value_error:
+            _LOGGER.warning(f"{value_error}")
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            return
+        timestamp = CdsShortTimestamp.unpack(tm_packet.timestamp)
+        db_con = sqlite3.connect(TM_DB_PATH)
+        self._store_packet_in_db(
+            db_con=db_con,
+            packet=packet,
+            tm_packet=tm_packet,
+            timestamp=timestamp,
+            packet_uuid=packet_uuid,
+        )
+        service = tm_packet.service
+        dedicated_handler = True
+        if service == 1:
+            handle_service_1_fsfw_packet(wrapper=self.verif_wrapper, raw_tm=packet)
+        elif service == 3:
+            handle_hk_packet(
+                db_con=db_con,
+                packet_uuid=packet_uuid,
+                printer=self.printer,
+                raw_tm=packet,
+                obj_id_dict=self.obj_id_dict,
+                hk_level=self.hk_level,
+                hk_filter=self.hk_filter,
+            )
+        elif service == 5:
+            handle_event_packet(raw_tm=packet, pw=self.pw)
+        elif service == 8:
+            handle_action_service_tm(
+                raw_tm=packet, pw=self.pw, obj_id_dict=self.obj_id_dict
+            )
+        elif service == 17:
+            pus17_tm = Service17Tm.unpack(
+                data=packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            if pus17_tm.subservice == 2:
+                self.verif_wrapper.dlog("Received Ping Reply TM[17,2]")
+            dedicated_handler = True
+        elif service == 20:
+            self._handle_param_packet(packet, tm_packet)
+        elif service == 200:
+            dedicated_handler = self._handle_mode_packet(packet, tm_packet)
+        else:
+            _LOGGER.info(
+                f"The service {service} is not implemented in Telemetry Factory"
+            )
+            tm_packet.print_source_data(PrintFormats.HEX)
+            dedicated_handler = True
+        if not dedicated_handler and tm_packet is not None:
+            _LOGGER.info(
+                f"TM [{service},{tm_packet.subservice}] does not have a dedicated handler"
+            )
+        self.raw_logger.log_tm(tm_packet)
+
+    def _store_packet_in_db(
+        self,
+        db_con: sqlite3.Connection,
+        packet: bytes,
+        timestamp: CdsShortTimestamp,
+        tm_packet: PusTelemetry,
+        packet_uuid: uuid.UUID,
+    ):
+        cursor = db_con.cursor()
+        cursor.execute(
+            """
+            CREATE TABLE IF NOT EXISTS pus_tm(
+                packet_uuid TEXT PRIMARY KEY,
+                generation_time TEXT,
+                service NUM,
+                subservice NUM,
+                data_len NUM,
+                raw_data BLOB
+            )"""
+        )
+        cursor.execute(
+            "INSERT INTO pus_tm VALUES(?, ?, ?, ?, ?, ?)",
+            (
+                str(packet_uuid),
+                timestamp.as_datetime(),
+                tm_packet.service,
+                tm_packet.subservice,
+                len(packet),
+                packet,
+            ),
+        )
+        db_con.commit()
+
+    def _handle_param_packet(self, raw_data: bytes, tm_packet: PusTelemetry):
+        param_packet = Service20FsfwTm.unpack(
+            raw_telemetry=raw_data, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+        )
+        if tm_packet.subservice == ParamSubservice.TM_DUMP_REPLY:
+            param_wrapper = Service20ParamDumpWrapper(param_tm=param_packet)
+            try:
+                param = param_wrapper.get_param()
+                obj = self.obj_id_dict.get(param_wrapper.param_tm.object_id)
+                self.pw.dlog(f"Received parameter dump TM from {obj}")
+                self.pw.dlog(f"Parameter: {param}")
+                if param.rows == 1 and param.columns == 1:
+                    try:
+                        scalar_param = param.parse_scalar_param()
+                        if isinstance(scalar_param, int):
+                            self.pw.dlog(f"Scalar integer parameter: {scalar_param}")
+                        elif isinstance(scalar_param, float):
+                            self.pw.dlog(
+                                f"Scalar floating point parameter: {scalar_param}"
+                            )
+                    except ValueError as e:
+                        self.pw.dlog(f"received {e} trying to parse scalar parameter")
+                else:
+                    # TODO: Could improve display further by actually displaying a matrix as a
+                    #       matrix using row and column information
+                    self.pw.dlog(
+                        "Received vector or matrix data:"
+                        f" {param.param_raw.hex(sep=',')}"
+                    )
+            except ValueError as e:
+                self.pw.dlog(f"received {e} when trying to parse parameters")
+            except NotImplementedError as e:
+                self.pw.dlog(f"received {e} when trying to parse parameters")
+        else:
+            self.pw.dlog(
+                f"unknown subservice {tm_packet.subservice} for parameter service"
+            )
+
+    def _handle_mode_packet(self, raw_data: bytes, _: PusTelemetry) -> bool:
+        tm_packet = Service200FsfwTm.unpack(
+            raw_telemetry=raw_data, time_reader=CdsShortTimestamp.empty()
+        )
+        if tm_packet.subservice == ModeSubservice.TM_CANT_REACH_MODE:
+            obj_id = tm_packet.object_id
+            obj_id_obj = self.obj_id_dict.get(obj_id)
+            retval = tm_packet.return_value
+            string_list = generic_retval_printout(retval)
+            self.pw.dlog(f"Received Mode Reply from {obj_id_obj}: Can't reach mode.")
+            for string in string_list:
+                self.pw.dlog(f"Reason: {string}")
+            return True
+        if tm_packet.subservice == ModeSubservice.TM_WRONG_MODE_REPLY:
+            self.pw.dlog(f"Received Mode TM wrong mode reply, mode: {tm_packet.mode}")
+        return False
+
+
+class UnknownApidHandler(GenericApidHandlerBase):
+    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
+        _LOGGER.warning(
+            f"Packet with unknown APID {apid} detected: {packet.hex(sep=',')}"
+        )

eive_tmtc/pus_tm/verification_handler.py

@@ -17,7 +17,7 @@ def handle_service_1_fsfw_packet(wrapper: VerificationWrapper, raw_tm: bytes):
         )
     # Error code with length 2 is FSFW specific
     tm_packet = Service1Tm.unpack(
-        data=raw_tm, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
+        data=raw_tm, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
     )
     fsfw_wrapper = Service1FsfwWrapper(tm_packet)
     res = wrapper.verificator.add_tm(tm_packet)

eive_tmtc/tmtc/__init__.py

@@ -1,8 +1,3 @@
-from .payload.subsystem import add_payload_subsystem_cmds
-from .solar_array_deployment import add_sa_depl_cmds
-from .test import add_test_defs
-from .time import add_time_cmds
-from .health import add_health_cmd_defs
 from .system import add_system_cmd_defs
 from .tm_store import add_persistent_tm_store_cmd_defs
 from .tcs import add_tmp_sens_cmds

eive_tmtc/tmtc/acs/acs_board.py

@@ -1,16 +1,16 @@
 import enum
 
-from eive_tmtc.config.definitions import CustomServiceList
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
+    CmdTreeNode,
     OpCodeEntry,
+    TmtcDefinitionWrapper,
+    tmtc_definitions_provider,
 )
-from tmtccmd.tmtc import service_provider, DefaultPusQueueHelper
-from tmtccmd.tmtc.decorator import ServiceProviderParams
 from tmtccmd.pus.s200_fsfw_mode import Mode
-from eive_tmtc.config.object_ids import ACS_BOARD_ASS_ID
+from tmtccmd.tmtc import DefaultPusQueueHelper
 
+from eive_tmtc.config.definitions import CustomServiceList
+from eive_tmtc.config.object_ids import ACS_BOARD_ASS_ID
 from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
 
 
@@ -30,8 +30,8 @@ class DualSideSubmode(enum.IntEnum):
     DUAL_SIDE = 2
 
 
-def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
-    if op_code in AcsOpCodes.ACS_ASS_A_SIDE:
+def pack_acs_board_command(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str in AcsOpCodes.ACS_ASS_A_SIDE:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.NORMAL,
@@ -39,7 +39,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             q=q,
             info="Switching to ACS board assembly A side",
         )
-    if op_code in AcsOpCodes.ACS_ASS_B_SIDE:
+    if cmd_str in AcsOpCodes.ACS_ASS_B_SIDE:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.NORMAL,
@@ -47,7 +47,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             q=q,
             info="Switching to ACS board assembly B side",
         )
-    if op_code in AcsOpCodes.ACS_ASS_DUAL_MODE:
+    if cmd_str in AcsOpCodes.ACS_ASS_DUAL_MODE:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.NORMAL,
@@ -55,7 +55,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             q=q,
             info="Switching to ACS board assembly dual mode",
         )
-    if op_code in AcsOpCodes.ACS_ASS_A_ON:
+    if cmd_str in AcsOpCodes.ACS_ASS_A_ON:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.ON,
@@ -63,7 +63,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             q=q,
             info="Switching ACS board assembly A side on",
         )
-    if op_code in AcsOpCodes.ACS_ASS_B_ON:
+    if cmd_str in AcsOpCodes.ACS_ASS_B_ON:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.ON,
@@ -71,7 +71,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             q=q,
             info="Switching ACS board assembly B side on",
         )
-    if op_code in AcsOpCodes.ACS_ASS_DUAL_ON:
+    if cmd_str in AcsOpCodes.ACS_ASS_DUAL_ON:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.ON,
@@ -79,7 +79,7 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
             q=q,
             info="Switching ACS board assembly dual side on",
         )
-    if op_code in AcsOpCodes.ACS_ASS_OFF:
+    if cmd_str in AcsOpCodes.ACS_ASS_OFF:
         pack_mode_cmd_with_info(
             object_id=ACS_BOARD_ASS_ID,
             mode=Mode.OFF,
@@ -89,11 +89,51 @@ def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
         )
 
 
-@service_provider(CustomServiceList.ACS_BRD_ASS)
-def pack_acs_command_provider(p: ServiceProviderParams):
-    op_code = p.op_code
-    q = p.queue_helper
-    pack_acs_command(q, op_code)
+def create_acs_board_node() -> CmdTreeNode:
+    node = CmdTreeNode("acs_brd", "ACS Board", hide_children_which_are_leaves=True)
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_A_SIDE[1],
+            "Switch to ACS board A side",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_B_SIDE[1],
+            "Switch to ACS board B side",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_DUAL_MODE[1],
+            "Switch to ACS board dual mode",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_A_ON[1],
+            "Switch ACS board A side on",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_B_ON[1],
+            "Switch ACS board B side on",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_DUAL_ON[1],
+            "Switch ACS board dual mode on",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            AcsOpCodes.ACS_ASS_OFF[1],
+            "Switch off ACS board",
+        )
+    )
+    return node
 
 
 @tmtc_definitions_provider

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -7,12 +7,8 @@ import struct
 from socket import AF_INET
 from typing import Tuple
 
-from tmtccmd.config.tmtc import (
-    OpCodeEntry,
-    TmtcDefinitionWrapper,
-    tmtc_definitions_provider,
-)
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.config.tmtc import CmdTreeNode
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
 from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd
 from tmtccmd.pus.s20_fsfw_param_defs import (
@@ -29,16 +25,13 @@ from tmtccmd.pus.s20_fsfw_param_defs import (
 from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_command
 from tmtccmd.pus.tc.s3_fsfw_hk import (
     create_request_one_diag_command,
+    create_request_one_hk_command,
     disable_periodic_hk_command,
     enable_periodic_hk_command_with_interval,
-    generate_one_hk_command,
     make_sid,
 )
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
 from tmtccmd.tmtc.queue import DefaultPusQueueHelper
 
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.config.object_ids import ACS_CONTROLLER
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
@@ -54,10 +47,17 @@ class SetId(enum.IntEnum):
     GYR_RAW_SET = 4
     GYR_PROC_SET = 5
     GPS_PROC_SET = 6
-    MEKF_DATA = 7
+    ATTITUDE_ESTIMATION_DATA = 7
     CTRL_VAL_DATA = 8
     ACTUATOR_CMD_DATA = 9
     FUSED_ROT_RATE_DATA = 10
+    FUSED_ROT_RATE_SOURCE_DATA = 11
+
+
+class DataSetRequest(enum.IntEnum):
+    ONESHOT = 0
+    ENABLE = 1
+    DISABLE = 2
 
 
 class ActionId(enum.IntEnum):
@@ -65,6 +65,8 @@ class ActionId(enum.IntEnum):
     RESET_MEKF = 1
     RESTORE_MEKF_NONFINITE_RECOVERY = 2
     UPDATE_TLE = 3
+    READ_TLE = 4
+    UPDATE_MEKF_STANDARD_DEVIATIONS = 5
 
 
 CTRL_STRAT_DICT = {
@@ -85,67 +87,47 @@ CTRL_STRAT_DICT = {
     19: "SAFE_ECLIPSE_IDELING",
     20: "DETUMBLE_FULL",
     21: "DETUMBLE_DETERIORATED",
-    30: "PTG_MEKF",
-    31: "PTG_RAW",
+    100: "PTG_MEKF",
+    101: "PTG_STR",
+    102: "PTG_QUEST",
 }
 
-GPS_COURCE_DICT = {
+GPS_SOURCE_DICT = {
     0: "NONE",
     1: "GPS",
     2: "GPS_EXTRAPOLATED",
     3: "SGP4",
 }
 
+FUSED_ROT_RATE_SOURCE_DICT = {
+    0: "NONE",
+    1: "SUSMGM",
+    2: "QUEST",
+    3: "STR",
+}
+
 
 class OpCodes:
-    OFF = ["off"]
-    SAFE = ["safe"]
-    DTBL = ["safe_detumble"]
-    IDLE = ["ptg_idle"]
-    NADIR = ["ptg_nadir"]
-    TARGET = ["ptg_target"]
-    GS = ["ptg_target_gs"]
-    INERTIAL = ["ptg_inertial"]
-    SAFE_PTG = ["confirm_deployment"]
-    RESET_MEKF = ["reset_mekf"]
-    RESTORE_MEKF_NONFINITE_RECOVERY = ["restore_mekf_nonfinite_recovery"]
-    UPDATE_TLE = ["update_tle"]
-    SET_PARAMETER_SCALAR = ["set_scalar_param"]
-    SET_PARAMETER_VECTOR = ["set_vector_param"]
-    SET_PARAMETER_MATRIX = ["set_matrix_param"]
-    REQUEST_RAW_MGM_HK = ["mgm_raw_hk"]
-    ENABLE_RAW_MGM_HK = ["mgm_raw_enable_hk"]
-    DISABLE_RAW_MGM_HK = ["mgm_raw_disable_hk"]
-    REQUEST_PROC_MGM_HK = ["mgm_proc_hk"]
-    ENABLE_PROC_MGM_HK = ["mgm_proc_enable_hk"]
-    DISABLE_PROC_MGM_HK = ["mgm_proc_disable_hk"]
-    REQUEST_RAW_SUS_HK = ["sus_raw_hk"]
-    ENABLE_RAW_SUS_HK = ["sus_raw_enable_hk"]
-    DISABLE_RAW_SUS_HK = ["sus_raw_disable_hk"]
-    REQUEST_PROC_SUS_HK = ["sus_proc_hk"]
-    ENABLE_PROC_SUS_HK = ["sus_proc_enable_hk"]
-    DISABLE_PROC_SUS_HK = ["sus_proc_disable_hk"]
-    REQUEST_RAW_GYR_HK = ["gyr_raw_hk"]
-    ENABLE_RAW_GYR_HK = ["gyr_raw_enable_hk"]
-    DISABLE_RAW_GYR_HK = ["gyr_raw_disable_hk"]
-    REQUEST_PROC_GYR_HK = ["gyr_proc_hk"]
-    ENABLE_PROC_GYR_HK = ["gyr_proc_enable_hk"]
-    DISABLE_PROC_GYR_HK = ["gyr_proc_disable_hk"]
-    REQUEST_PROC_GPS_HK = ["gps_proc_hk"]
-    ENABLE_PROC_GPS_HK = ["gps_proc_enable_hk"]
-    DISABLE_PROC_GPS_HK = ["gps_proc_disable_hk"]
-    REQUEST_MEKF_HK = ["mekf_hk"]
-    ENABLE_MEKF_HK = ["mekf_enable_hk"]
-    DISABLE_MEKF_HK = ["mekf_disable_hk"]
-    REQUEST_CTRL_VAL_HK = ["ctrl_val_hk"]
-    ENABLE_CTRL_VAL_HK = ["ctrl_val_enable_hk"]
-    DISABLE_CTRL_VAL_HK = ["ctrl_val_disable_hk"]
-    REQUEST_ACT_CMD_HK = ["act_cmd_hk"]
-    ENABLE_ACT_CMD_HK = ["act_cmd_enable_hk"]
-    DISABLE_ACT_CMD_HK = ["act_cmd_disable_hk"]
-    REQUEST_FUSED_ROT_RATE_HK = ["f_rot_rate_hk"]
-    ENABLE_FUSED_ROT_RATE_HK = ["f_rot_rate_enable_hk"]
-    DISABLE_FUSED_ROT_RATE_HK = ["f_rot_rate_disable_hk"]
+    OFF = "off"
+    SAFE = "safe"
+    DTBL = "safe_detumble"
+    IDLE = "ptg_idle"
+    NADIR = "ptg_nadir"
+    TARGET = "ptg_target"
+    GS = "ptg_target_gs"
+    INERTIAL = "ptg_inertial"
+    SAFE_PTG = "confirm_deployment"
+    RESET_MEKF = "reset_mekf"
+    RESTORE_MEKF_NONFINITE_RECOVERY = "restore_mekf_nonfinite_recovery"
+    UPDATE_TLE = "update_tle"
+    READ_TLE = "read_tle"
+    UPDATE_MEKF_STANDARD_DEVIATIONS = "update_mekf_standard_deviations"
+    SET_PARAMETER_SCALAR = "set_scalar_param"
+    SET_PARAMETER_VECTOR = "set_vector_param"
+    SET_PARAMETER_MATRIX = "set_matrix_param"
+    ONE_SHOOT_HK = "one_shot_hk"
+    ENABLE_HK = "enable_hk"
+    DISABLE_HK = "disable_hk"
 
 
 class Info:
@@ -161,42 +143,17 @@ class Info:
     RESET_MEKF = "Reset the MEKF"
     RESTORE_MEKF_NONFINITE_RECOVERY = "Restore MEKF non-finite recovery"
     UPDATE_TLE = "Update TLE"
+    READ_TLE = "Read the currently stored TLE"
+    UPDATE_MEKF_STANDARD_DEVIATIONS = (
+        "Update the Standard Deviations within the MEKF to the current ACS Parameter "
+        "Values"
+    )
     SET_PARAMETER_SCALAR = "Set Scalar Parameter"
     SET_PARAMETER_VECTOR = "Set Vector Parameter"
     SET_PARAMETER_MATRIX = "Set Matrix Parameter"
-    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"
-    REQUEST_PROC_MGM_HK = "Request Processed MGM HK"
-    ENABLE_PROC_MGM_HK = "Enable Processed MGM HK data generation"
-    DISABLE_PROC_MGM_HK = "Disable Processed MGM HK data generation"
-    REQUEST_RAW_SUS_HK = "Request Raw SUS HK"
-    ENABLE_RAW_SUS_HK = "Enable Raw SUS HK data generation"
-    DISABLE_RAW_SUS_HK = "Disable Raw SUS HK data generation"
-    REQUEST_PROC_SUS_HK = "Request Processed SUS HK"
-    ENABLE_PROC_SUS_HK = "Enable Processed SUS HK data generation"
-    DISABLE_PROC_SUS_HK = "Disable Processed MGM HK data generation"
-    REQUEST_RAW_GYR_HK = "Request Raw GYR HK"
-    ENABLE_RAW_GYR_HK = "Enable Raw GYR HK data generation"
-    DISABLE_RAW_GYR_HK = "Disable Raw GYR HK data generation"
-    REQUEST_PROC_GYR_HK = "Request Processed GYR HK"
-    ENABLE_PROC_GYR_HK = "Enable Processed GYR HK data generation"
-    DISABLE_PROC_GYR_HK = "Disable Processed GYR HK data generation"
-    REQUEST_PROC_GPS_HK = "Request Processed GPS HK"
-    ENABLE_PROC_GPS_HK = "Enable Processed GPS HK data generation"
-    DISABLE_PROC_GPS_HK = "Disable Processed GPS HK data generation"
-    REQUEST_MEKF_HK = "Request MEKF HK"
-    ENABLE_MEKF_HK = "Enable MEKF HK data generation"
-    DISABLE_MEKF_HK = "Disable MEKF HK data generation"
-    REQUEST_CTRL_VAL_HK = "Request Control Values HK"
-    ENABLE_CTRL_VAL_HK = "Enable Control Values HK data generation"
-    DISABLE_CTRL_VAL_HK = "Disable Control Values HK data generation"
-    REQUEST_ACT_CMD_HK = "Request Actuator Commands HK"
-    ENABLE_ACT_CMD_HK = "Enable Actuator Commands HK data generation"
-    DISABLE_ACT_CMD_HK = "Disable Actuator Commands HK data generation"
-    REQUEST_FUSED_ROT_RATE_HK = "Request Fused Rotational Rates HK"
-    ENABLE_FUSED_ROT_RATE_HK = "Enable Fused Rotational Rates HK data generation"
-    DISABLE_FUSED_ROT_RATE_HK = "Disable Fused Rotational Rates HK data generation"
+    ONE_SHOOT_HK = "One shoot HK Set"
+    ENABLE_HK = "Enable Periodic HK"
+    DISABLE_HK = "Disable Periodic HK"
 
 
 PERFORM_MGM_CALIBRATION = False
@@ -211,113 +168,66 @@ if PERFORM_MGM_CALIBRATION:
     CALIBR_SOCKET.connect(CALIBRATION_ADDR)
 
 
-@tmtc_definitions_provider
-def acs_cmd_defs(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCodes.OFF, info=Info.OFF)
-    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.NADIR, info=Info.NADIR)
-    oce.add(keys=OpCodes.TARGET, info=Info.TARGET)
-    oce.add(keys=OpCodes.GS, info=Info.GS)
-    oce.add(keys=OpCodes.INERTIAL, info=Info.INERTIAL)
-    oce.add(keys=OpCodes.SAFE_PTG, info=Info.SAFE_PTG)
-    oce.add(keys=OpCodes.RESET_MEKF, info=Info.RESET_MEKF)
-    oce.add(
-        keys=OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY,
-        info=Info.RESTORE_MEKF_NONFINITE_RECOVERY,
-    )
-    oce.add(keys=OpCodes.UPDATE_TLE, info=Info.UPDATE_TLE)
-    oce.add(keys=OpCodes.SET_PARAMETER_SCALAR, info=Info.SET_PARAMETER_SCALAR)
-    oce.add(keys=OpCodes.SET_PARAMETER_VECTOR, info=Info.SET_PARAMETER_VECTOR)
-    oce.add(keys=OpCodes.SET_PARAMETER_MATRIX, info=Info.SET_PARAMETER_MATRIX)
-    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)
-    oce.add(keys=OpCodes.REQUEST_PROC_MGM_HK, info=Info.REQUEST_PROC_MGM_HK)
-    oce.add(keys=OpCodes.ENABLE_PROC_MGM_HK, info=Info.ENABLE_PROC_MGM_HK)
-    oce.add(keys=OpCodes.DISABLE_PROC_MGM_HK, info=Info.DISABLE_PROC_MGM_HK)
-    oce.add(keys=OpCodes.REQUEST_RAW_SUS_HK, info=Info.REQUEST_RAW_SUS_HK)
-    oce.add(keys=OpCodes.ENABLE_RAW_SUS_HK, info=Info.ENABLE_RAW_SUS_HK)
-    oce.add(keys=OpCodes.DISABLE_RAW_SUS_HK, info=Info.DISABLE_RAW_SUS_HK)
-    oce.add(keys=OpCodes.REQUEST_PROC_SUS_HK, info=Info.REQUEST_PROC_SUS_HK)
-    oce.add(keys=OpCodes.ENABLE_PROC_SUS_HK, info=Info.ENABLE_PROC_SUS_HK)
-    oce.add(keys=OpCodes.DISABLE_PROC_SUS_HK, info=Info.DISABLE_PROC_SUS_HK)
-    oce.add(keys=OpCodes.REQUEST_RAW_GYR_HK, info=Info.REQUEST_RAW_GYR_HK)
-    oce.add(keys=OpCodes.ENABLE_RAW_GYR_HK, info=Info.ENABLE_RAW_GYR_HK)
-    oce.add(keys=OpCodes.DISABLE_RAW_GYR_HK, info=Info.DISABLE_RAW_GYR_HK)
-    oce.add(keys=OpCodes.REQUEST_PROC_GYR_HK, info=Info.REQUEST_PROC_GYR_HK)
-    oce.add(keys=OpCodes.ENABLE_PROC_GYR_HK, info=Info.ENABLE_PROC_GYR_HK)
-    oce.add(keys=OpCodes.DISABLE_PROC_GYR_HK, info=Info.DISABLE_PROC_GYR_HK)
-    oce.add(keys=OpCodes.REQUEST_PROC_GPS_HK, info=Info.REQUEST_PROC_GPS_HK)
-    oce.add(keys=OpCodes.ENABLE_PROC_GPS_HK, info=Info.ENABLE_PROC_GPS_HK)
-    oce.add(keys=OpCodes.DISABLE_PROC_GPS_HK, info=Info.DISABLE_PROC_GPS_HK)
-    oce.add(keys=OpCodes.REQUEST_MEKF_HK, info=Info.REQUEST_MEKF_HK)
-    oce.add(keys=OpCodes.ENABLE_MEKF_HK, info=Info.ENABLE_MEKF_HK)
-    oce.add(keys=OpCodes.DISABLE_MEKF_HK, info=Info.DISABLE_MEKF_HK)
-    oce.add(keys=OpCodes.REQUEST_CTRL_VAL_HK, info=Info.REQUEST_CTRL_VAL_HK)
-    oce.add(keys=OpCodes.ENABLE_CTRL_VAL_HK, info=Info.ENABLE_CTRL_VAL_HK)
-    oce.add(keys=OpCodes.DISABLE_CTRL_VAL_HK, info=Info.DISABLE_CTRL_VAL_HK)
-    oce.add(keys=OpCodes.REQUEST_ACT_CMD_HK, info=Info.REQUEST_ACT_CMD_HK)
-    oce.add(keys=OpCodes.ENABLE_ACT_CMD_HK, info=Info.ENABLE_ACT_CMD_HK)
-    oce.add(keys=OpCodes.DISABLE_ACT_CMD_HK, info=Info.DISABLE_ACT_CMD_HK)
-    oce.add(keys=OpCodes.REQUEST_FUSED_ROT_RATE_HK, info=Info.REQUEST_FUSED_ROT_RATE_HK)
-    oce.add(keys=OpCodes.ENABLE_FUSED_ROT_RATE_HK, info=Info.ENABLE_FUSED_ROT_RATE_HK)
-    oce.add(keys=OpCodes.DISABLE_FUSED_ROT_RATE_HK, info=Info.DISABLE_FUSED_ROT_RATE_HK)
-    defs.add_service(
-        name=CustomServiceList.ACS_CTRL.value, info="ACS Controller", op_code_entry=oce
+def create_acs_ctrl_node() -> CmdTreeNode:
+    # Zip the two classes together into a dictionary
+    op_code_strs = [
+        getattr(OpCodes, key) for key in dir(OpCodes) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCodes) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    acs_ctrl = CmdTreeNode(
+        "acs_ctrl", "ACS Controller", hide_children_which_are_leaves=True
     )
+    for op_code, info in combined_dict.items():
+        acs_ctrl.add_child(CmdTreeNode(op_code, info))
+    return acs_ctrl
 
 
-@service_provider(CustomServiceList.ACS_CTRL.value)
-def pack_acs_ctrl_command(p: ServiceProviderParams):  # noqa C901
-    op_code = p.op_code
-    q = p.queue_helper
-    if op_code in OpCodes.OFF:
+def pack_acs_ctrl_command(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
+    if cmd_str in OpCodes.OFF:
         q.add_log_cmd(f"{Info.OFF}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
-    elif op_code in OpCodes.SAFE:
+    elif cmd_str in OpCodes.SAFE:
         q.add_log_cmd(f"{Info.SAFE}")
         q.add_pus_tc(
             pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT)
         )
-    elif op_code in OpCodes.DTBL:
+    elif cmd_str in OpCodes.DTBL:
         q.add_log_cmd(f"{Info.DTBL}")
         q.add_pus_tc(
             pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE)
         )
-    elif op_code in OpCodes.IDLE:
+    elif cmd_str in OpCodes.IDLE:
         q.add_log_cmd(f"{Info.IDLE}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0))
-    elif op_code in OpCodes.NADIR:
+    elif cmd_str in OpCodes.NADIR:
         q.add_log_cmd(f"{Info.NADIR}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0))
-    elif op_code in OpCodes.TARGET:
+    elif cmd_str in OpCodes.TARGET:
         q.add_log_cmd(f"{Info.TARGET}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0))
-    elif op_code in OpCodes.GS:
+    elif cmd_str in OpCodes.GS:
         q.add_log_cmd(f"{Info.GS}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0))
-    elif op_code in OpCodes.INERTIAL:
+    elif cmd_str in OpCodes.INERTIAL:
         q.add_log_cmd(f"{Info.INERTIAL}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0))
-    elif op_code in OpCodes.SAFE_PTG:
+    elif cmd_str in OpCodes.SAFE_PTG:
         q.add_log_cmd(f"{Info.SAFE_PTG}")
         q.add_pus_tc(
             create_action_cmd(
                 ACS_CONTROLLER, ActionId.SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL
             )
         )
-    elif op_code in OpCodes.RESET_MEKF:
+    elif cmd_str in OpCodes.RESET_MEKF:
         q.add_log_cmd(f"{Info.RESET_MEKF}")
         q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.RESET_MEKF))
-    elif op_code in OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY:
+    elif cmd_str in OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY:
         q.add_log_cmd(f"{Info.RESTORE_MEKF_NONFINITE_RECOVERY}")
         q.add_pus_tc(
             create_action_cmd(ACS_CONTROLLER, ActionId.RESTORE_MEKF_NONFINITE_RECOVERY)
         )
-    elif op_code in OpCodes.UPDATE_TLE:
+    elif cmd_str in OpCodes.UPDATE_TLE:
         q.add_log_cmd(f"{Info.UPDATE_TLE}")
         while True:
             line1 = input("Please input the first line of the TLE: ")
@@ -333,237 +243,82 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):  # noqa C901
                 print("The line does not have the required length of 69 characters")
         tle = line1.encode() + line2.encode()
         q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.UPDATE_TLE, tle))
-    elif op_code in OpCodes.SET_PARAMETER_SCALAR:
+    elif cmd_str == OpCodes.READ_TLE:
+        q.add_log_cmd(f"{Info.READ_TLE}")
+        q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.READ_TLE))
+    elif cmd_str == OpCodes.UPDATE_MEKF_STANDARD_DEVIATIONS:
+        q.add_log_cmd(f"{Info.UPDATE_MEKF_STANDARD_DEVIATIONS}")
+        q.add_pus_tc(
+            create_action_cmd(ACS_CONTROLLER, ActionId.UPDATE_MEKF_STANDARD_DEVIATIONS)
+        )
+    elif cmd_str == OpCodes.SET_PARAMETER_SCALAR:
         q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}")
         set_acs_ctrl_param_scalar(q)
-    elif op_code in OpCodes.SET_PARAMETER_VECTOR:
+    elif cmd_str == OpCodes.SET_PARAMETER_VECTOR:
         q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}")
         set_acs_ctrl_param_vector(q)
-    elif op_code in OpCodes.SET_PARAMETER_MATRIX:
+    elif cmd_str == OpCodes.SET_PARAMETER_MATRIX:
         q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}")
         set_acs_ctrl_param_matrix(q)
-    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))
-        )
-    elif op_code in OpCodes.ENABLE_RAW_MGM_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_RAW_MGM_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_RAW_MGM_HK:
-        q.add_log_cmd(Info.DISABLE_RAW_MGM_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_PROC_MGM_HK:
-        q.add_log_cmd(Info.REQUEST_PROC_MGM_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET))
-        )
-    elif op_code in OpCodes.ENABLE_PROC_MGM_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_PROC_MGM_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_PROC_MGM_HK:
-        q.add_log_cmd(Info.DISABLE_PROC_MGM_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_RAW_SUS_HK:
-        q.add_log_cmd(Info.REQUEST_RAW_SUS_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET))
-        )
-    elif op_code in OpCodes.ENABLE_RAW_SUS_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_RAW_SUS_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_RAW_SUS_HK:
-        q.add_log_cmd(Info.DISABLE_RAW_SUS_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_PROC_SUS_HK:
-        q.add_log_cmd(Info.REQUEST_PROC_SUS_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET))
-        )
-    elif op_code in OpCodes.ENABLE_PROC_SUS_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_PROC_SUS_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_PROC_SUS_HK:
-        q.add_log_cmd(Info.DISABLE_PROC_SUS_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_RAW_GYR_HK:
-        q.add_log_cmd(Info.REQUEST_RAW_GYR_HK)
-        q.add_pus_tc(
-            create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET))
-        )
-    elif op_code in OpCodes.ENABLE_RAW_GYR_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_RAW_GYR_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_RAW_GYR_HK:
-        q.add_log_cmd(Info.DISABLE_RAW_GYR_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_PROC_GYR_HK:
-        q.add_log_cmd(Info.REQUEST_PROC_GYR_HK)
-        q.add_pus_tc(
-            create_request_one_diag_command(
-                make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET)
-            )
-        )
-    elif op_code in OpCodes.ENABLE_PROC_GYR_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_PROC_GYR_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_PROC_GYR_HK:
-        q.add_log_cmd(Info.DISABLE_PROC_GYR_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_PROC_GPS_HK:
-        q.add_log_cmd(Info.REQUEST_PROC_GPS_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET))
-        )
-    elif op_code in OpCodes.ENABLE_PROC_GPS_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_PROC_GPS_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_PROC_GPS_HK:
-        q.add_log_cmd(Info.DISABLE_PROC_GPS_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_MEKF_HK:
-        q.add_log_cmd(Info.REQUEST_MEKF_HK)
-        q.add_pus_tc(
-            create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.MEKF_DATA))
-        )
-    elif op_code in OpCodes.ENABLE_MEKF_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_MEKF_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    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))
-        )
-    elif op_code in OpCodes.REQUEST_CTRL_VAL_HK:
-        q.add_log_cmd(Info.REQUEST_CTRL_VAL_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA))
-        )
-    elif op_code in OpCodes.ENABLE_CTRL_VAL_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_CTRL_VAL_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_CTRL_VAL_HK:
-        q.add_log_cmd(Info.DISABLE_CTRL_VAL_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_ACT_CMD_HK:
-        q.add_log_cmd(Info.REQUEST_ACT_CMD_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA))
-        )
-    elif op_code in OpCodes.ENABLE_ACT_CMD_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_ACT_CMD_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_ACT_CMD_HK:
-        q.add_log_cmd(Info.DISABLE_ACT_CMD_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA)
-            )
-        )
-    elif op_code in OpCodes.REQUEST_FUSED_ROT_RATE_HK:
-        q.add_log_cmd(Info.REQUEST_FUSED_ROT_RATE_HK)
-        q.add_pus_tc(
-            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.FUSED_ROT_RATE_DATA))
-        )
-    elif op_code in OpCodes.ENABLE_FUSED_ROT_RATE_HK:
-        interval = float(input("Please specify interval in floating point seconds: "))
-        q.add_log_cmd(Info.ENABLE_FUSED_ROT_RATE_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(
-            False, make_sid(ACS_CONTROLLER, SetId.FUSED_ROT_RATE_DATA), interval
-        )
-        q.add_pus_tc(cmd_tuple[0])
-        q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_FUSED_ROT_RATE_HK:
-        q.add_log_cmd(Info.DISABLE_FUSED_ROT_RATE_HK)
-        q.add_pus_tc(
-            disable_periodic_hk_command(
-                False, make_sid(ACS_CONTROLLER, SetId.FUSED_ROT_RATE_DATA)
-            )
-        )
+    elif cmd_str == OpCodes.ONE_SHOOT_HK:
+        q.add_log_cmd(Info.ONE_SHOOT_HK)
+        request_dataset(q, DataSetRequest.ONESHOT)
+    elif cmd_str == OpCodes.ENABLE_HK:
+        q.add_log_cmd(Info.ENABLE_HK)
+        request_dataset(q, DataSetRequest.ENABLE)
+    elif cmd_str == OpCodes.DISABLE_HK:
+        q.add_log_cmd(Info.DISABLE_HK)
+        request_dataset(q, DataSetRequest.DISABLE)
     else:
-        logging.getLogger(__name__).info(f"Unknown op code {op_code}")
+        logging.getLogger(__name__).info(f"Unknown op code {cmd_str}")
+
+
+def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest):
+    for val in SetId:
+        print("{:<2}: {:<20}".format(val, val.name))
+    set_id = int(input("Specify the dataset \n" ""))
+    if set_id in [
+        SetId.GYR_RAW_SET,
+        SetId.GPS_PROC_SET,
+        SetId.ATTITUDE_ESTIMATION_DATA,
+    ]:
+        is_diag = True
+    else:
+        is_diag = False
+    match req_type:
+        case DataSetRequest.ONESHOT:
+            if is_diag:
+                q.add_pus_tc(
+                    create_request_one_diag_command(make_sid(ACS_CONTROLLER, set_id))
+                )
+            else:
+                q.add_pus_tc(
+                    create_request_one_hk_command(make_sid(ACS_CONTROLLER, set_id))
+                )
+        case DataSetRequest.ENABLE:
+            interval = float(
+                input("Please specify interval in floating point seconds: ")
+            )
+
+            if is_diag:
+                cmd_tuple = enable_periodic_hk_command_with_interval(
+                    True, make_sid(ACS_CONTROLLER, set_id), interval
+                )
+            else:
+                cmd_tuple = enable_periodic_hk_command_with_interval(
+                    False, make_sid(ACS_CONTROLLER, set_id), interval
+                )
+            q.add_pus_tc(cmd_tuple[0])
+            q.add_pus_tc(cmd_tuple[1])
+        case DataSetRequest.DISABLE:
+            if is_diag:
+                q.add_pus_tc(
+                    disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, set_id))
+                )
+            else:
+                q.add_pus_tc(
+                    disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, set_id))
+                )
 
 
 def set_acs_ctrl_param_scalar(q: DefaultPusQueueHelper):
@@ -659,7 +414,7 @@ def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper):
                             domain_id=sid,
                             unique_id=pid,
                             parameters=param,
-                        ).pack()
+                        )
                     )
                 )
             else:
@@ -771,14 +526,16 @@ def handle_acs_ctrl_hk_data(
             handle_gyr_data_processed(pw, hk_data)
         case SetId.GPS_PROC_SET:
             handle_gps_data_processed(pw, hk_data)
-        case SetId.MEKF_DATA:
-            handle_mekf_data(pw, hk_data)
+        case SetId.ATTITUDE_ESTIMATION_DATA:
+            handle_attitude_estimation_data(pw, hk_data)
         case SetId.CTRL_VAL_DATA:
             handle_ctrl_val_data(pw, hk_data)
         case SetId.ACTUATOR_CMD_DATA:
             handle_act_cmd_data(pw, hk_data)
         case SetId.FUSED_ROT_RATE_DATA:
             handle_fused_rot_rate_data(pw, hk_data)
+        case SetId.FUSED_ROT_RATE_SOURCE_DATA:
+            handle_fused_rot_rate_source_data(pw, hk_data)
 
 
 def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
@@ -800,7 +557,7 @@ def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
         sus_list_formatted = vec_fmt.format(*sus_list)
         current_idx += length
         pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=12)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=12))
 
 
 def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
@@ -836,7 +593,7 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
     sun_ijk_model = vec_fmt.format(*sun_ijk_model)
     current_idx += inc_len
     pw.dlog(f"{'SUS ijk Model'.ljust(25)}: {sun_ijk_model}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=15)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=15))
 
 
 def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
@@ -850,7 +607,7 @@ def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog(f"Raw Data: {hk_data.hex(sep=',')}")
         return
 
-    def unpack_float_tuple(idx: int) -> (tuple, int):
+    def unpack_float_tuple(idx: int) -> Tuple[tuple, int]:
         f_tuple = struct.unpack(
             float_tuple_fmt_str,
             hk_data[idx : idx + struct.calcsize(float_tuple_fmt_str)],
@@ -892,7 +649,7 @@ def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}")
     current_idx += 1
     assert current_idx == 61
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=6))
 
 
 def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
@@ -946,7 +703,7 @@ def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
     current_idx += inc_len
     if PERFORM_MGM_CALIBRATION:
         perform_mgm_calibration(pw, mgm_3)
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=8))
 
 
 def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
@@ -980,7 +737,7 @@ def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(f"{'GYR 1 L3'.ljust(15)}: {float_str_fmt.format(*gyr_1_l3)}")
     pw.dlog(f"{'GYR 2 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_2_adis)}")
     pw.dlog(f"{'GYR 3 L3'.ljust(15)}: {float_str_fmt.format(*gyr_3_l3)}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 4))
 
 
 GYR_NAMES = ["GYR 0 ADIS", "GYR 1 L3", "GYR 2 ADIS", "GYR 3 L3"]
@@ -1006,7 +763,7 @@ def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
     ]
     pw.dlog(f"GYR Vec Total: {gyr_vec_tot}")
     current_idx += inc_len
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=5))
 
 
 def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
@@ -1060,8 +817,8 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
         fmt_source, hk_data[current_idx : current_idx + inc_len_source]
     )[0]
     current_idx += inc_len_source
-    if GPS_COURCE_DICT.get(source) is not None:
-        pw.dlog(f"GPS Source: {GPS_COURCE_DICT[source]}")
+    if GPS_SOURCE_DICT.get(source) is not None:
+        pw.dlog(f"GPS Source: {GPS_SOURCE_DICT[source]}")
     else:
         pw.dlog(f"'GPS Source (key unknown)': {source}")
     pw.dlog(f"GPS Latitude: {lat} [deg]")
@@ -1069,10 +826,10 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(f"GPS Altitude: {alt} [m]")
     pw.dlog(f"GPS Position: {pos} [m]")
     pw.dlog(f"GPS Velocity: {velo} [m/s]")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=6))
 
 
-def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
+def handle_attitude_estimation_data(pw: PrintWrapper, hk_data: bytes):
     mekf_status = {
         0: "UNINITIALIZED",
         1: "NO_GYR_DATA",
@@ -1083,7 +840,7 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
         10: "INITIALIZED",
         11: "RUNNING",
     }
-    pw.dlog("Received MEKF Set")
+    pw.dlog("Received Attitude Estimation Set")
     fmt_quat = "!dddd"
     fmt_str_4 = "[{:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}]"
     fmt_str_3 = "[{:8.3f}, {:8.3f}, {:8.3f}]"
@@ -1092,11 +849,16 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
     inc_len_quat = struct.calcsize(fmt_quat)
     inc_len_vec = struct.calcsize(fmt_vec)
     inc_len_sts = struct.calcsize(fmt_sts)
-    if len(hk_data) < inc_len_quat + inc_len_vec + inc_len_sts:
-        pw.dlog("Received HK set too small")
+    old_size = inc_len_quat + inc_len_vec + inc_len_sts + 1
+    new_size = 2 * inc_len_quat + inc_len_vec + inc_len_sts + 1
+    size = len(hk_data)
+    if size not in [old_size, new_size]:
+        pw.dlog(f"Received Attitude Estimation HK Set of unexpected size: {size}")
         return
     current_idx = 0
-    quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])
+    mekf_quat = struct.unpack(
+        fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
+    )
     current_idx += inc_len_quat
     rates = [
         rate * 180 / math.pi
@@ -1111,9 +873,17 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog(f"{'MEKF Status'.ljust(25)}: {mekf_status[status]}")
     else:
         pw.dlog(f"{'MEKF Raw Status (key unknown)'.ljust(25)}: {status}")
-    pw.dlog(f"{'MEKF Quaternion'.ljust(25)}: {fmt_str_4.format(*quat)}")
+    pw.dlog(f"{'MEKF Quaternion'.ljust(25)}: {fmt_str_4.format(*mekf_quat)}")
     pw.dlog(f"{'MEKF Rotational Rate'.ljust(25)}: {fmt_str_3.format(*rates)}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
+    if size == new_size:
+        quest_quat = struct.unpack(
+            fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
+        )
+        current_idx += inc_len_quat
+        pw.dlog(f"{'QUEST Quaternion'.ljust(25)}: {fmt_str_4.format(*quest_quat)}")
+        pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=4))
+        return
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
 
 
 def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
@@ -1163,14 +933,14 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
     ]
     current_idx += inc_len_vec
     if CTRL_STRAT_DICT.get(strat) is not None:
-        pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {CTRL_STRAT_DICT[strat]}")
+        pw.dlog(f"{'Ctrl Strategy'.ljust(25)}: {CTRL_STRAT_DICT[strat]}")
     else:
-        pw.dlog(f"{'Safe Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
+        pw.dlog(f"{'Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
     pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
     pw.dlog(f"Control Values Error Quaternion: {err_quat}")
     pw.dlog(f"Control Values Error Angle: {err_ang} [deg]")
     pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [deg/s]")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=5))
 
 
 def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
@@ -1209,15 +979,20 @@ def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(f"Actuator Commands RW Target Torque: {rw_tgt_torque}")
     pw.dlog(f"Actuator Commands RW Target Speed: {rw_tgt_speed}")
     pw.dlog(f"Actuator Commands MTQ Target Dipole: {mtq_tgt_dipole}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
 
 
 def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
     pw.dlog("Received Fused Rotation Rates Data Set")
     fmt_vec3_double = "!ddd"
     inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
-    if len(hk_data) < 3 * inc_len_vec3_double:
-        pw.dlog("Received HK set too small")
+    fmt_source = "!B"
+    inc_len_source = struct.calcsize(fmt_source)
+    old_size = 3 * inc_len_vec3_double + 1
+    new_size = 3 * inc_len_vec3_double + inc_len_source + 1
+    size = len(hk_data)
+    if size not in [old_size, new_size]:
+        pw.dlog(f"Received Fused Rot Rate HK set of unexpected size: {len(hk_data)}")
         return
     current_idx = 0
     rot_rate_orthogonal = [
@@ -1244,13 +1019,100 @@ def handle_fused_rot_rate_data(pw: PrintWrapper, hk_data: bytes):
     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]")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
+    if size == new_size:
+        rot_rate_source = struct.unpack(
+            fmt_source, hk_data[current_idx : current_idx + inc_len_source]
+        )[0]
+        current_idx += inc_len_source
+        if FUSED_ROT_RATE_SOURCE_DICT.get(rot_rate_source) is not None:
+            pw.dlog(
+                f"Fused Rotational Rate Source: {FUSED_ROT_RATE_SOURCE_DICT[rot_rate_source]}"
+            )
+        else:
+            pw.dlog(f"Ctrl Strategy (key unknown): {rot_rate_source}")
+        pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=4))
+        return
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
+
+
+def handle_fused_rot_rate_source_data(pw: PrintWrapper, hk_data: bytes):
+    pw.dlog("Received Fused Rotation Rates Sources Data Set")
+    fmt_vec3_double = "!ddd"
+    inc_len_vec3_double = struct.calcsize(fmt_vec3_double)
+    if len(hk_data) < 5 * inc_len_vec3_double:
+        pw.dlog("Received HK set too small")
+        return
+    current_idx = 0
+    rot_rate_orthogonal_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
+    rot_rate_parallel_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
+    rot_rate_total_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
+    rot_rate_total_quest = [
+        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
+    rot_rate_total_str = [
+        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 Orthogonal SUSMGM: {rot_rate_orthogonal_susmgm} [deg/s]"
+    )
+    pw.dlog(
+        f"Fused Rotational Rate Parallel SUSMGM: {rot_rate_parallel_susmgm} [deg/s]"
+    )
+    pw.dlog(f"Fused Rotational Rate Total SUSMGM: {rot_rate_total_susmgm} [deg/s]")
+    pw.dlog(f"Fused Rotational Rate Total QUEST: {rot_rate_total_quest} [deg/s]")
+    pw.dlog(f"Fused Rotational Rate Total STR: {rot_rate_total_str} [deg/s]")
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=5))
+
+
+def handle_acs_ctrl_action_replies(
+    action_id: int, pw: PrintWrapper, custom_data: bytes
+):
+    if action_id == ActionId.READ_TLE:
+        handle_read_tle(pw, custom_data)
+
+
+def handle_read_tle(pw: PrintWrapper, custom_data: bytes):
+    pw.dlog("Received TLE")
+    data_length = 69 * 2
+    if len(custom_data) != data_length:
+        raise ValueError(f"Received data of unexpected length {len(custom_data)}")
+    tle = custom_data.decode()
+    pw.dlog(f"{tle[0:69]}\n{tle[69:69*2]}")
 
 
 def perform_mgm_calibration(  # noqa C901: Complexity okay
     pw: PrintWrapper, mgm_tuple: Tuple
 ):  # noqa C901: Complexity okay
     global CALIBR_SOCKET, CALIBRATION_ADDR
+    if not PERFORM_MGM_CALIBRATION:
+        return
+    assert CALIBR_SOCKET is not None
     try:
         declare_api_cmd = "declare_api_version 2"
         CALIBR_SOCKET.sendall(f"{declare_api_cmd}\n".encode())

eive_tmtc/tmtc/acs/gps.py

@@ -3,10 +3,8 @@ import enum
 import logging
 import struct
 
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.config import CmdTreeNode
 from tmtccmd.pus.s200_fsfw_mode import create_mode_command, Mode
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.tc.s3_fsfw_hk import (
@@ -15,7 +13,8 @@ from tmtccmd.pus.tc.s3_fsfw_hk import (
     create_enable_periodic_hk_command_with_interval_with_diag,
     create_disable_periodic_hk_command_with_diag,
 )
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.pus.tc.s8_fsfw_action import create_action_cmd
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -24,16 +23,25 @@ class GpsInfo:
     MAX_SATELLITES = 30
 
 
+class ActIds:
+    RESET_GNSS = 5
+
+
+class AcsBoardSides(enum.IntEnum):
+    A_SIDE = 0
+    B_SIDE = 1
+
+
 class OpCode:
     OFF = "off"
     ON = "on"
-    REQ_CORE_HK = ["core_hk_request"]
-    ENABLE_CORE_HK = ["core_hk_enable"]
-    DISABLE_CORE_HK = ["core_hk_disable"]
-    REQ_SKYVIEW_HK = ["skyview_hk_request"]
-    ENABLE_SKYVIEW_HK = ["skyview_hk_enable"]
-    DISABLE_SKYVIEW_HK = ["skyview_hk_disable"]
-    RESET_GNSS = ["reset"]
+    REQ_CORE_HK = "core_hk_request"
+    ENABLE_CORE_HK = "core_hk_enable"
+    DISABLE_CORE_HK = "core_hk_disable"
+    REQ_SKYVIEW_HK = "skyview_hk_request"
+    ENABLE_SKYVIEW_HK = "skyview_hk_enable"
+    DISABLE_SKYVIEW_HK = "skyview_hk_disable"
+    RESET_GNSS = "reset_gnss"
 
 
 class Info:
@@ -53,32 +61,34 @@ class SetId(enum.IntEnum):
     SKYVIEW_HK = 1
 
 
-@tmtc_definitions_provider
-def add_gps_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCode.OFF, info=Info.OFF)
-    oce.add(keys=OpCode.ON, info=Info.ON)
-    oce.add(keys=OpCode.RESET_GNSS, info=Info.RESET_GNSS)
-    oce.add(keys=OpCode.REQ_CORE_HK, info=Info.REQ_CORE_HK)
-    oce.add(keys=OpCode.ENABLE_CORE_HK, info=Info.ENABLE_CORE_HK)
-    oce.add(keys=OpCode.DISABLE_CORE_HK, info=Info.DISABLE_CORE_HK)
-    oce.add(keys=OpCode.REQ_SKYVIEW_HK, info=Info.REQ_SKYVIEW_HK)
-    oce.add(keys=OpCode.ENABLE_SKYVIEW_HK, info=Info.ENABLE_SKYVIEW_HK)
-    oce.add(keys=OpCode.DISABLE_SKYVIEW_HK, info=Info.DISABLE_SKYVIEW_HK)
-    defs.add_service(
-        name=CustomServiceList.GPS_CTRL.value,
-        info="GPS/GNSS Controller",
-        op_code_entry=oce,
-    )
+def create_gnss_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("gnss_ctrl", "GNSS Ctrl", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
 
 
 def pack_gps_command(  # noqa: C901
-    object_id: bytes, q: DefaultPusQueueHelper, op_code: str
+    object_id: bytes, q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa: C901:
-    if op_code in OpCode.RESET_GNSS:
-        # TODO: This needs to be re-implemented
-        _LOGGER.warning("Reset pin handling needs to be re-implemented")
-    if op_code in OpCode.ENABLE_CORE_HK:
+    if cmd_str == OpCode.RESET_GNSS:
+        for val in AcsBoardSides:
+            print("{:<2}: {:<20}".format(val, val.name))
+        board_side = int(input("Select Board Side \n" ""))
+        q.add_log_cmd(f"GPS: {Info.RESET_GNSS}")
+        q.add_pus_tc(
+            create_action_cmd(
+                object_id=object_id,
+                action_id=ActIds.RESET_GNSS,
+                user_data=bytearray([board_side]),
+            )
+        )
+    if cmd_str == OpCode.ENABLE_CORE_HK:
         interval = float(input("Please specify interval in floating point seconds: "))
         if interval <= 0:
             raise ValueError("invalid interval")
@@ -90,21 +100,21 @@ def pack_gps_command(  # noqa: C901
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code in OpCode.DISABLE_CORE_HK:
+    if cmd_str == OpCode.DISABLE_CORE_HK:
         q.add_log_cmd(f"gps: {Info.DISABLE_CORE_HK}")
         q.add_pus_tc(
             create_disable_periodic_hk_command_with_diag(
                 diag=False, sid=make_sid(object_id=object_id, set_id=SetId.CORE_HK)
             )
         )
-    if op_code in OpCode.REQ_CORE_HK:
+    if cmd_str == OpCode.REQ_CORE_HK:
         q.add_log_cmd(f"GPS: {Info.REQ_CORE_HK}")
         q.add_pus_tc(
             create_request_one_hk_command(
                 sid=make_sid(object_id=object_id, set_id=SetId.CORE_HK)
             )
         )
-    if op_code in OpCode.ENABLE_SKYVIEW_HK:
+    if cmd_str == OpCode.ENABLE_SKYVIEW_HK:
         interval = float(input("Please specify interval in floating point seconds: "))
         if interval <= 0:
             raise ValueError("invalid interval")
@@ -116,24 +126,24 @@ def pack_gps_command(  # noqa: C901
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code in OpCode.DISABLE_SKYVIEW_HK:
+    if cmd_str == OpCode.DISABLE_SKYVIEW_HK:
         q.add_log_cmd(f"gps: {Info.DISABLE_SKYVIEW_HK}")
         q.add_pus_tc(
             create_disable_periodic_hk_command_with_diag(
                 diag=False, sid=make_sid(object_id=object_id, set_id=SetId.SKYVIEW_HK)
             )
         )
-    if op_code in OpCode.REQ_SKYVIEW_HK:
+    if cmd_str == OpCode.REQ_SKYVIEW_HK:
         q.add_log_cmd(f"GPS: {Info.REQ_SKYVIEW_HK}")
         q.add_pus_tc(
             create_request_one_hk_command(
                 sid=make_sid(object_id=object_id, set_id=SetId.SKYVIEW_HK)
             )
         )
-    if op_code in OpCode.ON:
+    if cmd_str == OpCode.ON:
         q.add_log_cmd(f"GPS: {Info.ON}")
         q.add_pus_tc(create_mode_command(object_id, Mode.ON, 0))
-    if op_code in OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"GPS: {Info.OFF}")
         q.add_pus_tc(create_mode_command(object_id, Mode.OFF, 0))
 
@@ -193,9 +203,7 @@ def handle_core_data(pw: PrintWrapper, hk_data: bytes):
     )
     pw.dlog(f"GNSS Date: {date_string}")
     pw.dlog(f"Unix seconds {unix_seconds}")
-    FsfwTmTcPrinter.get_validity_buffer(
-        validity_buffer=hk_data[current_idx:], num_vars=14
-    )
+    pw.dlog(get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=14))
 
 
 def handle_skyview_data(pw: PrintWrapper, hk_data: bytes):
@@ -255,6 +263,4 @@ def handle_skyview_data(pw: PrintWrapper, hk_data: bytes):
                 used[idx],
             )
         )
-    FsfwTmTcPrinter.get_validity_buffer(
-        validity_buffer=hk_data[current_idx:], num_vars=6
-    )
+    pw.dlog(get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=6))

eive_tmtc/tmtc/acs/gyros.py

@@ -3,6 +3,7 @@ import logging
 import struct
 
 from spacepackets.ecss import PusTelecommand
+from tmtccmd.config import CmdTreeNode
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s201_fsfw_health import pack_set_health_cmd_data, FsfwHealth
 from tmtccmd.pus.s201_fsfw_health import Subservice
@@ -59,7 +60,7 @@ GYR_SEL_DICT = {
 }
 
 
-def handle_gyr_cmd(q: DefaultPusQueueHelper, op_code: str):
+def handle_gyr_cmd(q: DefaultPusQueueHelper, cmd_str: str):
     print("Please select the Gyro Device")
     for k, v in GYR_SEL_DICT.items():
         print(f"{k}: {v[0]}")
@@ -72,23 +73,23 @@ def handle_gyr_cmd(q: DefaultPusQueueHelper, op_code: str):
         core_hk_id = AdisGyroSetId.CORE_HK
     else:
         core_hk_id = L3gGyroSetId.CORE_HK
-    if op_code == OpCode.NML:
+    if cmd_str == OpCode.NML:
         q.add_log_cmd(f"Gyro {gyr_info[0]} NORMAL mode")
         q.add_pus_tc(create_mode_command(gyr_obj_id, Mode.NORMAL, 0))
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"Gyro {gyr_info[0]} OFF mode")
         q.add_pus_tc(create_mode_command(gyr_obj_id, Mode.OFF, 0))
-    elif op_code == OpCode.CORE_HK:
+    elif cmd_str == OpCode.CORE_HK:
         q.add_log_cmd(f"Gyro  {gyr_info[0]} Core HK")
         q.add_pus_tc(create_request_one_hk_command(make_sid(gyr_obj_id, core_hk_id)))
-    elif op_code == OpCode.CFG_HK:
+    elif cmd_str == OpCode.CFG_HK:
         if not is_adis:
             raise ValueError("No config HK for L3 device")
         q.add_log_cmd(f"Gyro {gyr_info[0]} CFG HK")
         q.add_pus_tc(
             create_request_one_hk_command(make_sid(gyr_obj_id, AdisGyroSetId.CFG_HK))
         )
-    elif op_code == OpCode.SET_FAULTY:
+    elif cmd_str == OpCode.SET_FAULTY:
         q.add_log_cmd(f"Gyro {gyr_info[0]} set faulty")
         q.add_pus_tc(
             PusTelecommand(
@@ -101,7 +102,7 @@ def handle_gyr_cmd(q: DefaultPusQueueHelper, op_code: str):
         )
     else:
         logging.getLogger(__name__).warning(
-            f"invalid op code {op_code} for gyro command"
+            f"invalid op code {cmd_str} for gyro command"
         )
 
 
@@ -177,6 +178,16 @@ def handle_l3g_gyro_hk(
         pw.dlog(f"Temperature {temp} °C")
 
 
+def create_gyros_node() -> CmdTreeNode:
+    node = CmdTreeNode("gyros", "Gyroscope devices")
+    node.add_child(CmdTreeNode(OpCode.CORE_HK, "Request Core HK"))
+    node.add_child(CmdTreeNode(OpCode.CFG_HK, "Request CFG HK"))
+    node.add_child(CmdTreeNode(OpCode.NML, "Normal Mode"))
+    node.add_child(CmdTreeNode(OpCode.OFF, "Off Mode"))
+    node.add_child(CmdTreeNode(OpCode.SET_FAULTY, "Set Faulty"))
+    return node
+
+
 @tmtc_definitions_provider
 def add_gyr_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()

eive_tmtc/tmtc/acs/imtq.py

@@ -10,6 +10,8 @@ import logging
 import struct
 from typing import List
 
+from tmtccmd.config import CmdTreeNode
+
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from spacepackets.ecss.tc import PusTelecommand
@@ -29,7 +31,7 @@ from tmtccmd.pus.tc.s3_fsfw_hk import (
 )
 from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
 from tmtccmd.util import ObjectIdU32
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 
 _LOGGER = logging.getLogger(__name__)
@@ -91,6 +93,74 @@ class ImtqActionId:
     read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
 
 
+CTN = CmdTreeNode
+
+
+def create_mgt_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "mgt", "iMTQ MGT device node", hide_children_which_are_leaves=True
+    )
+    node.add_child(CmdTreeNode(OpCode.OFF, "Mode OFF"))
+    node.add_child(CmdTreeNode(OpCode.ON, "Mode ON"))
+    node.add_child(CmdTreeNode(OpCode.NORMAL, "Mode Normal"))
+    node.add_child(CmdTreeNode(OpCode.OFF, "Mode OFF"))
+    node.add_child(
+        CmdTreeNode(OpCode.REQUEST_ENG_HK_NO_TORQUE, "Request Engineering HK One Shot")
+    )
+    node.add_child(
+        CmdTreeNode(
+            OpCode.REQUEST_ENG_HK_WITH_TORQUE,
+            "Request Engineering HK One Shot during Torque",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(OpCode.ENABLE_ENG_HK_NO_TORQUE, "Enable ENG HK not torque")
+    )
+    node.add_child(
+        CmdTreeNode(OpCode.ENABLE_ENG_HK_WITH_TORQUE, "Enable ENG HK with torque")
+    )
+    node.add_child(
+        CmdTreeNode(OpCode.DISABLE_ENG_HK_NO_TORQUE, "Disable ENG HK not torque")
+    )
+    node.add_child(
+        CmdTreeNode(OpCode.DISABLE_ENG_HK_WITH_TORQUE, "Disable ENG HK with torque")
+    )
+    node.add_child(
+        CmdTreeNode(
+            OpCode.REQUEST_MGM_RAW_NO_TORQUE,
+            "Request MGM Raw Without Torque HK One Shot",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(OpCode.ENABLE_MGM_RAW_NO_TORQUE, "Enable MGM Raw Without Torque HK")
+    )
+    node.add_child(
+        CmdTreeNode(
+            OpCode.DISABLE_MGM_RAW_NO_TORQUE, "Disable MGM Raw Without Torque HK"
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            OpCode.REQUEST_MGM_RAW_WITH_TORQUE,
+            "Request MGM Raw With Torque HK One Shot",
+        )
+    )
+    node.add_child(
+        CmdTreeNode(OpCode.ENABLE_MGM_RAW_WITH_TORQUE, "Enable MGM Raw With Torque HK")
+    )
+    node.add_child(
+        CTN(OpCode.DISABLE_MGM_RAW_WITH_TORQUE, "Disable MGM Raw With Torque HK")
+    )
+    node.add_child(CTN(OpCode.POS_X_SELF_TEST, "IMTQ perform pos X self test"))
+    node.add_child(CTN(OpCode.NEG_X_SELF_TEST, "IMTQ perform neg X self test"))
+    node.add_child(CTN(OpCode.POS_Y_SELF_TEST, "IMTQ perform pos Y self test"))
+    node.add_child(CTN(OpCode.NEG_Y_SELF_TEST, "IMTQ perform neg Y self test"))
+    node.add_child(CTN(OpCode.POS_Z_SELF_TEST, "IMTQ perform pos Z self test"))
+    node.add_child(CTN(OpCode.NEG_Z_SELF_TEST, "IMTQ perform neg Z self test"))
+    node.add_child(CTN(OpCode.SET_DIPOLE, "IMTQ command dipole"))
+    return node
+
+
 @tmtc_definitions_provider
 def add_imtq_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
@@ -128,26 +198,26 @@ def add_imtq_cmds(defs: TmtcDefinitionWrapper):
     defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
 
 
-def pack_imtq_test_into(  # noqa C901
-    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+def create_imtq_command(  # noqa C901
+    object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
 ):
     q.add_log_cmd(
         f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
     )
 
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd("IMTQ: Set mode off")
         command = pack_mode_data(object_id.as_bytes, Mode.OFF, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.ON:
+    if cmd_str == OpCode.ON:
         q.add_log_cmd("IMTQ: Set mode on")
         command = pack_mode_data(object_id.as_bytes, Mode.ON, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.NORMAL:
+    if cmd_str == OpCode.NORMAL:
         q.add_log_cmd("IMTQ: Mode Normal")
         command = pack_mode_data(object_id.as_bytes, Mode.NORMAL, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.POS_X_SELF_TEST:
+    if cmd_str == OpCode.POS_X_SELF_TEST:
         q.add_log_cmd("IMTQ: Perform positive x self test")
         command = object_id.as_bytes + ImtqActionId.perform_positive_x_test
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -160,7 +230,7 @@ def pack_imtq_test_into(  # noqa C901
         sid = make_sid(object_id.as_bytes, ImtqSetId.POSITIVE_X_TEST)
         q.add_pus_tc(generate_one_hk_command(sid))
 
-    if op_code == OpCode.NEG_X_SELF_TEST:
+    if cmd_str == OpCode.NEG_X_SELF_TEST:
         q.add_log_cmd("IMTQ: Perform negative x self test")
         command = object_id.as_bytes + ImtqActionId.perform_negative_x_test
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -171,7 +241,7 @@ def pack_imtq_test_into(  # noqa C901
         sid = make_sid(object_id.as_bytes, ImtqSetId.NEGATIVE_X_TEST)
         q.add_pus_tc(generate_one_hk_command(sid))
 
-    if op_code == OpCode.POS_Y_SELF_TEST:
+    if cmd_str == OpCode.POS_Y_SELF_TEST:
         q.add_log_cmd("IMTQ: Perform positive y self test")
         command = object_id.as_bytes + ImtqActionId.perform_positive_y_test
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -183,7 +253,7 @@ def pack_imtq_test_into(  # noqa C901
         sid = make_sid(object_id.as_bytes, ImtqSetId.POSITIVE_Y_TEST)
         q.add_pus_tc(generate_one_hk_command(sid))
 
-    if op_code == OpCode.NEG_Y_SELF_TEST:
+    if cmd_str == OpCode.NEG_Y_SELF_TEST:
         q.add_log_cmd("IMTQ: Perform negative y self test")
         command = object_id.as_bytes + ImtqActionId.perform_negative_y_test
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -196,7 +266,7 @@ def pack_imtq_test_into(  # noqa C901
         sid = make_sid(object_id.as_bytes, ImtqSetId.NEGATIVE_Y_TEST)
         q.add_pus_tc(generate_one_hk_command(sid))
 
-    if op_code == OpCode.POS_Z_SELF_TEST:
+    if cmd_str == OpCode.POS_Z_SELF_TEST:
         q.add_log_cmd("IMTQ: Perform positive z self test")
         command = object_id.as_bytes + ImtqActionId.perform_positive_z_test
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -209,7 +279,7 @@ def pack_imtq_test_into(  # noqa C901
         sid = make_sid(object_id.as_bytes, ImtqSetId.POSITIVE_Y_TEST)
         q.add_pus_tc(generate_one_hk_command(sid))
 
-    if op_code == OpCode.NEG_Z_SELF_TEST:
+    if cmd_str == OpCode.NEG_Z_SELF_TEST:
         q.add_log_cmd("IMTQ: Perform negative z self test")
         command = object_id.as_bytes + ImtqActionId.perform_negative_z_test
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -220,7 +290,7 @@ def pack_imtq_test_into(  # noqa C901
         sid = make_sid(object_id.as_bytes, ImtqSetId.NEGATIVE_Z_TEST)
         q.add_pus_tc(generate_one_hk_command(sid))
 
-    if op_code in OpCode.SET_DIPOLE:
+    if cmd_str in OpCode.SET_DIPOLE:
         x_dipole = int(input("Specify X dipole [range [0, 2000] * 10^-4 * Am^2]: "))
         y_dipole = int(input("Specify Y dipole [range [0, 2000] * 10^-4 * Am^2]: "))
         z_dipole = int(input("Specify Z dipole [range [0, 2000] * 10^-4 * Am^2]: "))
@@ -241,12 +311,12 @@ def pack_imtq_test_into(  # noqa C901
             )
         )
 
-    if op_code == "10":  # doesnt seem to work anymore
+    if cmd_str == "10":  # doesnt seem to work anymore
         q.add_log_cmd("IMTQ: Get commanded dipole")
         command = object_id.as_bytes + ImtqActionId.get_commanded_dipole
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
 
-    if op_code == OpCode.ENABLE_ENG_HK_NO_TORQUE:
+    if cmd_str == OpCode.ENABLE_ENG_HK_NO_TORQUE:
         q.add_log_cmd("IMTQ: Enable ENG HK")
         interval = float(input("Please enter collection interval in seconds: "))
         cmds = create_enable_periodic_hk_command_with_interval_with_diag(
@@ -256,14 +326,14 @@ def pack_imtq_test_into(  # noqa C901
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code == OpCode.DISABLE_ENG_HK_NO_TORQUE:
+    if cmd_str == OpCode.DISABLE_ENG_HK_NO_TORQUE:
         q.add_log_cmd("IMTQ: Disable ENG HK (No Torque)")
         q.add_pus_tc(
             create_disable_periodic_hk_command_with_diag(
                 True, make_sid(object_id.as_bytes, ImtqSetId.ENG_HK_NO_TORQUE)
             )
         )
-    if op_code == OpCode.REQUEST_ENG_HK_WITH_TORQUE:
+    if cmd_str == OpCode.REQUEST_ENG_HK_WITH_TORQUE:
         q.add_log_cmd("IMTQ: Get engineering hk set with torque")
         q.add_pus_tc(
             create_request_one_diag_command(
@@ -273,7 +343,7 @@ def pack_imtq_test_into(  # noqa C901
                 )
             )
         )
-    if op_code == OpCode.ENABLE_ENG_HK_WITH_TORQUE:
+    if cmd_str == OpCode.ENABLE_ENG_HK_WITH_TORQUE:
         q.add_log_cmd("IMTQ: Enable ENG HK with torque")
         interval = float(input("Please enter collection interval in seconds: "))
         cmds = create_enable_periodic_hk_command_with_interval_with_diag(
@@ -283,14 +353,14 @@ def pack_imtq_test_into(  # noqa C901
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code == OpCode.DISABLE_ENG_HK_WITH_TORQUE:
+    if cmd_str == OpCode.DISABLE_ENG_HK_WITH_TORQUE:
         q.add_log_cmd("IMTQ: Disable ENG HK with Torque")
         q.add_pus_tc(
             create_disable_periodic_hk_command_with_diag(
                 True, make_sid(object_id.as_bytes, ImtqSetId.ENG_HK_SET_WITH_TORQUE)
             )
         )
-    if op_code == OpCode.REQUEST_ENG_HK_NO_TORQUE:
+    if cmd_str == OpCode.REQUEST_ENG_HK_NO_TORQUE:
         q.add_log_cmd("IMTQ: Get engineering hk set (no torque)")
         q.add_pus_tc(
             generate_one_diag_command(
@@ -300,7 +370,7 @@ def pack_imtq_test_into(  # noqa C901
             )
         )
 
-    if op_code == "12":
+    if cmd_str == "12":
         q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
         q.add_pus_tc(
             create_request_one_diag_command(
@@ -308,7 +378,7 @@ def pack_imtq_test_into(  # noqa C901
             )
         )
 
-    if op_code == OpCode.REQUEST_MGM_RAW_NO_TORQUE:
+    if cmd_str == OpCode.REQUEST_MGM_RAW_NO_TORQUE:
         q.add_log_cmd("IMTQ: Get raw MTM hk set")
         q.add_pus_tc(
             create_request_one_diag_command(
@@ -318,14 +388,14 @@ def pack_imtq_test_into(  # noqa C901
             )
         )
 
-    if op_code == OpCode.DISABLE_MGM_RAW_NO_TORQUE:
+    if cmd_str == OpCode.DISABLE_MGM_RAW_NO_TORQUE:
         q.add_log_cmd("IMTQ: Disable MGM RAW HK (No Torque)")
         q.add_pus_tc(
             create_disable_periodic_hk_command_with_diag(
                 True, make_sid(object_id.as_bytes, ImtqSetId.RAW_MTM_NO_TORQUE)
             )
         )
-    if op_code == OpCode.ENABLE_MGM_RAW_NO_TORQUE:
+    if cmd_str == OpCode.ENABLE_MGM_RAW_NO_TORQUE:
         q.add_log_cmd("IMTQ: Enable MGM RAW HK (No Torque)")
         interval = float(input("Please enter collection interval in seconds: "))
         cmds = create_enable_periodic_hk_command_with_interval_with_diag(
@@ -335,7 +405,7 @@ def pack_imtq_test_into(  # noqa C901
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code == OpCode.REQUEST_MGM_RAW_WITH_TORQUE:
+    if cmd_str == OpCode.REQUEST_MGM_RAW_WITH_TORQUE:
         q.add_log_cmd("IMTQ: Get raw MTM hk set")
         q.add_pus_tc(
             create_request_one_diag_command(
@@ -344,7 +414,7 @@ def pack_imtq_test_into(  # noqa C901
                 )
             )
         )
-    if op_code == OpCode.ENABLE_MGM_RAW_WITH_TORQUE:
+    if cmd_str == OpCode.ENABLE_MGM_RAW_WITH_TORQUE:
         q.add_log_cmd("IMTQ: Enable MGM RAW HK (No Torque)")
         interval = float(input("Please enter collection interval in seconds: "))
         cmds = create_enable_periodic_hk_command_with_interval_with_diag(
@@ -354,7 +424,7 @@ def pack_imtq_test_into(  # noqa C901
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code == OpCode.DISABLE_MGM_RAW_WITH_TORQUE:
+    if cmd_str == OpCode.DISABLE_MGM_RAW_WITH_TORQUE:
         q.add_log_cmd("IMTQ: Disable MGM RAW HK (No Torque)")
         q.add_pus_tc(
             create_disable_periodic_hk_command_with_diag(
@@ -473,7 +543,7 @@ def handle_dipole_set(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(f"Dipole Y: {dipole_y}")
     pw.dlog(f"Dipole Z: {dipole_z}")
     pw.dlog(f"Current torque duration: {current_torque_duration}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[fmt_len:], 2)
+    pw.dlog(get_validity_buffer_str(hk_data[fmt_len:], 2))
 
 
 def unpack_eng_hk(hk_data: bytes) -> List:
@@ -513,9 +583,7 @@ def handle_eng_set(pw: PrintWrapper, hk_data: bytes, torque_on: bool):
     for k, v in zip(ENG_HK_HEADERS, content_list):
         pw.dlog(f"{k.ljust(30)}: {v}")
     pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=num_of_vars
-        )
+        get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=num_of_vars)
     )
 
 
@@ -527,9 +595,7 @@ def handle_status_set(pw: PrintWrapper, hk_data: bytes):
     for k, v in zip(STATUS_HEADERS, content_list):
         pw.dlog(f"{k.ljust(30)}: {v}")
     pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=num_of_vars
-        )
+        get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=num_of_vars)
     )
 
 
@@ -550,9 +616,7 @@ def handle_calibrated_mtm_measurement(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(str(header_list))
     pw.dlog(str(content_list))
     pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=num_of_vars
-        )
+        get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=num_of_vars)
     )
 
 
@@ -574,9 +638,7 @@ def handle_raw_mtm_measurement(pw: PrintWrapper, hk_data: bytes, torque_status:
     pw.dlog(str(header_list))
     pw.dlog(str(content_list))
     pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=num_of_vars
-        )
+        get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=num_of_vars)
     )
 
 
@@ -713,7 +775,5 @@ def handle_self_test_data(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(str(header_list))
     pw.dlog(str(content_list))
     pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=num_of_vars
-        )
+        get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=num_of_vars)
     )

eive_tmtc/tmtc/acs/mgms.py

@@ -2,7 +2,7 @@ import enum
 import struct
 
 from eive_tmtc.config.definitions import CustomServiceList
-from tmtccmd.config import OpCodeEntry
+from tmtccmd.config import CmdTreeNode, OpCodeEntry
 
 import eive_tmtc.config.object_ids as obj_ids
 from eive_tmtc.config.object_ids import (
@@ -47,17 +47,17 @@ MGM_SEL_DICT = {
 }
 
 
-def handle_mgm_cmd(q: DefaultPusQueueHelper, op_code: str):
+def handle_mgm_cmd(q: DefaultPusQueueHelper, cmd_str: str):
     print("Please select the MGM Device")
     for k, v in MGM_SEL_DICT.items():
         print(f"{k}: {v[0]}")
     sel_idx = int(input("Select MGM device by index: "))
     mgm_info = MGM_SEL_DICT[MgmSel(sel_idx)]
     mgm_obj_id = mgm_info[1]
-    if op_code == OpCode.NORMAL:
+    if cmd_str == OpCode.NORMAL:
         q.add_log_cmd(f"Gyro {mgm_info[0]} NORMAL mode")
         q.add_pus_tc(create_mode_command(mgm_obj_id, Mode.NORMAL, 0))
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"Gyro {mgm_info[0]} OFF mode")
         q.add_pus_tc(create_mode_command(mgm_obj_id, Mode.OFF, 0))
 
@@ -107,6 +107,13 @@ def handle_mgm_rm3100_hk_data(
         )
 
 
+def create_mgms_node() -> CmdTreeNode:
+    node = CmdTreeNode("mgms", "Magnetometer devices")
+    node.add_child(CmdTreeNode(OpCode.NORMAL, "Normal Mode"))
+    node.add_child(CmdTreeNode(OpCode.OFF, "Off Mode"))
+    return node
+
+
 @tmtc_definitions_provider
 def add_mgm_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()

eive_tmtc/tmtc/acs/reaction_wheels.py

@@ -6,12 +6,11 @@
 """
 import enum
 import struct
-from typing import List
+from typing import List, Tuple
 
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.config.object_ids import RW1_ID, RW2_ID, RW3_ID, RW4_ID
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.config import CmdTreeNode
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.tc.s3_fsfw_hk import (
     generate_one_hk_command,
@@ -23,9 +22,8 @@ from tmtccmd.pus.tc.s3_fsfw_hk import (
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
 from spacepackets.ecss.tc import PusTelecommand
 from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode, Subservice
-from eive_tmtc.config.definitions import CustomServiceList
 from tmtccmd.util import ObjectIdU32
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 
 class OpCodesDev:
@@ -53,11 +51,11 @@ class InfoDev:
 
 
 class OpCodesAss:
-    ON = ["0", "on"]
-    NML = ["1", "nml"]
-    OFF = ["2", "off"]
-    ALL_SPEED_UP = ["3", "speed_up"]
-    ALL_SPEED_OFF = ["4", "speed_off"]
+    ON = "on"
+    NML = "nml"
+    OFF = "off"
+    ALL_SPEED_UP = "speed_up"
+    ALL_SPEED_OFF = "speed_off"
 
 
 class ActionId:
@@ -99,55 +97,45 @@ class RampTime:
     MS_1000 = 1000
 
 
-@tmtc_definitions_provider
-def add_rw_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(info=InfoDev.SPEED, keys=OpCodesDev.SPEED)
-    oce.add(info=InfoDev.ON, keys=OpCodesDev.ON)
-    oce.add(info=InfoDev.OFF, keys=OpCodesDev.OFF)
-    oce.add(info=InfoDev.NML, keys=OpCodesDev.NML)
-    oce.add(info=InfoDev.REQ_TM, keys=OpCodesDev.REQ_TM)
-    oce.add(info=InfoDev.GET_STATUS, keys=OpCodesDev.GET_STATUS)
-    oce.add(info=InfoDev.GET_TM, keys=OpCodesDev.GET_TM)
-    oce.add(info=InfoDev.ENABLE_STATUS_HK, keys=OpCodesDev.ENABLE_STATUS_HK)
-    oce.add(info=InfoDev.DISABLE_STATUS_HK, keys=OpCodesDev.DISABLE_STATUS_HK)
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_1.value,
-        info="Reaction Wheel 1",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_2.value,
-        info="Reaction Wheel 2",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_3.value,
-        info="Reaction Wheel 3",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_4.value,
-        info="Reaction Wheel 4",
-        op_code_entry=oce,
-    )
-    oce = OpCodeEntry()
-    oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
-    oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
-    oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
-    oce.add(info=InfoAss.ALL_SPEED_UP, keys=OpCodesAss.ALL_SPEED_UP)
-    oce.add(info=InfoAss.ALL_SPEED_OFF, keys=OpCodesAss.ALL_SPEED_OFF)
-    defs.add_service(
-        name=CustomServiceList.RW_ASSEMBLY.value,
-        info="Reaction Wheel Assembly",
-        op_code_entry=oce,
-    )
+def create_reaction_wheels_nodes() -> List[CmdTreeNode]:
+    nodes = []
+    for i in range(4):
+        next_node = CmdTreeNode(
+            f"rw_{i}", f"Reaction Wheel {i}", hide_children_which_are_leaves=True
+        )
+        next_node.add_child(CmdTreeNode(InfoDev.SPEED, OpCodesDev.SPEED))
+        next_node.add_child(CmdTreeNode(InfoDev.ON, OpCodesDev.ON))
+        next_node.add_child(CmdTreeNode(InfoDev.OFF, OpCodesDev.OFF))
+        next_node.add_child(CmdTreeNode(InfoDev.NML, OpCodesDev.NML))
+        next_node.add_child(CmdTreeNode(InfoDev.REQ_TM, OpCodesDev.REQ_TM))
+        next_node.add_child(CmdTreeNode(InfoDev.GET_STATUS, OpCodesDev.GET_STATUS))
+        next_node.add_child(CmdTreeNode(InfoDev.GET_TM, OpCodesDev.GET_TM))
+        next_node.add_child(
+            CmdTreeNode(InfoDev.ENABLE_STATUS_HK, OpCodesDev.ENABLE_STATUS_HK)
+        )
+        next_node.add_child(
+            CmdTreeNode(InfoDev.DISABLE_STATUS_HK, OpCodesDev.DISABLE_STATUS_HK)
+        )
+        nodes.append(next_node)
+    return nodes
 
 
-def pack_single_rw_test_into(  # noqa C901: Complexity is okay here.
-    object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
+def create_reaction_wheel_assembly_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "rw_assy", "Reaction Wheels Assembly", hide_children_which_are_leaves=True
+    )
+    node.add_child(CmdTreeNode(OpCodesAss.ON, InfoAss.ON))
+    node.add_child(CmdTreeNode(OpCodesAss.NML, InfoAss.NML))
+    node.add_child(CmdTreeNode(OpCodesAss.OFF, InfoAss.OFF))
+    node.add_child(CmdTreeNode(OpCodesAss.ALL_SPEED_UP, InfoAss.ALL_SPEED_UP))
+    node.add_child(CmdTreeNode(OpCodesAss.ALL_SPEED_OFF, InfoAss.ALL_SPEED_OFF))
+    return node
+
+
+def create_single_rw_cmd(  # noqa C901: Complexity is okay here.
+    object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, cmd_str: str
 ):
-    if op_code == OpCodesDev.SPEED:
+    if cmd_str == OpCodesDev.SPEED:
         speed, ramp_time = prompt_speed_ramp_time()
         q.add_log_cmd(
             f"RW {rw_idx}: {InfoDev.SPEED} with target "
@@ -155,41 +143,41 @@ def pack_single_rw_test_into(  # noqa C901: Complexity is okay here.
         )
         q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
 
-    if op_code == OpCodesDev.ON:
+    if cmd_str == OpCodesDev.ON:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.ON}")
         mode_data = pack_mode_data(object_id, Mode.ON, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
 
-    if op_code == OpCodesDev.NML:
+    if cmd_str == OpCodesDev.NML:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.NML}")
         mode_data = pack_mode_data(object_id, Mode.NORMAL, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
 
-    if op_code == OpCodesDev.OFF:
+    if cmd_str == OpCodesDev.OFF:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.OFF}")
         mode_data = pack_mode_data(object_id, Mode.OFF, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
 
-    if op_code == OpCodesDev.GET_TM:
+    if cmd_str == OpCodesDev.GET_TM:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.GET_TM}")
         q.add_pus_tc(
             generate_one_hk_command(
                 sid=make_sid(object_id=object_id, set_id=RwSetId.TM_SET)
             )
         )
-    if op_code == OpCodesDev.REQ_TM:
+    if cmd_str == OpCodesDev.REQ_TM:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.REQ_TM}")
         q.add_pus_tc(
             create_action_cmd(object_id=object_id, action_id=ActionId.REQUEST_TM)
         )
-    if op_code in OpCodesDev.GET_STATUS:
+    if cmd_str == OpCodesDev.GET_STATUS:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.GET_STATUS}")
         q.add_pus_tc(
             generate_one_diag_command(
                 sid=make_sid(object_id=object_id, set_id=RwSetId.STATUS_SET_ID)
             )
         )
-    if op_code in OpCodesDev.ENABLE_STATUS_HK:
+    if cmd_str == OpCodesDev.ENABLE_STATUS_HK:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.ENABLE_STATUS_HK}")
         interval = float(input("Please enter HK interval in floating point seconds: "))
         cmds = enable_periodic_hk_command_with_interval(
@@ -197,7 +185,7 @@ def pack_single_rw_test_into(  # noqa C901: Complexity is okay here.
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code in OpCodesDev.DISABLE_STATUS_HK:
+    if cmd_str == OpCodesDev.DISABLE_STATUS_HK:
         q.add_log_cmd(f"RW {rw_idx}: {InfoDev.DISABLE_STATUS_HK}")
         q.add_pus_tc(
             disable_periodic_hk_command(
@@ -206,38 +194,38 @@ def pack_single_rw_test_into(  # noqa C901: Complexity is okay here.
         )
 
 
-def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
-    if op_code in OpCodesAss.OFF:
+def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, cmd_str: str):
+    if cmd_str in OpCodesAss.OFF:
         data = pack_mode_data(object_id=object_id, mode=Mode.OFF, submode=0)
         q.add_pus_tc(
             PusTelecommand(
                 service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=data
             )
         )
-    if op_code in OpCodesAss.ON:
+    if cmd_str in OpCodesAss.ON:
         data = pack_mode_data(object_id=object_id, mode=Mode.ON, submode=0)
         q.add_pus_tc(
             PusTelecommand(
                 service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=data
             )
         )
-    if op_code in OpCodesAss.NML:
+    if cmd_str in OpCodesAss.NML:
         data = pack_mode_data(object_id=object_id, mode=Mode.NORMAL, submode=0)
         q.add_pus_tc(
             PusTelecommand(
                 service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=data
             )
         )
-    if op_code in OpCodesAss.ALL_SPEED_UP:
+    if cmd_str in OpCodesAss.ALL_SPEED_UP:
         speed, ramp_time = prompt_speed_ramp_time()
         rw_speed_up_cmd_consec(q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], speed, ramp_time)
-    if op_code in OpCodesAss.ALL_SPEED_OFF:
+    if cmd_str in OpCodesAss.ALL_SPEED_OFF:
         rw_speed_down_cmd_consec(
             q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], prompt_ramp_time()
         )
 
 
-def prompt_speed_ramp_time() -> (int, int):
+def prompt_speed_ramp_time() -> Tuple[int, int]:
     speed = int(
         input("Specify speed [0.1 RPM, 0 or range [-65000, -1000] and [1000, 65000]: ")
     )
@@ -313,7 +301,7 @@ def handle_rw_hk_data(
             f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
             "1: High Current Mode (0.6 A)"
         )
-        pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 5))
+        pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 5))
     if set_id == RwSetId.LAST_RESET:
         pw.dlog(
             f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
@@ -402,7 +390,7 @@ def handle_rw_hk_data(
         )
         if current_idx > 0:
             pw.dlog(
-                FsfwTmTcPrinter.get_validity_buffer(
+                get_validity_buffer_str(
                     validity_buffer=hk_data[current_idx:], num_vars=27
                 )
             )

eive_tmtc/tmtc/acs/star_tracker.py

@@ -9,13 +9,12 @@ import datetime
 import enum
 import logging
 import struct
+from typing import List, Tuple
 
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.utility.input_helper import InputHelper
 from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.config import CmdTreeNode
 from tmtccmd.pus.tc.s3_fsfw_hk import (
     create_request_one_diag_command,
     create_request_one_hk_command,
@@ -23,16 +22,27 @@ from tmtccmd.pus.tc.s3_fsfw_hk import (
     disable_periodic_hk_command,
     make_sid,
 )
+from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd, create_scalar_u8_parameter
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
 from tmtccmd.util import ObjectIdU32
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 from eive_tmtc.config.object_ids import STR_ASSEMBLY, STAR_TRACKER_ID
 
 _LOGGER = logging.getLogger(__name__)
 
 
+class FirmwareTarget(enum.IntEnum):
+    MAIN = 1
+    BACKUP = 10
+
+
+class ParamId(enum.IntEnum):
+    FIRMWARE_TARGET = 1
+    FIRMWARE_TARGET_PERSISTENT = 2
+
+
 class StarTrackerActionId(enum.IntEnum):
     PING = 0
     BOOT = 1
@@ -95,7 +105,10 @@ class StarTrackerActionId(enum.IntEnum):
     LOGLEVEL = 81
     LOG_SUBSCRIPTION = 82
     DEBUG_CAMERA = 83
+    # Legacy variable.
     FIRMWARE_UPDATE = 84
+    FIRMWARE_UPDATE_MAIN = 84
+    FIRMWARE_UPDATE_BACKUP = 101
     SET_TIME_FROM_SYS_TIME = 87
     ADD_SECONDARY_TM_TO_NORMAL_MODE = 95
     RESET_SECONDARY_TM_SET = 96
@@ -119,12 +132,23 @@ class OpCode:
     UPLOAD_IMAGE = "upload_image"
     DOWNLOAD_IMAGE = "download_image"
     SET_IMG_PROCESSOR_MODE = "set_img_proc_mode"
-    FW_UPDATE = "fw_update"
+    FW_UPDATE_MAIN = "fw_update_main"
     SET_TIME_FROM_SYS_TIME = "set_time"
     RELOAD_JSON_CFG_FILE = "reload_json_cfg"
+    FW_UPDATE_BACKUP = "fw_update_backup"
+    SELECT_TARGET_FIRMWARE_MAIN = "fw_main"
+    SELECT_TARGET_FIRMWARE_BACKUP = "fw_backup"
+    SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT = "fw_main_persistent"
+    SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT = "fw_backup_persistent"
+    REQUEST_VERSION = "request_version"
 
 
 class Info:
+    ON_BOOTLOADER = "Switch to Mode On, Submode Bootloder"
+    ON_FIRMWARE = "Switch to Mode On, Submode Firmware"
+    NORMAL = "Switch to Mode Normal"
+    OFF = "Switch to Mode Off"
+    PING = "Send Ping"
     ONE_SHOOT_HK = "One shoot HK Set"
     ENABLE_HK = "Enable Periodic HK"
     DISABLE_HK = "Disable Periodic HK"
@@ -135,9 +159,17 @@ class Info:
     DOWNLOAD_IMAGE = "Download Optical Image"
     TAKE_IMAGE = "Take Image"
     SET_IMG_PROCESSOR_MODE = "Set Image Processor Mode"
-    FW_UPDATE = "Firmware Update"
+    FW_UPDATE_MAIN = "Update Main Firmware Slot"
+    FW_UPDATE_BACKUP = "Update Backup Firmware Slot"
     SET_TIME_FROM_SYS_TIME = "Set time from system time"
     RELOAD_JSON_CFG_FILE = "Reload JSON configuration file. Reboot still required."
+    SELECT_TARGET_FIRMWARE_MAIN = "Select main firmware slot"
+    SELECT_TARGET_FIRMWARE_BACKUP = "Select backup firmware slot"
+    SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT = "Select main firmware slot persistently"
+    SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT = (
+        "Select backup firmware slot persistently"
+    )
+    REQUEST_VERSION = "Request the active Firmware Version"
 
 
 class SetId(enum.IntEnum):
@@ -159,6 +191,7 @@ class SetId(enum.IntEnum):
     BLOBS = 92
     CENTROID = 93
     CENTROIDS = 94
+    BLOB_STATS = 102
 
 
 class DataSetRequest(enum.IntEnum):
@@ -241,68 +274,64 @@ def prompt_object_id_mode_cmd() -> bytes:
 
 
 def pack_star_tracker_commands(  # noqa C901
-    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+    object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
 ):
     q.add_log_cmd(
         f"Generate command for star tracker with object id: {object_id.as_hex_string}"
     )
     obyt = object_id.as_bytes
-    if op_code == OpCode.ON_BOOTLOADER:
+    if cmd_str == OpCode.ON_BOOTLOADER:
         q.add_log_cmd("Star tracker: Mode On, Submode Bootloader")
         data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.ON, Submode.BOOTLOADER)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.ON_FIRMWARE:
+    if cmd_str == OpCode.ON_FIRMWARE:
         q.add_log_cmd("Star tracker: Mode On, Submode Firmware")
         data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.ON, Submode.FIRMWARE)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.NORMAL:
+    if cmd_str == OpCode.NORMAL:
         q.add_log_cmd("Star tracker: Mode Normal")
         data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.NORMAL, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd("Star tracker: Mode Off")
         data = pack_mode_data(prompt_object_id_mode_cmd(), Mode.OFF, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.ONE_SHOOT_HK:
+    if cmd_str == OpCode.ONE_SHOOT_HK:
         q.add_log_cmd(Info.ONE_SHOOT_HK)
         request_dataset(q, DataSetRequest.ONESHOT)
-    if op_code == OpCode.ENABLE_HK:
+    if cmd_str == OpCode.ENABLE_HK:
         q.add_log_cmd(Info.ENABLE_HK)
         request_dataset(q, DataSetRequest.ENABLE)
-    if op_code == OpCode.DISABLE_HK:
+    if cmd_str == OpCode.DISABLE_HK:
         q.add_log_cmd(Info.DISABLE_HK)
         request_dataset(q, DataSetRequest.DISABLE)
-    if op_code == "4":
+    if cmd_str == "4":
         q.add_log_cmd("Star tracker: Mode Raw")
         data = pack_mode_data(obyt, Mode.RAW, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.PING:
+    if cmd_str == OpCode.PING:
         q.add_log_cmd("Star tracker: Ping")
         data = obyt + struct.pack("!I", StarTrackerActionId.PING)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "6":
+    if cmd_str == "6":
         q.add_log_cmd("Star tracker:  Switch to bootloader program")
         data = obyt + struct.pack(
             "!I", StarTrackerActionId.SWITCH_TO_BOOTLOADER_PROGRAM
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "7":
+    if cmd_str == "7":
         q.add_log_cmd("Star tracker: Temperature request")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TEMPERATURE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "8":
-        q.add_log_cmd("Star tracker: Request version")
-        data = obyt + struct.pack("!I", StarTrackerActionId.REQ_VERSION)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "9":
+    if cmd_str == "9":
         q.add_log_cmd("Star tracker: Request interface")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_INTERFACE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "10":
+    if cmd_str == "10":
         q.add_log_cmd("Star tracker: Request power")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_POWER)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "11":
+    if cmd_str == "11":
         q.add_log_cmd("Star tracker: Set subscription parameters")
         json_file = get_config_file()
         data = (
@@ -311,15 +340,15 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "12":
+    if cmd_str == "12":
         q.add_log_cmd("Star tracker: Boot")
         data = obyt + struct.pack("!I", StarTrackerActionId.BOOT)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "13":
+    if cmd_str == "13":
         q.add_log_cmd("Star tracker: Request time")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TIME)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.UPLOAD_IMAGE:
+    if cmd_str == OpCode.UPLOAD_IMAGE:
         q.add_log_cmd("Star tracker: Upload image")
         image = get_upload_image()
         data = (
@@ -328,7 +357,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(image, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.DOWNLOAD_IMAGE:
+    if cmd_str == OpCode.DOWNLOAD_IMAGE:
         q.add_log_cmd(f"STR: {Info.DOWNLOAD_IMAGE}")
         path = input("Specify storage location (default - /mnt/sd0/startracker): ")
         if not path:
@@ -339,7 +368,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(path, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "17":
+    if cmd_str == "17":
         q.add_log_cmd("Star tracker: Set limits")
         json_file = get_config_file()
         data = (
@@ -348,7 +377,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "18":
+    if cmd_str == "18":
         q.add_log_cmd("Star tracker: Set tracking parameters")
         json_file = get_config_file()
         data = (
@@ -357,7 +386,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "19":
+    if cmd_str == "19":
         q.add_log_cmd("Star tracker: Mounting")
         json_file = get_config_file()
         data = (
@@ -366,7 +395,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "20":
+    if cmd_str == "20":
         q.add_log_cmd("Star tracker: Camera")
         json_file = get_config_file()
         data = (
@@ -375,7 +404,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "22":
+    if cmd_str == "22":
         q.add_log_cmd("Star tracker: Centroiding")
         json_file = get_config_file()
         data = (
@@ -384,7 +413,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "23":
+    if cmd_str == "23":
         q.add_log_cmd("Star tracker: LISA")
         json_file = get_config_file()
         data = (
@@ -393,7 +422,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "24":
+    if cmd_str == "24":
         q.add_log_cmd("Star tracker: Matching")
         json_file = get_config_file()
         data = (
@@ -402,7 +431,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "25":
+    if cmd_str == "25":
         q.add_log_cmd("Star tracker: Validation")
         json_file = get_config_file()
         data = (
@@ -411,7 +440,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "26":
+    if cmd_str == "26":
         q.add_log_cmd("Star tracker: Algo")
         json_file = get_config_file()
         data = (
@@ -420,7 +449,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.TAKE_IMAGE:
+    if cmd_str == OpCode.TAKE_IMAGE:
         q.add_log_cmd("Star tracker: Take image")
         actionid = int(
             input("Specify parameter ID (4: take image, 7: get histogram): ")
@@ -431,11 +460,11 @@ def pack_star_tracker_commands(  # noqa C901
             + struct.pack("!B", actionid)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "28":
+    if cmd_str == "28":
         q.add_log_cmd("Star tracker: Stop str helper")
         data = obyt + struct.pack("!I", StarTrackerActionId.STOP_STR_HELPER)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "30":
+    if cmd_str == "30":
         q.add_log_cmd("Star tracker: Set name of download image")
         filename = input("Specify download image name: ")
         data = (
@@ -444,15 +473,15 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(filename, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "31":
+    if cmd_str == "31":
         q.add_log_cmd("Star tracker: Request histogram")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_HISTOGRAM)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "32":
+    if cmd_str == "32":
         q.add_log_cmd("Star tracker: Request contrast")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CONTRAST)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "33":
+    if cmd_str == "33":
         q.add_log_cmd("Star tracker: Set json filename")
         json_file = get_config_file()
         data = (
@@ -461,11 +490,11 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "35":
+    if cmd_str == "35":
         q.add_log_cmd("Star tracker: Flash read")
         data = pack_read_command(obyt)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "36":
+    if cmd_str == "36":
         q.add_log_cmd("Star tracker: Set flash read filename")
         filename = input("Specify filename: ")
         data = (
@@ -474,15 +503,15 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(filename, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "37":
+    if cmd_str == "37":
         q.add_log_cmd("Star tracker: Get checksum")
         data = pack_checksum_command(obyt)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.SET_TIME_FROM_SYS_TIME:
+    if cmd_str == OpCode.SET_TIME_FROM_SYS_TIME:
         q.add_log_cmd(Info.SET_TIME_FROM_SYS_TIME)
         data = obyt + struct.pack("!I", StarTrackerActionId.SET_TIME_FROM_SYS_TIME)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "39":
+    if cmd_str == "39":
         q.add_log_cmd("Star tracker: Download Centroid")
         id = 0
         data = (
@@ -491,7 +520,7 @@ def pack_star_tracker_commands(  # noqa C901
             + struct.pack("!B", id)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "41":
+    if cmd_str == "41":
         q.add_log_cmd("Star tracker: Download matched star")
         id = 0
         data = (
@@ -500,7 +529,7 @@ def pack_star_tracker_commands(  # noqa C901
             + struct.pack("!B", id)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "42":
+    if cmd_str == "42":
         q.add_log_cmd("Star tracker: Download DB Image")
         id = 0
         data = (
@@ -509,7 +538,7 @@ def pack_star_tracker_commands(  # noqa C901
             + struct.pack("!B", id)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "43":
+    if cmd_str == "43":
         q.add_log_cmd("Star tracker: Download Blob Pixel")
         id = 0
         type = 1  # 0 - normal, 1 - fast
@@ -520,7 +549,7 @@ def pack_star_tracker_commands(  # noqa C901
             + struct.pack("!B", type)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "47":
+    if cmd_str == "47":
         q.add_log_cmd("Star tracker: FPGA action")
         id = 3
         data = (
@@ -529,19 +558,19 @@ def pack_star_tracker_commands(  # noqa C901
             + struct.pack("!B", id)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "48":
+    if cmd_str == "48":
         q.add_log_cmd("Star tracker: Unlock")
         data = obyt + struct.pack("!I", StarTrackerActionId.UNLOCK)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "49":
+    if cmd_str == "49":
         q.add_log_cmd("Star tracker: Request camera parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CAMERA_PARAMS)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "50":
+    if cmd_str == "50":
         q.add_log_cmd("Star tracker: Request limits")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LIMITS)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.SET_IMG_PROCESSOR_MODE:
+    if cmd_str == OpCode.SET_IMG_PROCESSOR_MODE:
         q.add_log_cmd(Info.SET_IMG_PROCESSOR_MODE)
         json_file = get_config_file()
         data = (
@@ -550,7 +579,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "52":
+    if cmd_str == "52":
         q.add_log_cmd("Star tracker: EGSE load ground config camera parameters")
         data = (
             obyt
@@ -558,7 +587,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(FileDefs.egse_ground_config, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "53":
+    if cmd_str == "53":
         q.add_log_cmd("Star tracker: EGSE load flight config camera parameters")
         data = (
             obyt
@@ -566,55 +595,55 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(FileDefs.egse_flight_config, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "54":
+    if cmd_str == "54":
         q.add_log_cmd("Star tracker: Request log level parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LOG_LEVEL)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "55":
+    if cmd_str == "55":
         q.add_log_cmd("Star tracker: Request mounting parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_MOUNTING)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "56":
+    if cmd_str == "56":
         q.add_log_cmd("Star tracker: Request image processor parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_IMAGE_PROCESSOR)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "57":
+    if cmd_str == "57":
         q.add_log_cmd("Star tracker: Request centroiding parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_CENTROIDING)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "58":
+    if cmd_str == "58":
         q.add_log_cmd("Star tracker: Request lisa parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LISA)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "59":
+    if cmd_str == "59":
         q.add_log_cmd("Star tracker: Request matching parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_MATCHING)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "60":
+    if cmd_str == "60":
         q.add_log_cmd("Star tracker: Request tracking parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_TRACKING)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "61":
+    if cmd_str == "61":
         q.add_log_cmd("Star tracker: Request validation parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_VALIDATION)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "62":
+    if cmd_str == "62":
         q.add_log_cmd("Star tracker: Request algo parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_ALGO)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "63":
+    if cmd_str == "63":
         q.add_log_cmd("Star tracker: Request subscription parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_SUBSCRIPTION)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "64":
+    if cmd_str == "64":
         q.add_log_cmd("Star tracker: Request log subscription parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_LOG_SUBSCRIPTION)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "65":
+    if cmd_str == "65":
         q.add_log_cmd("Star tracker: Request debug camera parameters")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_DEBUG_CAMERA)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "66":
+    if cmd_str == "66":
         q.add_log_cmd("Star tracker: Set log level parameters")
         json_file = get_config_file()
         data = (
@@ -623,7 +652,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "67":
+    if cmd_str == "67":
         q.add_log_cmd("Star tracker: Set log subscription parameters")
 
         json_file = get_config_file()
@@ -633,7 +662,7 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "68":
+    if cmd_str == "68":
         q.add_log_cmd("Star tracker: Set debug camera parameters")
         json_file = get_config_file()
         data = (
@@ -642,16 +671,25 @@ def pack_star_tracker_commands(  # noqa C901
             + bytearray(json_file, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.FW_UPDATE:
-        q.add_log_cmd(Info.FW_UPDATE)
+    if cmd_str == OpCode.FW_UPDATE_MAIN:
+        q.add_log_cmd(Info.FW_UPDATE_MAIN)
         firmware = get_firmware()
         data = (
             obyt
-            + struct.pack("!I", StarTrackerActionId.FIRMWARE_UPDATE)
+            + struct.pack("!I", StarTrackerActionId.FIRMWARE_UPDATE_MAIN)
             + firmware.encode()
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.ADD_SECONDARY_TM_TO_NORMAL_MODE:
+    if cmd_str == OpCode.FW_UPDATE_BACKUP:
+        q.add_log_cmd(Info.FW_UPDATE_BACKUP)
+        firmware = get_firmware()
+        data = (
+            obyt
+            + struct.pack("!I", StarTrackerActionId.FIRMWARE_UPDATE_BACKUP)
+            + firmware.encode()
+        )
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
+    if cmd_str == OpCode.ADD_SECONDARY_TM_TO_NORMAL_MODE:
         q.add_log_cmd(Info.ADD_SECONDARY_TM_TO_NORMAL_MODE)
         for val in SetId:
             print("{:<2}: {:<20}".format(val, val.name))
@@ -663,7 +701,7 @@ def pack_star_tracker_commands(  # noqa C901
                 struct.pack("!I", set_id),
             )
         )
-    if op_code == OpCode.RESET_SECONDARY_TM_SET:
+    if cmd_str == OpCode.RESET_SECONDARY_TM_SET:
         q.add_log_cmd(Info.RESET_SECONDARY_TM_SET)
         q.add_pus_tc(
             create_action_cmd(
@@ -671,18 +709,55 @@ def pack_star_tracker_commands(  # noqa C901
                 StarTrackerActionId.RESET_SECONDARY_TM_SET,
             )
         )
-    if op_code == OpCode.READ_SECONDARY_TM_SET:
+    if cmd_str == OpCode.READ_SECONDARY_TM_SET:
         q.add_log_cmd(Info.READ_SECONDARY_TM_SET)
         q.add_pus_tc(
             create_action_cmd(
                 STAR_TRACKER_ID, StarTrackerActionId.READ_SECONDARY_TM_SET
             )
         )
-    if op_code == OpCode.RELOAD_JSON_CFG_FILE:
+    if cmd_str == OpCode.RELOAD_JSON_CFG_FILE:
         q.add_log_cmd(Info.RELOAD_JSON_CFG_FILE)
         q.add_pus_tc(
             create_action_cmd(STAR_TRACKER_ID, StarTrackerActionId.RELOAD_JSON_CFG_FILE)
         )
+    if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_MAIN:
+        q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_MAIN)
+        q.add_pus_tc(create_update_firmware_target_cmd(False, FirmwareTarget.MAIN))
+    if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_BACKUP:
+        q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_BACKUP)
+        q.add_pus_tc(create_update_firmware_target_cmd(False, FirmwareTarget.BACKUP))
+    if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT:
+        q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_BACKUP)
+        q.add_pus_tc(create_update_firmware_target_cmd(True, FirmwareTarget.MAIN))
+    if cmd_str == OpCode.SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT:
+        q.add_log_cmd(Info.SELECT_TARGET_FIRMWARE_BACKUP)
+        q.add_pus_tc(create_update_firmware_target_cmd(True, FirmwareTarget.BACKUP))
+    if cmd_str == OpCode.REQUEST_VERSION:
+        q.add_log_cmd(Info.REQUEST_VERSION)
+        q.add_pus_tc(
+            create_action_cmd(
+                object_id=STAR_TRACKER_ID, action_id=StarTrackerActionId.REQ_VERSION
+            )
+        )
+
+
+def create_update_firmware_target_cmd(
+    persistent: bool, fw_target: FirmwareTarget
+) -> PusTelecommand:
+    if persistent:
+        param_id = ParamId.FIRMWARE_TARGET_PERSISTENT
+    else:
+        param_id = ParamId.FIRMWARE_TARGET
+    return create_load_param_cmd(
+        parameter=create_scalar_u8_parameter(
+            STAR_TRACKER_ID,
+            0,
+            param_id,
+            fw_target,
+        ),
+        apid=0,
+    )
 
 
 def request_dataset(q: DefaultPusQueueHelper, req_type: DataSetRequest):
@@ -814,6 +889,10 @@ def handle_str_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
         handle_centroids_set(hk_data, pw)
     elif set_id == SetId.CONTRAST:
         handle_contrast_set(hk_data, pw)
+    elif set_id == SetId.BLOB_STATS:
+        handle_blob_stats_set(hk_data, pw)
+    elif set_id == SetId.VERSION:
+        handle_version_set(hk_data, pw)
     else:
         _LOGGER.warning(f"HK parsing for Star Tracker set ID {set_id} unimplemented")
 
@@ -836,6 +915,25 @@ def unpack_time_hk(hk_data: bytes, current_idx: int, pw: PrintWrapper) -> int:
     return current_idx
 
 
+def handle_version_set(hk_data: bytes, pw: PrintWrapper):
+    pw.dlog("Received Version Set")
+    if len(hk_data) != 16:
+        _LOGGER.warning(
+            f"Version dataset HK with length {len(hk_data)} of unexpected size"
+        )
+    current_idx = unpack_time_hk(hk_data, 0, pw)
+    program = struct.unpack("!B", hk_data[current_idx : current_idx + 1])[0]
+    pw.dlog(f"Program: {program}")
+    current_idx += 1
+    major = struct.unpack("!B", hk_data[current_idx : current_idx + 1])[0]
+    pw.dlog(f"Major: {major}")
+    current_idx += 1
+    minor = struct.unpack("!B", hk_data[current_idx : current_idx + 1])[0]
+    pw.dlog(f"Minor: {minor}")
+    current_idx += 1
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=5))
+
+
 def handle_temperature_set(hk_data: bytes, pw: PrintWrapper):
     pw.dlog("Received temperature set")
     if len(hk_data) < 24:
@@ -850,7 +948,7 @@ def handle_temperature_set(hk_data: bytes, pw: PrintWrapper):
     pw.dlog(f"CMOS Temperature: {cmos_temp}")
     pw.dlog(f"FPGA Temperature: {fpga_temp}")
     current_idx += fmt_len
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 5)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 5))
 
 
 def handle_solution_set(hk_data: bytes, pw: PrintWrapper):
@@ -924,7 +1022,7 @@ def handle_solution_set(hk_data: bytes, pw: PrintWrapper):
     solution_strategy = hk_data[current_idx]
     pw.dlog(f"Solution strategy: {solution_strategy}")
     current_idx += 1
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 23)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 23))
 
 
 def handle_blob_set(hk_data: bytes, pw: PrintWrapper):
@@ -935,7 +1033,7 @@ def handle_blob_set(hk_data: bytes, pw: PrintWrapper):
     current_idx = unpack_time_hk(hk_data, 0, pw)
     blob_count = struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
     pw.dlog(f"Blob count: {blob_count}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx + 4 :], num_vars=3)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx + 4 :], num_vars=3))
 
 
 def handle_blobs_set(hk_data: bytes, pw: PrintWrapper):
@@ -963,7 +1061,7 @@ def handle_blobs_set(hk_data: bytes, pw: PrintWrapper):
     for idx in range(8):
         pw.dlog("{:<8} {:<8}".format(x_coords[idx], y_coords[idx]))
     assert current_idx == len(hk_data) - 1
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=7)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=7))
 
 
 def handle_centroid_set(hk_data: bytes, pw: PrintWrapper):
@@ -977,7 +1075,7 @@ def handle_centroid_set(hk_data: bytes, pw: PrintWrapper):
     current_idx += 4
     pw.dlog(f"Centroid count: {centroid_count}")
     assert current_idx == len(hk_data) - 1
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
 
 
 def handle_centroids_set(hk_data: bytes, pw: PrintWrapper):
@@ -1004,7 +1102,7 @@ def handle_centroids_set(hk_data: bytes, pw: PrintWrapper):
             )
         )
     assert current_idx == len(hk_data) - 1
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=6))
 
 
 def handle_matched_centroids_set(hk_data: bytes, pw: PrintWrapper):
@@ -1048,7 +1146,7 @@ def handle_matched_centroids_set(hk_data: bytes, pw: PrintWrapper):
             )
         )
     assert current_idx == len(hk_data) - 1
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=8))
 
 
 def handle_auto_blob_set(hk_data: bytes, pw: PrintWrapper):
@@ -1066,7 +1164,7 @@ def handle_auto_blob_set(hk_data: bytes, pw: PrintWrapper):
     current_idx += inc_len
     assert current_idx == len(hk_data) - 1
     pw.dlog(f"Threshold {threshold}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
 
 
 def handle_histo_or_contrast_set(name: str, hk_data: bytes, pw: PrintWrapper):
@@ -1116,6 +1214,35 @@ def handle_contrast_set(hk_data: bytes, pw: PrintWrapper):
     handle_histo_or_contrast_set("Contrast", hk_data, pw)
 
 
+def handle_blob_stats_set(hk_data: bytes, pw: PrintWrapper):
+    pw.dlog("Received Blob Stats Set")
+    if len(hk_data) < 65:
+        raise ValueError(
+            f"Matched BlobStats set with length {len(hk_data)} too short. Expected 65 bytes."
+        )
+    current_idx = unpack_time_hk(hk_data, 0, pw)
+
+    def fill_list(current_idx: int) -> Tuple[List[int], int]:
+        list_to_fill = []
+        for _ in range(16):
+            list_to_fill.append(hk_data[current_idx])
+            current_idx += 1
+        return list_to_fill, current_idx
+
+    noise_list, current_idx = fill_list(current_idx)
+    threshold_list, current_idx = fill_list(current_idx)
+    lvalid_list, current_idx = fill_list(current_idx)
+    oflow_list, current_idx = fill_list(current_idx)
+    pw.dlog("Index | Noise | Threshold | LValid | Oflow")
+    for i in range(16):
+        pw.dlog(
+            "{:<3} {:<3} {:<3} {:<3} {:<3}".format(
+                i, noise_list[i], threshold_list[i], lvalid_list[i], oflow_list[i]
+            )
+        )
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=6))
+
+
 def handle_star_tracker_action_replies(
     action_id: int, pw: PrintWrapper, custom_data: bytes
 ):
@@ -1155,27 +1282,16 @@ def handle_read_secondary_tm_set(pw: PrintWrapper, custom_data: bytes):
             pw.dlog(f"Unknown Set ID {set_id}")
 
 
-@tmtc_definitions_provider
-def add_str_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(OpCode.ON_BOOTLOADER, "Mode On, Submode Bootloader")
-    oce.add(OpCode.ON_FIRMWARE, "Mode On, Submode Firmware")
-    oce.add(OpCode.NORMAL, "Mode Normal")
-    oce.add(OpCode.OFF, "Mode Off")
-    oce.add(OpCode.PING, "Star Tracker: Ping")
-    oce.add(OpCode.TAKE_IMAGE, "Take Image")
-    oce.add(OpCode.UPLOAD_IMAGE, Info.UPLOAD_IMAGE)
-    oce.add(OpCode.DOWNLOAD_IMAGE, Info.DOWNLOAD_IMAGE)
-    oce.add(OpCode.ONE_SHOOT_HK, Info.ONE_SHOOT_HK)
-    oce.add(OpCode.ENABLE_HK, Info.ENABLE_HK)
-    oce.add(OpCode.DISABLE_HK, Info.DISABLE_HK)
-    oce.add(OpCode.SET_IMG_PROCESSOR_MODE, Info.SET_IMG_PROCESSOR_MODE)
-    oce.add(
-        OpCode.ADD_SECONDARY_TM_TO_NORMAL_MODE, Info.ADD_SECONDARY_TM_TO_NORMAL_MODE
+def create_str_node() -> CmdTreeNode:
+    # Zip the two classes together into a dictionary
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode(
+        "str", "Star Tracker Device", hide_children_which_are_leaves=True
     )
-    oce.add(OpCode.READ_SECONDARY_TM_SET, Info.READ_SECONDARY_TM_SET)
-    oce.add(OpCode.RESET_SECONDARY_TM_SET, Info.RESET_SECONDARY_TM_SET)
-    oce.add(OpCode.FW_UPDATE, Info.FW_UPDATE)
-    oce.add(OpCode.SET_TIME_FROM_SYS_TIME, Info.SET_TIME_FROM_SYS_TIME)
-    oce.add(OpCode.RELOAD_JSON_CFG_FILE, Info.RELOAD_JSON_CFG_FILE)
-    defs.add_service(CustomServiceList.STAR_TRACKER.value, "Star Tracker", oce)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node

eive_tmtc/tmtc/acs/subsystem.py

@@ -1,22 +1,19 @@
 import enum
-from typing import Tuple, Dict
+from typing import Dict, Tuple
 
-from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
 from spacepackets.ecss import PusTelecommand
-from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
-from eive_tmtc.config.object_ids import ACS_SUBSYSTEM_ID
-from eive_tmtc.config.definitions import CustomServiceList
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
+    CmdTreeNode,
 )
 from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservices
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from eive_tmtc.config.object_ids import ACS_SUBSYSTEM_ID
+from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode
+from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
 
 
-class OpCode(str, enum.Enum):
+class CmdStr(str, enum.Enum):
     OFF = "off"
     SAFE = "safe"
     DETUMBLE = "detumble"
@@ -41,23 +38,20 @@ class Info(str, enum.Enum):
 
 
 HANDLER_LIST: Dict[str, Tuple[int, int, str]] = {
-    OpCode.OFF: (AcsMode.OFF, 0, Info.OFF),
-    OpCode.SAFE: (AcsMode.SAFE, SafeSubmode.DEFAULT, Info.SAFE),
-    OpCode.DETUMBLE: (AcsMode.SAFE, SafeSubmode.DETUMBLE, Info.DETUMBLE),
-    OpCode.IDLE: (AcsMode.IDLE, 0, Info.IDLE),
-    OpCode.PTG_TARGET: (AcsMode.PTG_TARGET, 0, Info.PTG_TARGET),
-    OpCode.PTG_TARGET_GS: (AcsMode.PTG_TARGET_GS, 0, Info.PTG_TARGET_GS),
-    OpCode.PTG_TARGET_NADIR: (AcsMode.PTG_NADIR, 0, Info.PTG_TARGET_NADIR),
-    OpCode.PTG_TARGET_INERTIAL: (AcsMode.PTG_INERTIAL, 0, Info.PTG_TARGET_INERTIAL),
+    CmdStr.OFF: (AcsMode.OFF, 0, Info.OFF),
+    CmdStr.SAFE: (AcsMode.SAFE, SafeSubmode.DEFAULT, Info.SAFE),
+    CmdStr.DETUMBLE: (AcsMode.SAFE, SafeSubmode.DETUMBLE, Info.DETUMBLE),
+    CmdStr.IDLE: (AcsMode.IDLE, 0, Info.IDLE),
+    CmdStr.PTG_TARGET: (AcsMode.PTG_TARGET, 0, Info.PTG_TARGET),
+    CmdStr.PTG_TARGET_GS: (AcsMode.PTG_TARGET_GS, 0, Info.PTG_TARGET_GS),
+    CmdStr.PTG_TARGET_NADIR: (AcsMode.PTG_NADIR, 0, Info.PTG_TARGET_NADIR),
+    CmdStr.PTG_TARGET_INERTIAL: (AcsMode.PTG_INERTIAL, 0, Info.PTG_TARGET_INERTIAL),
 }
 
 
-@service_provider(CustomServiceList.ACS_SS.value)
-def build_acs_subsystem_cmd(p: ServiceProviderParams):
-    op_code = p.op_code
-    q = p.queue_helper
+def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_path: str):
     info_prefix = "ACS Subsystem"
-    if op_code in OpCode.REPORT_ALL_MODES:
+    if cmd_path in CmdStr.REPORT_ALL_MODES:
         q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
         q.add_pus_tc(
             PusTelecommand(
@@ -66,7 +60,7 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
                 app_data=ACS_SUBSYSTEM_ID,
             )
         )
-    mode_info_tup = HANDLER_LIST.get(op_code)
+    mode_info_tup = HANDLER_LIST.get(cmd_path)
     if mode_info_tup is None:
         return
     pack_mode_cmd_with_info(
@@ -78,10 +72,9 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
     )
 
 
-@tmtc_definitions_provider
-def add_acs_subsystem_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    for op_code, (_, _, info) in HANDLER_LIST.items():
-        oce.add(op_code, info)
-    oce.add(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
-    defs.add_service(CustomServiceList.ACS_SS, "ACS Subsystem", oce)
+def create_acs_subsystem_node() -> CmdTreeNode:
+    node = CmdTreeNode("acs", "ACS Subsystem", hide_children_which_are_leaves=True)
+    for cmd_str, (_, _, info) in HANDLER_LIST.items():
+        node.add_child(CmdTreeNode(cmd_str, info))
+    node.add_child(CmdTreeNode(CmdStr.REPORT_ALL_MODES, Info.REPORT_ALL_MODES))
+    return node

eive_tmtc/tmtc/acs/sus.py

@@ -3,7 +3,7 @@ import struct
 
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from tmtccmd.util import ObjectIdU32
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 
 class SetId(enum.IntEnum):
@@ -26,6 +26,6 @@ def handle_sus_hk(
         pw.dlog("AIN Channel | Raw Value (hex) | Raw Value (dec)")
         for idx, val in enumerate(channels):
             pw.dlog(f"{idx} | {val[0]:#06x} |" + str(val[0]).ljust(5))
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=7
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=7)
         )

eive_tmtc/tmtc/acs/sus_board.py

@@ -1,22 +1,19 @@
-from eive_tmtc.config.definitions import CustomServiceList
+from tmtccmd.config.tmtc import (
+    CmdTreeNode,
+)
+from tmtccmd.pus.s200_fsfw_mode import Mode
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
 from eive_tmtc.config.object_ids import SUS_BOARD_ASS_ID
 from eive_tmtc.tmtc.acs.acs_board import DualSideSubmode
 from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
-from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
-)
-from tmtccmd.tmtc import service_provider, DefaultPusQueueHelper
-from tmtccmd.tmtc.decorator import ServiceProviderParams
-from tmtccmd.pus.s200_fsfw_mode import Mode
 
 
 class SusOpCode:
-    SUS_ASS_NOM_SIDE = ["0", "nom"]
-    SUS_ASS_RED_SIDE = ["1", "red"]
-    SUS_ASS_DUAL_MODE = ["2", "dual"]
-    SUS_ASS_OFF = ["3", "off"]
+    SUS_ASS_NOM_SIDE = "nom"
+    SUS_ASS_RED_SIDE = "red"
+    SUS_ASS_DUAL_MODE = "dual"
+    SUS_ASS_OFF = "off"
 
 
 def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
@@ -54,34 +51,16 @@ def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
         )
 
 
-@service_provider(CustomServiceList.SUS_BRD_ASS)
-def pack_sus_cmds_prvoider(p: ServiceProviderParams):
-    op_code = p.op_code
-    q = p.queue_helper
-    pack_sus_cmds(q, op_code)
-
-
-@tmtc_definitions_provider
-def add_sus_board_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(
-        keys=SusOpCode.SUS_ASS_NOM_SIDE,
-        info="Switch SUS board to nominal side",
+def create_sus_board_node() -> CmdTreeNode:
+    node = CmdTreeNode("sus_brd_assy", "SUS board assembly")
+    node.add_child(
+        CmdTreeNode(SusOpCode.SUS_ASS_RED_SIDE, "Switch SUS board to nominal side")
     )
-    oce.add(
-        keys=SusOpCode.SUS_ASS_RED_SIDE,
-        info="Switch SUS board to redundant side",
+    node.add_child(
+        CmdTreeNode(SusOpCode.SUS_ASS_RED_SIDE, "Switch SUS board to redundant side")
     )
-    oce.add(
-        keys=SusOpCode.SUS_ASS_OFF,
-        info="Switch off SUS board",
-    )
-    oce.add(
-        keys=SusOpCode.SUS_ASS_DUAL_MODE,
-        info="Switch SUS board to dual mode",
-    )
-    defs.add_service(
-        name=CustomServiceList.SUS_BRD_ASS.value,
-        info="SUS Board Assembly",
-        op_code_entry=oce,
+    node.add_child(CmdTreeNode(SusOpCode.SUS_ASS_OFF, "Switch SUS board off"))
+    node.add_child(
+        CmdTreeNode(SusOpCode.SUS_ASS_DUAL_MODE, "Switch SUS board to dual mode")
     )
+    return node

eive_tmtc/tmtc/com/__init__.py

@@ -1 +0,0 @@
-from .subsystem import add_com_subsystem_cmds

eive_tmtc/tmtc/com/ccsds_handler.py

@@ -8,6 +8,8 @@
 import enum
 import struct
 
+from tmtccmd.config import CmdTreeNode
+
 from eive_tmtc.config.definitions import CustomServiceList
 from spacepackets.ecss.tc import PusTelecommand
 from tmtccmd.config.tmtc import (
@@ -51,11 +53,11 @@ class Submode(enum.IntEnum):
 
 
 class OpCode:
-    ENABLE_WITH_LOW_DATARATE = ["enable_low_datarate"]
-    ENABLE_WITH_HIGH_DATARATE = ["enable_high_datarate"]
-    DISABLE = ["disable"]
-    ENABLE_ACTION = ["legacy_enable_tx"]
-    DISABLE_ACTION = ["legacy_disable_tx"]
+    ENABLE_WITH_LOW_DATARATE = "enable_low_datarate"
+    ENABLE_WITH_HIGH_DATARATE = "enable_high_datarate"
+    DISABLE = "disable"
+    ENABLE_ACTION = "legacy_enable_tx"
+    DISABLE_ACTION = "legacy_disable_tx"
 
 
 class Info:
@@ -67,29 +69,29 @@ class Info:
 
 
 def pack_ccsds_handler_command(  # noqa C901
-    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+    object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
 ):
     obyt = object_id.as_bytes
     prefix = "CCSDS Handler"
     q.add_log_cmd(f"Testing CCSDS handler with object id: {object_id.as_hex_string}")
-    if op_code in OpCode.ENABLE_WITH_LOW_DATARATE:
+    if cmd_str in OpCode.ENABLE_WITH_LOW_DATARATE:
         q.add_log_cmd(f"{prefix}: {Info.ENABLE_WITH_LOW_DATARATE}")
         q.add_pus_tc(create_mode_command(obyt, Mode.ON, Submode.DATARATE_LOW))
-    if op_code in OpCode.ENABLE_WITH_HIGH_DATARATE:
+    if cmd_str in OpCode.ENABLE_WITH_HIGH_DATARATE:
         q.add_log_cmd(f"{prefix}: {Info.ENABLE_WITH_HIGH_DATARATE}")
         q.add_pus_tc(create_mode_command(obyt, Mode.ON, Submode.DATARATE_HIGH))
-    if op_code in OpCode.DISABLE:
+    if cmd_str in OpCode.DISABLE:
         q.add_log_cmd(f"{prefix}: {Info.DISABLE}")
         q.add_pus_tc(create_mode_command(obyt, Mode.OFF, 0))
-    if op_code in OpCode.ENABLE_ACTION:
+    if cmd_str in OpCode.ENABLE_ACTION:
         q.add_log_cmd(f"{prefix}: {Info.ENABLE_ACTION}")
         command = obyt + struct.pack("!I", ActionId.EN_TRANSMITTER)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code in OpCode.DISABLE_ACTION:
+    if cmd_str in OpCode.DISABLE_ACTION:
         q.add_log_cmd(f"{prefix}: {Info.DISABLE_ACTION}")
         command = obyt + struct.pack("!I", ActionId.DIS_TRANSMITTER)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "4":
+    if cmd_str == "4":
         q.add_log_cmd("CCSDS Handler: Set arbitrary bitrate")
         bitrate = int(input("Specify bit rate (bps): "))
         command = (
@@ -98,24 +100,36 @@ def pack_ccsds_handler_command(  # noqa C901
             + struct.pack("!I", bitrate)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "5":
+    if cmd_str == "5":
         q.add_log_cmd("CCSDS Handler: Enable tx clock manipulator")
         command = obyt + struct.pack("!I", ActionId.ENABLE_TX_CLK_MANIPULATOR)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "6":
+    if cmd_str == "6":
         q.add_log_cmd("CCSDS Handler: Disable tx clock manipulator")
         command = obyt + struct.pack("!I", ActionId.DISABLE_TX_CLK_MANIPULATOR)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "7":
+    if cmd_str == "7":
         q.add_log_cmd("CCSDS Handler: Update tx data on rising edge of tx clock")
         command = obyt + struct.pack("!I", ActionId.UPDATE_ON_RISING_EDGE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "8":
+    if cmd_str == "8":
         q.add_log_cmd("CCSDS Handler: Update tx data on falling edge of tx clock")
         command = obyt + struct.pack("!I", ActionId.UPDATE_ON_FALLING_EDGE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
 
 
+def create_ccsds_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("ccsds", "CCSDS Handler", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
+
+
 @tmtc_definitions_provider
 def add_ccsds_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()

eive_tmtc/tmtc/com/pdec_handler.py

@@ -60,51 +60,53 @@ class Info:
     RESET_NO_INIT = "Reset with mandatory initialization"
 
 
-def pack_pdec_handler_test(
-    object_id: bytearray, q: DefaultPusQueueHelper, op_code: str
+def pack_pdec_handler_commands(
+    object_id: bytes, q: DefaultPusQueueHelper, cmd_str: str
 ):
     q.add_log_cmd(f"Testing PDEC handler with object id: {object_id.hex()}")
     prefix = "PDEC Handler "
-    if op_code == OpCode.PRINT_CLCW:
+    if cmd_str == OpCode.PRINT_CLCW:
         q.add_log_cmd(f"{prefix}: {Info.PRINT_CLCW}")
         command = object_id + CommandId.PRINT_CLCW
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.PRINT_MON_REG:
+    if cmd_str == OpCode.PRINT_MON_REG:
         q.add_log_cmd(f"{prefix}: {Info.PRINT_MON_REG}")
         command = object_id + CommandId.PRINT_PDEC_MON
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.POSITIVE_WINDOW:
+    if cmd_str == OpCode.POSITIVE_WINDOW:
         q.add_log_cmd(f"{prefix}: {Info.POSITIVE_WINDOW}")
         pw = int(input("Specify positive window to set: "))
         q.add_pus_tc(
             create_load_param_cmd(
-                create_scalar_u8_parameter(
+                parameter=create_scalar_u8_parameter(
                     object_id,
                     0,
                     ParameterId.POSITIVE_WINDOW,
                     pw,
-                )
+                ),
+                apid=0,
             )
         )
-    if op_code == OpCode.NEGATIVE_WINDOW:
+    if cmd_str == OpCode.NEGATIVE_WINDOW:
         q.add_log_cmd(f"{prefix}: {Info.NEGATIVE_WINDOW}")
         nw = int(input("Specify negative window to set: "))
         q.add_pus_tc(
             create_load_param_cmd(
-                create_scalar_u8_parameter(
+                parameter=create_scalar_u8_parameter(
                     object_id,
                     0,
                     ParameterId.NEGATIVE_WINDOW,
                     nw,
-                )
+                ),
+                apid=0,
             )
         )
-    if op_code == OpCode.RESET_NO_INIT:
+    if cmd_str == OpCode.RESET_NO_INIT:
         q.add_log_cmd(f"{prefix}: {Info.RESET_NO_INIT}")
         q.add_pus_tc(
             create_action_cmd(object_id=object_id, action_id=ActionId.RESET_NO_INIT)
         )
-    if op_code == OpCode.RESET_WITH_INIT:
+    if cmd_str == OpCode.RESET_WITH_INIT:
         q.add_log_cmd(f"{prefix}: {Info.RESET_WITH_INIT}")
         q.add_pus_tc(
             create_action_cmd(object_id=object_id, action_id=ActionId.RESET_WITH_INIT)

eive_tmtc/tmtc/com/subsystem.py

@@ -1,30 +1,25 @@
 import enum
 
-from eive_tmtc.config.definitions import CustomServiceList
-from eive_tmtc.config.object_ids import COM_SUBSYSTEM_ID
-from eive_tmtc.tmtc.com.syrlinks_handler import Datarate
-from tmtccmd.pus.s20_fsfw_param_defs import create_scalar_u8_parameter
-
-from .defs import Mode as ComMode
-
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
-)
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
-from tmtccmd.pus.s200_fsfw_mode import (
-    create_mode_command,
-    create_read_mode_command,
-    create_announce_mode_command,
-    create_announce_mode_recursive_command,
+    CmdTreeNode,
 )
 from tmtccmd.pus.s20_fsfw_param import (
     create_load_param_cmd,
+    create_scalar_u32_parameter,
 )
+from tmtccmd.pus.s20_fsfw_param_defs import create_scalar_u8_parameter
+from tmtccmd.pus.s200_fsfw_mode import (
+    create_announce_mode_command,
+    create_announce_mode_recursive_command,
+    create_mode_command,
+    create_read_mode_command,
+)
+from tmtccmd.tmtc import DefaultPusQueueHelper
 
-from tmtccmd.pus.s20_fsfw_param import create_scalar_u32_parameter
+from eive_tmtc.config.object_ids import COM_SUBSYSTEM_ID
+from eive_tmtc.tmtc.com.syrlinks_handler import Datarate
+
+from .defs import Mode as ComMode
 
 
 class ParameterId(enum.IntEnum):
@@ -48,9 +43,9 @@ class OpCode:
 
 class Info:
     RX_ONLY = "Syrlinks RX Only"
-    TX_AND_RX_DEF_DATARATE = "Syrlinks with TX default datarate"
-    TX_AND_RX_LOW_DATARATE = "Syrlinks with TX low datarate (BPSK modulation)"
-    TX_AND_RX_HIGH_DATARATE = "Syrlinks with TX high datarate (0QPSK modulation)"
+    TX_AND_RX_DEF_RATE = "Syrlinks with TX default datarate"
+    TX_AND_RX_LOW_RATE = "Syrlinks with TX low datarate (BPSK modulation)"
+    TX_AND_RX_HIGH_RATE = "Syrlinks with TX high datarate (0QPSK modulation)"
     TX_AND_RX_CARRIER_WAVE = "Syrlinks with TX carrier wave"
     UPDATE_DEFAULT_DATARATE_LOW = "Configure default low datarate (BPSK modulation)"
     UPDATE_DEFAULT_DATARATE_HIGH = "Configure default high datarate (0QPSK modulation)"
@@ -60,30 +55,27 @@ class Info:
     ANNOUNCE_MODE_RECURSIVE = "Announce mode recursively"
 
 
-@service_provider(CustomServiceList.COM_SS)
-def build_com_subsystem_cmd(p: ServiceProviderParams):  # noqa C901
-    q = p.queue_helper
-    o = p.op_code
+def build_com_subsystem_procedure(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
     prefix = "COM Subsystem"
-    if o == OpCode.RX_ONLY:
+    if cmd_str == OpCode.RX_ONLY:
         q.add_log_cmd(Info.RX_ONLY)
         q.add_pus_tc(create_mode_command(COM_SUBSYSTEM_ID, ComMode.RX_ONLY, 0))
-    elif o == OpCode.TX_AND_RX_DEF_RATE:
-        q.add_log_cmd(Info.TX_AND_RX_DEF_DATARATE)
+    elif cmd_str == OpCode.TX_AND_RX_DEF_RATE:
+        q.add_log_cmd(Info.TX_AND_RX_DEF_RATE)
         q.add_pus_tc(
             create_mode_command(COM_SUBSYSTEM_ID, ComMode.RX_AND_TX_DEF_DATARATE, 0)
         )
-    elif o == OpCode.TX_AND_RX_LOW_RATE:
-        q.add_log_cmd(Info.TX_AND_RX_LOW_DATARATE)
+    elif cmd_str == OpCode.TX_AND_RX_LOW_RATE:
+        q.add_log_cmd(Info.TX_AND_RX_LOW_RATE)
         q.add_pus_tc(
             create_mode_command(COM_SUBSYSTEM_ID, ComMode.RX_AND_TX_LOW_DATARATE, 0)
         )
-    elif o == OpCode.TX_AND_RX_HIGH_RATE:
-        q.add_log_cmd(Info.TX_AND_RX_HIGH_DATARATE)
+    elif cmd_str == OpCode.TX_AND_RX_HIGH_RATE:
+        q.add_log_cmd(Info.TX_AND_RX_HIGH_RATE)
         q.add_pus_tc(
             create_mode_command(COM_SUBSYSTEM_ID, ComMode.RX_AND_TX_HIGH_DATARATE, 0)
         )
-    if o == OpCode.UPDATE_DEFAULT_DATARATE_LOW:
+    if cmd_str == OpCode.UPDATE_DEFAULT_DATARATE_LOW:
         q.add_log_cmd(f"{prefix}: {Info.UPDATE_DEFAULT_DATARATE_LOW}")
         q.add_pus_tc(
             create_load_param_cmd(
@@ -95,7 +87,7 @@ def build_com_subsystem_cmd(p: ServiceProviderParams):  # noqa C901
                 )
             )
         )
-    if o == OpCode.UPDATE_DEFAULT_DATARATE_HIGH:
+    if cmd_str == OpCode.UPDATE_DEFAULT_DATARATE_HIGH:
         q.add_log_cmd(f"{prefix}: {Info.UPDATE_DEFAULT_DATARATE_HIGH}")
         q.add_pus_tc(
             create_load_param_cmd(
@@ -107,12 +99,12 @@ def build_com_subsystem_cmd(p: ServiceProviderParams):  # noqa C901
                 )
             )
         )
-    elif o == OpCode.TX_AND_RX_CARRIER_WAVE:
+    elif cmd_str == OpCode.TX_AND_RX_CARRIER_WAVE:
         q.add_log_cmd(Info.TX_AND_RX_CARRIER_WAVE)
         q.add_pus_tc(
             create_mode_command(COM_SUBSYSTEM_ID, ComMode.RX_AND_TX_CARRIER_WAVE, 0)
         )
-    elif o == OpCode.CHANGE_TRANSMITTER_TIMEOUT:
+    elif cmd_str == OpCode.CHANGE_TRANSMITTER_TIMEOUT:
         timeout = int(input("Specify timeout to set [ms]: "))
         q.add_log_cmd(Info.CHANGE_TRANSMITTER_TIMEOUT)
         q.add_pus_tc(
@@ -125,28 +117,24 @@ def build_com_subsystem_cmd(p: ServiceProviderParams):  # noqa C901
                 )
             )
         )
-    elif o == OpCode.READ_MODE:
+    elif cmd_str == OpCode.READ_MODE:
         q.add_log_cmd(Info.READ_MODE)
         q.add_pus_tc(create_read_mode_command(COM_SUBSYSTEM_ID))
-    elif o == OpCode.ANNOUNCE_MODE:
+    elif cmd_str == OpCode.ANNOUNCE_MODE:
         q.add_log_cmd(Info.ANNOUNCE_MODE)
         q.add_pus_tc(create_announce_mode_command(COM_SUBSYSTEM_ID))
-    elif o == OpCode.ANNOUNCE_MODE_RECURSIVE:
+    elif cmd_str == OpCode.ANNOUNCE_MODE_RECURSIVE:
         q.add_log_cmd(Info.ANNOUNCE_MODE_RECURSIVE)
         q.add_pus_tc(create_announce_mode_recursive_command(COM_SUBSYSTEM_ID))
 
 
-@tmtc_definitions_provider
-def add_com_subsystem_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(OpCode.RX_ONLY, Info.RX_ONLY)
-    oce.add(OpCode.TX_AND_RX_LOW_RATE, Info.TX_AND_RX_LOW_DATARATE)
-    oce.add(OpCode.TX_AND_RX_HIGH_RATE, Info.TX_AND_RX_HIGH_DATARATE)
-    oce.add(OpCode.TX_AND_RX_DEF_RATE, Info.TX_AND_RX_DEF_DATARATE)
-    oce.add(OpCode.UPDATE_DEFAULT_DATARATE_LOW, Info.UPDATE_DEFAULT_DATARATE_LOW)
-    oce.add(OpCode.UPDATE_DEFAULT_DATARATE_HIGH, Info.UPDATE_DEFAULT_DATARATE_HIGH)
-    oce.add(OpCode.CHANGE_TRANSMITTER_TIMEOUT, Info.CHANGE_TRANSMITTER_TIMEOUT)
-    oce.add(OpCode.READ_MODE, Info.READ_MODE)
-    oce.add(OpCode.ANNOUNCE_MODE, Info.ANNOUNCE_MODE)
-    oce.add(OpCode.ANNOUNCE_MODE_RECURSIVE, Info.ANNOUNCE_MODE_RECURSIVE)
-    defs.add_service(CustomServiceList.COM_SS, "COM Subsystem", oce)
+def create_com_subsystem_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("com", "COM Subsystem", hide_children_which_are_leaves=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node

eive_tmtc/tmtc/com/syrlinks_handler.py

@@ -8,30 +8,32 @@
 import enum
 import logging
 import math
-
-from eive_tmtc.pus_tm.defs import PrintWrapper
-from eive_tmtc.tmtc.com.defs import Mode as ComMode
-from eive_tmtc.config.definitions import CustomServiceList
-from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
-)
-from tmtccmd.tmtc import DefaultPusQueueHelper
-from tmtccmd.pus.tc.s3_fsfw_hk import (
-    make_sid,
-    create_request_one_diag_command,
-    create_request_one_hk_command,
-    create_enable_periodic_hk_command_with_interval_with_diag,
-    create_disable_periodic_hk_command_with_diag,
-)
-from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.pus.s200_fsfw_mode import Mode, create_mode_command
-from eive_tmtc.config.object_ids import SYRLINKS_HANDLER_ID
 import struct
 
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.config.tmtc import (
+    CmdTreeNode,
+    OpCodeEntry,
+    TmtcDefinitionWrapper,
+    tmtc_definitions_provider,
+)
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
+from tmtccmd.pus.s200_fsfw_mode import Mode, create_mode_command
+from tmtccmd.pus.tc.s3_fsfw_hk import (
+    create_disable_periodic_hk_command_with_diag,
+    create_enable_periodic_hk_command_with_interval_with_diag,
+    create_request_one_diag_command,
+    create_request_one_hk_command,
+    make_sid,
+)
+from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.util import ObjectIdU32
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+
+from eive_tmtc.config.definitions import CustomServiceList
+from eive_tmtc.config.object_ids import SYRLINKS_HANDLER_ID
+from eive_tmtc.pus_tm.defs import PrintWrapper
+from eive_tmtc.pus_tm.hk import HkTmInfo
+from eive_tmtc.tmtc.com.defs import Mode as ComMode
 
 
 class SetId(enum.IntEnum):
@@ -57,6 +59,7 @@ class OpCode:
     HK_TX_REGS = "hk_tx_regs"
     TX_STATUS = "tx_status"
     RX_STATUS = "rx_status"
+    SET_CW = "tx_cw"
 
 
 class Info:
@@ -102,6 +105,18 @@ class Datarate(enum.IntEnum):
     HIGH_RATE_MODULATION_0QPSK = 1
 
 
+def create_syrlinks_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("syrlinks", "Syrlinks Device", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
+
+
 @tmtc_definitions_provider
 def add_syrlinks_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
@@ -143,42 +158,42 @@ def normal_mode_cmd(q: DefaultPusQueueHelper, info: str, submode: int):
 
 
 def pack_syrlinks_command(  # noqa C901: Complexity okay here.
-    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+    object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
 ):
     obyt = object_id.as_bytes
     prefix = "Syrlinks"
     q.add_log_cmd(f"Testing Syrlinks with object id: {object_id.as_hex_string}")
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"{prefix}: {Info.OFF}")
         q.add_pus_tc(create_mode_command(obyt, Mode.OFF, 0))
-    if op_code == OpCode.ON:
+    if cmd_str == OpCode.ON:
         q.add_log_cmd(f"{prefix}: {Info.ON}")
         q.add_pus_tc(create_mode_command(obyt, Mode.ON, ComMode.RX_ONLY))
-    if op_code == OpCode.NORMAL_RX_ONLY:
+    if cmd_str == OpCode.NORMAL_RX_ONLY:
         normal_mode_cmd(q, Info.NORMAL_RX_ONLY, ComMode.RX_ONLY)
-    if op_code == OpCode.NORMAL_RX_AND_TX_LOW_DATARATE:
+    if cmd_str == OpCode.NORMAL_RX_AND_TX_LOW_DATARATE:
         normal_mode_cmd(
             q, Info.NORMAL_RX_AND_TX_LOW_DATARATE, ComMode.RX_AND_TX_LOW_DATARATE
         )
-    if op_code == OpCode.NORMAL_RX_AND_TX_DEF_DATARATE:
+    if cmd_str == OpCode.NORMAL_RX_AND_TX_DEF_DATARATE:
         normal_mode_cmd(
             q, Info.NORMAL_RX_AND_TX_DEF_DATARATE, ComMode.RX_AND_TX_DEF_DATARATE
         )
-    if op_code == OpCode.NORMAL_RX_AND_TX_HIGH_DATARATE:
+    if cmd_str == OpCode.NORMAL_RX_AND_TX_HIGH_DATARATE:
         normal_mode_cmd(
             q, Info.NORMAL_RX_AND_TX_HIGH_DATARATE, ComMode.RX_AND_TX_HIGH_DATARATE
         )
-    if op_code in OpCode.NORMAL_RX_AND_TX_CW:
+    if cmd_str in OpCode.NORMAL_RX_AND_TX_CW:
         normal_mode_cmd(q, Info.NORMAL_RX_AND_TX_CW, ComMode.RX_AND_TX_CARRIER_WAVE)
-    if op_code in OpCode.HK_RX_REGS:
+    if cmd_str in OpCode.HK_RX_REGS:
         q.add_log_cmd(f"{prefix}: {Info.HK_RX_REGS}")
         sid = make_sid(obyt, SetId.RX_REGISTERS_DATASET)
         q.add_pus_tc(create_request_one_diag_command(sid))
-    if op_code in OpCode.HK_TEMPS:
+    if cmd_str in OpCode.HK_TEMPS:
         q.add_log_cmd(f"{prefix}: {Info.HK_TEMPS}")
         sid = make_sid(obyt, SetId.TEMPERATURE_SET_ID)
         q.add_pus_tc(create_request_one_hk_command(sid))
-    if op_code in OpCode.ENABLE_HK_RX_REGS:
+    if cmd_str in OpCode.ENABLE_HK_RX_REGS:
         q.add_log_cmd(f"{prefix}: {Info.ENABLE_HK_RX_REGS}")
         sid = make_sid(obyt, SetId.RX_REGISTERS_DATASET)
         interval = float(input("HK interval in floating point seconds"))
@@ -187,11 +202,11 @@ def pack_syrlinks_command(  # noqa C901: Complexity okay here.
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code in OpCode.DISABLE_HK_RX_REGS:
+    if cmd_str in OpCode.DISABLE_HK_RX_REGS:
         q.add_log_cmd(f"{prefix}: {Info.DISABLE_HK_RX_REGS}")
         sid = make_sid(obyt, SetId.RX_REGISTERS_DATASET)
         q.add_pus_tc(create_disable_periodic_hk_command_with_diag(True, sid))
-    if op_code in OpCode.ENABLE_HK_TX_REGS:
+    if cmd_str in OpCode.ENABLE_HK_TX_REGS:
         q.add_log_cmd(f"{prefix}: {Info.ENABLE_HK_TX_REGS}")
         sid = make_sid(obyt, SetId.TX_REGISTERS_DATASET)
         interval = float(input("HK interval in floating point seconds"))
@@ -200,86 +215,96 @@ def pack_syrlinks_command(  # noqa C901: Complexity okay here.
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code in OpCode.DISABLE_HK_TX_REGS:
+    if cmd_str in OpCode.DISABLE_HK_TX_REGS:
         q.add_log_cmd(f"{prefix}: {Info.DISABLE_HK_TX_REGS}")
         sid = make_sid(obyt, SetId.TX_REGISTERS_DATASET)
         q.add_pus_tc(create_disable_periodic_hk_command_with_diag(True, sid))
-    if op_code in OpCode.HK_TX_REGS:
+    if cmd_str in OpCode.HK_TX_REGS:
         q.add_log_cmd(f"{prefix}: {Info.HK_TX_REGS}")
         sid = make_sid(obyt, SetId.TX_REGISTERS_DATASET)
         q.add_pus_tc(create_request_one_diag_command(sid))
-    if op_code in OpCode.TX_STATUS:
+    if cmd_str in OpCode.TX_STATUS:
         q.add_log_cmd(f"{prefix}: {Info.TX_STATUS}")
         command = obyt + struct.pack("!I", CommandId.READ_TX_STATUS)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "9":
+    if cmd_str == "9":
         q.add_log_cmd("Syrlinks: Read TX waveform")
         command = obyt + struct.pack("!I", CommandId.READ_TX_WAVEFORM)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "10":
+    if cmd_str == "10":
         q.add_log_cmd("Syrlinks: Read TX AGC value high byte")
         command = obyt + struct.pack("!I", CommandId.READ_TX_AGC_VALUE_HIGH_BYTE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "11":
+    if cmd_str == "11":
         q.add_log_cmd("Syrlinks: Read TX AGC value low byte")
         command = obyt + struct.pack("!I", CommandId.READ_TX_AGC_VALUE_LOW_BYTE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "12":
+    if cmd_str == "12":
         q.add_log_cmd("Syrlinks: Write LCL config")
         command = obyt + struct.pack("!I", CommandId.WRITE_LCL_CONFIG)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "13":
+    if cmd_str == "13":
         q.add_log_cmd("Syrlinks: Read RX status registers")
         command = obyt + struct.pack("!I", CommandId.READ_RX_STATUS_REGISTERS)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "14":
+    if cmd_str == "14":
         q.add_log_cmd("Syrlinks: Read LCL config register")
         command = obyt + struct.pack("!I", CommandId.READ_LCL_CONFIG_REGISTER)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "15":
+    if cmd_str == "15":
         q.add_log_cmd("Syrlinks: Set waveform OQPSK")
         command = obyt + struct.pack("!I", CommandId.SET_WAVEFORM_OQPSK)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "16":
+    if cmd_str == "16":
         q.add_log_cmd("Syrlinks: Set waveform BPSK")
         command = obyt + struct.pack("!I", CommandId.SET_WAVEFORM_BPSK)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "17":
+    if cmd_str == "17":
         q.add_log_cmd("Syrlinks: Set second config")
         command = obyt + struct.pack("!I", CommandId.SET_SECOND_CONFIG)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "18":
+    if cmd_str == "18":
         q.add_log_cmd("Syrlinks: Enable debug printout")
         command = obyt + struct.pack("!I", CommandId.ENABLE_DEBUG)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "19":
+    if cmd_str == "19":
         q.add_log_cmd("Syrlinks: Disable debug printout")
         command = obyt + struct.pack("!I", CommandId.DISABLE_DEBUG)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
 
 
-def handle_syrlinks_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
-    if set_id == SetId.RX_REGISTERS_DATASET:
-        return handle_syrlinks_rx_registers_dataset(pw, hk_data)
-    elif set_id == SetId.TX_REGISTERS_DATASET:
-        return handle_syrlinks_tx_registers_dataset(pw, hk_data)
-    elif set_id == SetId.TEMPERATURE_SET_ID:
-        return handle_syrlinks_temp_dataset(pw, hk_data)
+def handle_syrlinks_hk_data(
+    hk_info: HkTmInfo,
+    pw: PrintWrapper,
+):
+    if hk_info.set_id == SetId.RX_REGISTERS_DATASET:
+        return handle_syrlinks_rx_registers_dataset(hk_info, pw)
+    elif hk_info.set_id == SetId.TX_REGISTERS_DATASET:
+        return handle_syrlinks_tx_registers_dataset(hk_info, pw)
+    elif hk_info.set_id == SetId.TEMPERATURE_SET_ID:
+        return handle_syrlinks_temp_dataset(hk_info, pw)
     else:
-        pw.dlog(f"Service 3 TM: Syrlinks handler reply with unknown set ID {set_id}")
+        pw.dlog(
+            f"Service 3 TM: Syrlinks handler reply with unknown set ID {hk_info.set_id}"
+        )
 
 
-def handle_syrlinks_temp_dataset(pw: PrintWrapper, hk_data: bytes):
+def handle_syrlinks_temp_dataset(hk_info: HkTmInfo, pw: PrintWrapper):
+    hk_data = hk_info.hk_data
     if len(hk_data) < 8:
         raise ValueError("expected  at least 8 bytes of HK data")
     temp_power_amplifier = struct.unpack("!f", hk_data[0:4])[0]
     temp_baseband_board = struct.unpack("!f", hk_data[4:8])[0]
     pw.dlog(f"Temperatur Power Amplifier [C]: {temp_power_amplifier}")
     pw.dlog(f"Temperatur Baseband Board [C]: {temp_baseband_board}")
-    pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[8:], 2))
+    pw.dlog(get_validity_buffer_str(hk_data[8:], 2))
 
 
-def handle_syrlinks_rx_registers_dataset(pw: PrintWrapper, hk_data: bytes):
+def handle_syrlinks_rx_registers_dataset(
+    hk_info: HkTmInfo,
+    pw: PrintWrapper,
+):
+    hk_data = hk_info.hk_data
     header_list = [
         "RX Status",
         "RX Sensitivity",
@@ -339,17 +364,45 @@ def handle_syrlinks_rx_registers_dataset(pw: PrintWrapper, hk_data: bytes):
     validity_buffer = hk_data[22:]
     for header, content in zip(header_list, content_list):
         pw.dlog(f"{header}: {content}")
-    pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(validity_buffer=validity_buffer, num_vars=8)
+    pw.dlog(get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=8))
+    print(f"Carrier Detect: {carrier_detect}")
+    print(f"Carrier Lock: {carrier_lock}")
+    print(f"Data Lock (data clock recovery loop lock status): {data_lock}")
+    print(f"Data Valid (valid if TEB < 10e-5): {data_valid}")
+    print(f"Data Lock (data clock recovery loop lock status): {data_lock}")
+    print(f"RX AGC Inhibit: {rx_agc_inhibit}")
+    print(f"RX AGC: {rx_agc}")
+    print(f"Eb / E0RX [dB]: {eb_to_n0}")
+    cursor = hk_info.db_con.cursor()
+    cursor.execute(
+        """
+        CREATE TABLE IF NOT EXISTS syrlinks_rx_regs(
+            packet_uuid TEXT PRIMARY KEY,
+            generation_time TEXT,
+            carrier_detect NUM,
+            carrier_lock NUM,
+            data_lock NUM,
+            data_valid NUM,
+            rx_agc_inhibit NUM,
+            rx_agc NUM,
+            eb_to_e0_rx NUM
+    )"""
     )
-    pw.dlog(f"Carrier Detect: {carrier_detect}")
-    pw.dlog(f"Carrier Lock: {carrier_lock}")
-    pw.dlog(f"Data Lock (data clock recovery loop lock status): {data_lock}")
-    pw.dlog(f"Data Valid (valid if TEB < 10e-5): {data_valid}")
-    pw.dlog(f"Data Lock (data clock recovery loop lock status): {data_lock}")
-    pw.dlog(f"RX AGC Inhibit: {rx_agc_inhibit}")
-    pw.dlog(f"RX AGC: {rx_agc}")
-    pw.dlog(f"Eb / E0RX [dB]: {eb_to_n0}")
+    cursor.execute(
+        "INSERT INTO syrlinks_rx_regs VALUES(?, ?, ?, ?, ?, ?, ?, ?, ?)",
+        (
+            str(hk_info.packet_uuid),
+            hk_info.packet_datetime,
+            carrier_detect,
+            carrier_lock,
+            data_lock,
+            data_valid,
+            rx_agc_inhibit,
+            rx_agc,
+            eb_to_n0,
+        ),
+    )
+    hk_info.db_con.commit()
 
 
 class TxConv(enum.IntEnum):
@@ -375,11 +428,11 @@ WAVEFORM_STRINGS = ["OFF", "CW", "QPSK", "0QPSK", "PCM/PM", "PSK/PM", "BPSK"]
 
 
 def handle_syrlinks_tx_registers_dataset(
+    hk_info: HkTmInfo,
     pw: PrintWrapper,
-    hk_data: bytes,
 ):
     header_list = ["TX Status Raw", "TX Waveform", "TX AGC value"]
-    tx_status = hk_data[0]
+    tx_status = hk_info.hk_data[0]
     """
     try:
         tx_conv = TxConv(tx_status & 0b111)
@@ -397,9 +450,10 @@ def handle_syrlinks_tx_registers_dataset(
         logging.getLogger(__name__).warning(
             f"invalid TX conf set {(tx_status >> 2) & 0b11}"
         )
-        tx_conf_set = -1
+        # Hack to make DB insertion work.
+        tx_conf_set = TxCfgSet.START_WITH_CURRENT_CFG
     tx_clock_detect = (tx_status >> 4) & 0b1
-    tx_waveform = hk_data[1]
+    tx_waveform = hk_info.hk_data[1]
     waveform = tx_waveform & 0b1111
     try:
         waveform_str = WAVEFORM_STRINGS[waveform]
@@ -407,22 +461,56 @@ def handle_syrlinks_tx_registers_dataset(
         logging.getLogger(__name__).warning(f"Unknown waveform value {waveform}")
         waveform_str = "Unknown"
     pcm_mode = (tx_waveform >> 4) & 0b1
-    tx_agc_value = struct.unpack("!H", hk_data[2:4])[0]
+    tx_agc_value = struct.unpack("!H", hk_info.hk_data[2:4])[0]
     tx_agc_inhibit = (tx_agc_value >> 15) & 0b1
     tx_agc = tx_agc_value & 0xFFF
     content_list = [tx_status, tx_waveform, tx_agc_value]
-    validity_buffer = hk_data[4:]
+    validity_buffer = hk_info.hk_data[4:]
     for header, content in zip(header_list, content_list):
         pw.dlog(f"{header}: {content}")
-    pw.dlog(
-        FsfwTmTcPrinter.get_validity_buffer(validity_buffer=validity_buffer, num_vars=3)
-    )
+    pw.dlog(get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=3))
     # pw.dlog(f"TX CONV: {tx_conv!r}")
     # pw.dlog(f"TX DIFF (differential encoder enable): {tx_diff_encoder_enable}")
-    pw.dlog(f"TX Status: {tx_status_status!r}")
-    pw.dlog(f"TX Config Set: {tx_conf_set!r}")
-    pw.dlog(f"TX Clock Detect: {tx_clock_detect}")
-    pw.dlog(f"Waveform: {waveform_str}")
-    pw.dlog(f"PCM Mode: {pcm_mode}")
-    pw.dlog(f"TX AGC Inhibit: {tx_agc_inhibit}")
-    pw.dlog(f"TX AGC: {tx_agc}")
+    print(f"TX Status: {tx_status_status!r}")
+    print(f"TX Config Set: {tx_conf_set!r}")
+    print(f"TX Clock Detect: {tx_clock_detect}")
+    print(f"Waveform: {waveform_str}")
+    print(f"PCM Mode: {pcm_mode}")
+    print(f"TX AGC Inhibit: {tx_agc_inhibit}")
+    print(f"TX AGC: {tx_agc}")
+    cursor = hk_info.db_con.cursor()
+    cursor.execute(
+        """
+        CREATE TABLE IF NOT EXISTS syrlinks_tx_regs(
+            packet_uuid TEXT PRIMARY KEY,
+            generation_time TEXT,
+            tx_status NUM,
+            tx_status_str TEXT,
+            tx_cfg_set NUM,
+            tx_cfg_set_str TEXT,
+            tx_clock_detect NUM,
+            waveform NUM,
+            waveform_str TEXT,
+            pcm_mode NUM,
+            tx_agc_inhibut NUM,
+            tx_agc NUM
+    )"""
+    )
+    cursor.execute(
+        "INSERT INTO syrlinks_tx_regs VALUES(?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?)",
+        (
+            str(hk_info.packet_uuid),
+            hk_info.packet_datetime,
+            tx_status_status,
+            tx_status_status.name,
+            tx_conf_set,
+            tx_conf_set.name,
+            tx_clock_detect,
+            waveform,
+            waveform_str,
+            pcm_mode,
+            tx_agc_inhibit,
+            tx_agc,
+        ),
+    )
+    hk_info.db_con.commit()

eive_tmtc/tmtc/core.py

@@ -5,11 +5,8 @@ import struct
 from pathlib import Path
 from typing import Tuple
 
-from eive_tmtc.pus_tm.defs import PrintWrapper
-
-from eive_tmtc.config.definitions import CustomServiceList
 from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import TmtcDefinitionWrapper
+from tmtccmd.config import CmdTreeNode
 
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
@@ -18,9 +15,14 @@ from tmtccmd.pus.s20_fsfw_param import (
     create_scalar_u8_parameter,
     create_load_param_cmd,
 )
-from tmtccmd.config.tmtc import OpCodeEntry, tmtc_definitions_provider
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
+from tmtccmd.pus.s11_tc_sched import (
+    create_enable_tc_sched_cmd,
+    create_disable_tc_sched_cmd,
+)
+
 from eive_tmtc.config.object_ids import CORE_CONTROLLER_ID
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from eive_tmtc.pus_tm.defs import PrintWrapper
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -66,6 +68,8 @@ class ActionId(enum.IntEnum):
     MV_HELPER = 53
     RM_HELPER = 54
     MKDIR_HELPER = 55
+    ENABLE_SCHEDULER = 56
+    UPDATE_LEAP_SECONRS = 60
 
 
 class ParamId(enum.IntEnum):
@@ -90,20 +94,20 @@ class OpCode:
     RM_HELPER = "rm_helper"
     MKDIR_HELPER = "mkdir_helper"
     SET_PREF_SD = "set_pref_sd"
-    REBOOT_XSC = ["reboot_xsc"]
-    XSC_REBOOT_SELF = ["reboot_self"]
-    XSC_REBOOT_0_0 = ["reboot_00"]
-    XSC_REBOOT_0_1 = ["reboot_01"]
-    XSC_REBOOT_1_0 = ["reboot_10"]
-    XSC_REBOOT_1_1 = ["reboot_11"]
-    REBOOT_FULL = ["reboot_regular"]
-    GET_HK = ["get_hk"]
-    OBSW_UPDATE_FROM_SD_0 = ["obsw_update_sd0"]
-    OBSW_UPDATE_FROM_SD_1 = ["obsw_update_sd1"]
-    OBSW_UPDATE_FROM_TMP = ["obsw_update_tmp"]
-    SWITCH_TO_SD_0 = ["switch_to_sd_0"]
-    SWITCH_TO_SD_1 = ["switch_to_sd_1"]
-    SWITCH_TO_BOTH_SD_CARDS = ["switch_to_both_sd_cards"]
+    REBOOT_XSC = "reboot_xsc"
+    XSC_REBOOT_SELF = "reboot_self"
+    XSC_REBOOT_0_0 = "reboot_00"
+    XSC_REBOOT_0_1 = "reboot_01"
+    XSC_REBOOT_1_0 = "reboot_10"
+    XSC_REBOOT_1_1 = "reboot_11"
+    REBOOT_FULL = "reboot_regular"
+    GET_HK = "get_hk"
+    OBSW_UPDATE_FROM_SD_0 = "obsw_update_sd0"
+    OBSW_UPDATE_FROM_SD_1 = "obsw_update_sd1"
+    OBSW_UPDATE_FROM_TMP = "obsw_update_tmp"
+    SWITCH_TO_SD_0 = "switch_to_sd_0"
+    SWITCH_TO_SD_1 = "switch_to_sd_1"
+    SWITCH_TO_BOTH_SD_CARDS = "switch_to_both_sd_cards"
     READ_REBOOT_MECHANISM_INFO = "rbh_info"
     ENABLE_REBOOT_FILE_HANDLING = "rwd_on"
     DISABLE_REBOOT_FILE_HANDLING = "rwd_off"
@@ -115,6 +119,9 @@ class OpCode:
     RWD_SET_MAX_REBOOT_CNT = "rwd_max_cnt"
     AUTO_SWITCH_ENABLE = "auto_switch_enable"
     AUTO_SWITCH_DISABLE = "auto_switch_disable"
+    ENABLE_SCHEDULER = "enable_scheduler"
+    DISABLE_SCHEDULER = "disable_scheduler"
+    UPDATE_LEAP_SECONDS = "leap_seconds_update"
 
 
 class Info:
@@ -127,6 +134,11 @@ class Info:
     SET_PREF_SD = "Set preferred SD card"
     REBOOT_XSC = "XSC reboot with prompt"
     REBOOT_FULL = "Full regular reboot"
+    XSC_REBOOT_SELF = "Reboot Self"
+    XSC_REBOOT_0_0 = "Reboot to 0 0"
+    XSC_REBOOT_0_1 = "Reboot to 0 1"
+    XSC_REBOOT_1_0 = "Reboot to 1 0"
+    XSC_REBOOT_1_1 = "Reboot to 1 1"
     OBSW_UPDATE_FROM_SD_0 = "Update OBSW from SD Card 0"
     OBSW_UPDATE_FROM_SD_1 = "Update OBSW from SD Card 1"
     OBSW_UPDATE_FROM_TMP = "Update OBSW from tmp folder"
@@ -140,8 +152,20 @@ class Info:
     MV_HELPER = "Filesystem Move Helper"
     RM_HELPER = "Filesystem Removal Helper"
     MKDIR_HELPER = "Filesystem Directory Creation Helper"
+    ENABLE_REBOOT_FILE_HANDLING = "Enable reboot file handling"
+    DISABLE_REBOOT_FILE_HANDLING = "Disable reboot file handling"
+    RESET_ALL_REBOOT_COUNTERS = "Reset all reboot counters"
+    RWD_RESET_REBOOT_COUNTER_00 = "Reset reboot counter 0 0"
+    RWD_RESET_REBOOT_COUNTER_01 = "Reset reboot counter 0 0"
+    RWD_RESET_REBOOT_COUNTER_10 = "Reset reboot counter 1 0"
+    GET_HK = "Get HK set"
+    RWD_RESET_REBOOT_COUNTER_11 = "Reset reboot counter 1 1"
+    RWD_SET_MAX_REBOOT_CNT = "rwd_max_cnt"
     AUTO_SWITCH_ENABLE = "Enable Auto-Switch Feature with a specific target image"
     AUTO_SWITCH_DISABLE = "Disable Auto-Switch Feature"
+    ENABLE_SCHEDULER = "Enable scheduler"
+    DISABLE_SCHEDULER = "Disable scheduler"
+    UPDATE_LEAP_SECONDS = "Updates the Leap Seconds"
 
 
 class Chip(enum.IntEnum):
@@ -162,105 +186,35 @@ class SystemctlCmd(enum.IntEnum):
     RESTART = 2
 
 
-@tmtc_definitions_provider
-def add_core_controller_definitions(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCode.ANNOUNCE_VERSION, info=Info.ANNOUNCE_VERSION)
-    oce.add(keys=OpCode.ANNOUNCE_CURRENT_IMAGE, info=Info.ANNOUNCE_CURRENT_IMAGE)
-    oce.add(keys=OpCode.ANNOUNCE_BOOT_COUNTS, info=Info.ANNOUNCE_BOOT_COUNTS)
-    oce.add(keys=OpCode.REBOOT_XSC, info=Info.REBOOT_XSC)
-    oce.add(keys=OpCode.REBOOT_XSC, info=Info.REBOOT_XSC)
-    oce.add(keys=OpCode.REBOOT_FULL, info=Info.REBOOT_FULL)
-    oce.add(keys=OpCode.XSC_REBOOT_SELF, info="Reboot Self")
-    oce.add(keys=OpCode.XSC_REBOOT_0_0, info="Reboot 0 0")
-    oce.add(keys=OpCode.XSC_REBOOT_0_1, info="Reboot 0 1")
-    oce.add(keys=OpCode.XSC_REBOOT_1_0, info="Reboot 1 0")
-    oce.add(keys=OpCode.XSC_REBOOT_1_1, info="Reboot 1 1")
-    oce.add(keys=OpCode.SET_PREF_SD, info=Info.SET_PREF_SD)
-    oce.add(
-        keys=OpCode.READ_REBOOT_MECHANISM_INFO, info=Info.READ_REBOOT_MECHANISM_INFO
-    )
-    oce.add(keys=OpCode.OBSW_UPDATE_FROM_TMP, info=Info.OBSW_UPDATE_FROM_TMP)
-    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_0, info=Info.OBSW_UPDATE_FROM_SD_0)
-    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_1, info=Info.OBSW_UPDATE_FROM_SD_1)
-    oce.add(keys=OpCode.AUTO_SWITCH_ENABLE, info=Info.AUTO_SWITCH_ENABLE)
-    oce.add(keys=OpCode.AUTO_SWITCH_DISABLE, info=Info.AUTO_SWITCH_DISABLE)
-    oce.add(keys=OpCode.SYSTEMCTL_CMD_EXECUTOR, info=Info.SYSTEMCTL_CMD_EXECUTOR)
-    oce.add(
-        keys=OpCode.EXECUTE_SHELL_CMD_BLOCKING, info=Info.EXECUTE_SHELL_CMD_BLOCKING
-    )
-    oce.add(
-        keys=OpCode.EXECUTE_SHELL_CMD_NON_BLOCKING,
-        info=Info.EXECUTE_SHELL_CMD_NON_BLOCKING,
-    )
-    oce.add(
-        keys=OpCode.GET_HK,
-        info="Request housekeeping set",
-    )
-    oce.add(
-        keys=OpCode.ENABLE_REBOOT_FILE_HANDLING,
-        info="Enable reboot file handling",
-    )
-    oce.add(
-        keys=OpCode.DISABLE_REBOOT_FILE_HANDLING,
-        info="Disable reboot file handling",
-    )
-    oce.add(
-        keys=OpCode.RESET_ALL_REBOOT_COUNTERS,
-        info="Reset all reboot counters",
-    )
-    oce.add(
-        keys=OpCode.RWD_RESET_REBOOT_COUNTER_00,
-        info="Reset reboot counter 0 0",
-    )
-    oce.add(
-        keys=OpCode.RWD_RESET_REBOOT_COUNTER_01,
-        info="Reset reboot counter 0 1",
-    )
-    oce.add(
-        keys=OpCode.RWD_RESET_REBOOT_COUNTER_10,
-        info="Reset reboot counter 1 0",
-    )
-    oce.add(
-        keys=OpCode.RWD_RESET_REBOOT_COUNTER_11,
-        info="Reset reboot counter 1 1",
-    )
-    oce.add(
-        keys=OpCode.RWD_SET_MAX_REBOOT_CNT,
-        info="Reset max reboot count for reboot watchdog",
-    )
-    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_0, info=Info.OBSW_UPDATE_FROM_SD_0)
-    oce.add(keys=OpCode.OBSW_UPDATE_FROM_SD_1, info=Info.OBSW_UPDATE_FROM_SD_1)
-    oce.add(keys=OpCode.OBSW_UPDATE_FROM_TMP, info=Info.OBSW_UPDATE_FROM_TMP)
-    oce.add(keys=OpCode.SWITCH_TO_SD_0, info=Info.SWITCH_TO_SD_0)
-    oce.add(keys=OpCode.SWITCH_TO_SD_1, info=Info.SWITCH_TO_SD_1)
-    oce.add(keys=OpCode.SWITCH_TO_BOTH_SD_CARDS, info=Info.SWITCH_TO_BOTH_SD_CARDS)
-    oce.add(keys=OpCode.LIST_DIR_INTO_FILE, info=Info.LIST_DIR_INTO_FILE)
-    oce.add(keys=OpCode.LIST_DIR_DUMP_DIRECTLY, info=Info.LIST_DIR_DUMP_DIRECTLY)
-    oce.add(keys=OpCode.MV_HELPER, info=Info.MV_HELPER)
-    oce.add(keys=OpCode.CP_HELPER, info=Info.CP_HELPER)
-    oce.add(keys=OpCode.RM_HELPER, info=Info.RM_HELPER)
-    oce.add(keys=OpCode.MKDIR_HELPER, info=Info.MKDIR_HELPER)
-    defs.add_service(CustomServiceList.CORE.value, "Core Controller", oce)
+def create_core_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("core", "Core Controller", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
 
 
 def pack_core_commands(  # noqa C901
-    q: DefaultPusQueueHelper, op_code: str
+    q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa: C901 , complexity okay here
-    if op_code == OpCode.ANNOUNCE_VERSION:
+    if cmd_str == OpCode.ANNOUNCE_VERSION:
         q.add_log_cmd(f"{Info.ANNOUNCE_VERSION}")
         q.add_pus_tc(create_action_cmd(CORE_CONTROLLER_ID, ActionId.ANNOUNCE_VERSION))
-    elif op_code == OpCode.ANNOUNCE_CURRENT_IMAGE:
+    elif cmd_str == OpCode.ANNOUNCE_CURRENT_IMAGE:
         q.add_log_cmd(f"{Info.ANNOUNCE_CURRENT_IMAGE}")
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.ANNOUNCE_CURRENT_IMAGE)
         )
-    elif op_code == OpCode.ANNOUNCE_BOOT_COUNTS:
+    elif cmd_str == OpCode.ANNOUNCE_BOOT_COUNTS:
         q.add_log_cmd(f"{Info.ANNOUNCE_BOOT_COUNTS}")
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.ANNOUNCE_BOOT_COUNTS)
         )
-    elif op_code in OpCode.REBOOT_XSC:
+    elif cmd_str == OpCode.REBOOT_XSC:
         reboot_self, chip_select, copy_select = determine_reboot_params()
         add_xsc_reboot_cmd(
             q=q,
@@ -268,16 +222,16 @@ def pack_core_commands(  # noqa C901
             chip=chip_select,
             copy=copy_select,
         )
-    elif op_code in OpCode.REBOOT_FULL:
+    elif cmd_str == OpCode.REBOOT_FULL:
         q.add_log_cmd(f"Core Command: {Info.REBOOT_FULL}")
         q.add_pus_tc(
             create_action_cmd(
                 object_id=CORE_CONTROLLER_ID, action_id=ActionId.FULL_REBOOT
             )
         )
-    elif op_code in OpCode.XSC_REBOOT_SELF:
+    elif cmd_str == OpCode.XSC_REBOOT_SELF:
         add_xsc_reboot_cmd(q=q, reboot_self=True)
-    elif op_code == OpCode.SYSTEMCTL_CMD_EXECUTOR:
+    elif cmd_str == OpCode.SYSTEMCTL_CMD_EXECUTOR:
         print("systemctl command types: ")
         for entry in SystemctlCmd:
             print(f"{entry}: {entry.name}")
@@ -286,7 +240,7 @@ def pack_core_commands(  # noqa C901
         )
         unit_name = input("Specify unit name: ")
         q.add_pus_tc(create_systemctl_cmd(systemctl_cmd, unit_name))
-    elif op_code == OpCode.EXECUTE_SHELL_CMD_BLOCKING:
+    elif cmd_str == OpCode.EXECUTE_SHELL_CMD_BLOCKING:
         custom_cmd = input("Please specify command to execute: ")
         q.add_pus_tc(
             create_action_cmd(
@@ -295,7 +249,7 @@ def pack_core_commands(  # noqa C901
                 user_data=custom_cmd.encode(),
             )
         )
-    elif op_code == OpCode.EXECUTE_SHELL_CMD_NON_BLOCKING:
+    elif cmd_str == OpCode.EXECUTE_SHELL_CMD_NON_BLOCKING:
         custom_cmd = input("Please specify command to execute: ")
         q.add_pus_tc(
             create_action_cmd(
@@ -304,29 +258,29 @@ def pack_core_commands(  # noqa C901
                 user_data=custom_cmd.encode(),
             )
         )
-    elif op_code in OpCode.XSC_REBOOT_0_0:
+    elif cmd_str == OpCode.XSC_REBOOT_0_0:
         add_xsc_reboot_cmd(
             q=q, reboot_self=False, chip=Chip.CHIP_0, copy=Copy.COPY_0_NOM
         )
-    elif op_code in OpCode.XSC_REBOOT_0_1:
+    elif cmd_str == OpCode.XSC_REBOOT_0_1:
         add_xsc_reboot_cmd(
             q=q,
             reboot_self=False,
             chip=Chip.CHIP_0,
             copy=Copy.COPY_1_GOLD,
         )
-    elif op_code in OpCode.XSC_REBOOT_1_0:
+    elif cmd_str == OpCode.XSC_REBOOT_1_0:
         add_xsc_reboot_cmd(
             q=q, reboot_self=False, chip=Chip.CHIP_1, copy=Copy.COPY_0_NOM
         )
-    elif op_code in OpCode.XSC_REBOOT_1_1:
+    elif cmd_str == OpCode.XSC_REBOOT_1_1:
         add_xsc_reboot_cmd(
             q=q,
             reboot_self=False,
             chip=Chip.CHIP_1,
             copy=Copy.COPY_1_GOLD,
         )
-    elif op_code == OpCode.READ_REBOOT_MECHANISM_INFO:
+    elif cmd_str == OpCode.READ_REBOOT_MECHANISM_INFO:
         q.add_log_cmd(Info.READ_REBOOT_MECHANISM_INFO)
         q.add_pus_tc(
             create_action_cmd(
@@ -334,7 +288,7 @@ def pack_core_commands(  # noqa C901
                 action_id=ActionId.READ_REBOOT_MECHANISM_INFO,
             )
         )
-    elif op_code == OpCode.DISABLE_REBOOT_FILE_HANDLING:
+    elif cmd_str == OpCode.DISABLE_REBOOT_FILE_HANDLING:
         q.add_log_cmd("Disabling reboot file handling")
         user_data = bytearray([0])
         q.add_pus_tc(
@@ -344,7 +298,7 @@ def pack_core_commands(  # noqa C901
                 user_data=user_data,
             )
         )
-    elif op_code == OpCode.ENABLE_REBOOT_FILE_HANDLING:
+    elif cmd_str == OpCode.ENABLE_REBOOT_FILE_HANDLING:
         q.add_log_cmd("Enabling reboot file handling")
         user_data = bytearray([1])
         q.add_pus_tc(
@@ -354,7 +308,7 @@ def pack_core_commands(  # noqa C901
                 user_data=user_data,
             )
         )
-    elif op_code == OpCode.RESET_ALL_REBOOT_COUNTERS:
+    elif cmd_str == OpCode.RESET_ALL_REBOOT_COUNTERS:
         q.add_log_cmd("Resetting all reboot counters")
         q.add_pus_tc(
             create_action_cmd(
@@ -362,15 +316,15 @@ def pack_core_commands(  # noqa C901
                 action_id=ActionId.RESET_REBOOT_COUNTER,
             )
         )
-    elif op_code == OpCode.RWD_RESET_REBOOT_COUNTER_00:
+    elif cmd_str == OpCode.RWD_RESET_REBOOT_COUNTER_00:
         reset_specific_boot_counter(q, 0, 0)
-    elif op_code == OpCode.RWD_RESET_REBOOT_COUNTER_01:
+    elif cmd_str == OpCode.RWD_RESET_REBOOT_COUNTER_01:
         reset_specific_boot_counter(q, 0, 1)
-    elif op_code == OpCode.RWD_RESET_REBOOT_COUNTER_10:
+    elif cmd_str == OpCode.RWD_RESET_REBOOT_COUNTER_10:
         reset_specific_boot_counter(q, 1, 0)
-    elif op_code == OpCode.RWD_RESET_REBOOT_COUNTER_11:
+    elif cmd_str == OpCode.RWD_RESET_REBOOT_COUNTER_11:
         reset_specific_boot_counter(q, 1, 1)
-    elif op_code == OpCode.RWD_SET_MAX_REBOOT_CNT:
+    elif cmd_str == OpCode.RWD_SET_MAX_REBOOT_CNT:
         max_count = int(input("Set new maximum reboot threshold [1, 50]: "))
         if max_count < 1 or max_count > 50:
             raise ValueError("Invalid value, must be in range 1 to 50")
@@ -381,16 +335,16 @@ def pack_core_commands(  # noqa C901
                 user_data=bytes([max_count]),
             )
         )
-    elif op_code in OpCode.OBSW_UPDATE_FROM_SD_0:
+    elif cmd_str == OpCode.OBSW_UPDATE_FROM_SD_0:
         q.add_log_cmd(Info.OBSW_UPDATE_FROM_SD_0)
         q.add_pus_tc(pack_obsw_update_cmd(ActionId.UPDATE_OBSW_FROM_SD_0))
-    elif op_code in OpCode.OBSW_UPDATE_FROM_SD_1:
+    elif cmd_str == OpCode.OBSW_UPDATE_FROM_SD_1:
         q.add_log_cmd(Info.OBSW_UPDATE_FROM_SD_1)
         q.add_pus_tc(pack_obsw_update_cmd(ActionId.UPDATE_OBSW_FROM_SD_1))
-    elif op_code in OpCode.OBSW_UPDATE_FROM_TMP:
+    elif cmd_str == OpCode.OBSW_UPDATE_FROM_TMP:
         q.add_log_cmd(Info.OBSW_UPDATE_FROM_TMP)
         q.add_pus_tc(pack_obsw_update_cmd(ActionId.UPDATE_OBSW_FROM_TMP))
-    elif op_code in OpCode.AUTO_SWITCH_ENABLE:
+    elif cmd_str == OpCode.AUTO_SWITCH_ENABLE:
         q.add_log_cmd(Info.AUTO_SWITCH_ENABLE)
         chip, copy = determine_chip_and_copy()
         user_data = bytes([chip, copy])
@@ -399,26 +353,26 @@ def pack_core_commands(  # noqa C901
                 CORE_CONTROLLER_ID, ActionId.AUTO_SWITCH_ENABLE, user_data
             )
         )
-    elif op_code in OpCode.AUTO_SWITCH_DISABLE:
+    elif cmd_str == OpCode.AUTO_SWITCH_DISABLE:
         q.add_log_cmd(Info.AUTO_SWITCH_DISABLE)
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.AUTO_SWITCH_DISABLE)
         )
-    elif op_code in OpCode.SWITCH_TO_SD_0:
+    elif cmd_str == OpCode.SWITCH_TO_SD_0:
         q.add_log_cmd(Info.SWITCH_TO_SD_0)
         q.add_pus_tc(
             create_action_cmd(
                 object_id=CORE_CONTROLLER_ID, action_id=ActionId.SWITCH_TO_SD_0
             )
         )
-    elif op_code in OpCode.SWITCH_TO_SD_1:
+    elif cmd_str == OpCode.SWITCH_TO_SD_1:
         q.add_log_cmd(Info.SWITCH_TO_SD_1)
         q.add_pus_tc(
             create_action_cmd(
                 object_id=CORE_CONTROLLER_ID, action_id=ActionId.SWITCH_TO_SD_1
             )
         )
-    elif op_code in OpCode.SWITCH_TO_BOTH_SD_CARDS:
+    elif cmd_str == OpCode.SWITCH_TO_BOTH_SD_CARDS:
         while True:
             active_sd_card = int(input("Please specify active SD card [0/1]: "))
             if active_sd_card not in [0, 1]:
@@ -432,11 +386,11 @@ def pack_core_commands(  # noqa C901
                 user_data=bytes([active_sd_card]),
             )
         )
-    elif op_code in OpCode.GET_HK:
+    elif cmd_str == OpCode.GET_HK:
         q.add_log_cmd("Requesting housekeeping set")
         sid = make_sid(object_id=CORE_CONTROLLER_ID, set_id=SetId.HK)
         q.add_pus_tc(generate_one_hk_command(sid))
-    elif op_code in OpCode.SET_PREF_SD:
+    elif cmd_str == OpCode.SET_PREF_SD:
         q.add_log_cmd("Set preferred SD card")
         pref_sd = int(
             input("Specify which SD card to set as the preferred one (0/1): ")
@@ -445,15 +399,16 @@ def pack_core_commands(  # noqa C901
             raise ValueError("Only 0 or 1 allowed for preferred SD card")
         q.add_pus_tc(
             create_load_param_cmd(
-                create_scalar_u8_parameter(
+                parameter=create_scalar_u8_parameter(
                     object_id=CORE_CONTROLLER_ID,
                     domain_id=0,
                     unique_id=ParamId.PREF_SD,
                     parameter=pref_sd,
-                )
+                ),
+                apid=0,
             )
         )
-    elif op_code == OpCode.CP_HELPER:
+    elif cmd_str == OpCode.CP_HELPER:
         cp_recursive = int(input("Copy recursively (0/1) ?: "))
         if cp_recursive not in [0, 1]:
             raise ValueError("Invalid value, only 0 or 1 allowed")
@@ -466,13 +421,13 @@ def pack_core_commands(  # noqa C901
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.CP_HELPER, user_data)
         )
-    elif op_code == OpCode.MV_HELPER:
+    elif cmd_str == OpCode.MV_HELPER:
         user_data = packet_source_dest_path("Move")
         q.add_log_cmd(Info.MV_HELPER)
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.MV_HELPER, user_data)
         )
-    elif op_code == OpCode.RM_HELPER:
+    elif cmd_str == OpCode.RM_HELPER:
         rm_recursive = int(input("Remove with recursive (-r) option (0/1) ?: "))
         if rm_recursive not in [0, 1]:
             raise ValueError("Invalid value, only 0 or 1 allowed")
@@ -487,7 +442,7 @@ def pack_core_commands(  # noqa C901
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.RM_HELPER, user_data)
         )
-    elif op_code == OpCode.LIST_DIR_INTO_FILE:
+    elif cmd_str == OpCode.LIST_DIR_INTO_FILE:
         q.add_log_cmd(Info.LIST_DIR_INTO_FILE)
         user_data = list_directory_base_user_data()
         dest_file_path = input("Destination file path: ")
@@ -498,7 +453,7 @@ def pack_core_commands(  # noqa C901
                 CORE_CONTROLLER_ID, ActionId.LIST_DIR_INTO_FILE, user_data
             )
         )
-    elif op_code == OpCode.LIST_DIR_DUMP_DIRECTLY:
+    elif cmd_str == OpCode.LIST_DIR_DUMP_DIRECTLY:
         q.add_log_cmd(Info.LIST_DIR_DUMP_DIRECTLY)
         user_data = list_directory_base_user_data()
         q.add_pus_tc(
@@ -506,7 +461,7 @@ def pack_core_commands(  # noqa C901
                 CORE_CONTROLLER_ID, ActionId.LIST_DIR_DUMP_DIRECTLY, user_data
             )
         )
-    elif op_code == OpCode.MKDIR_HELPER:
+    elif cmd_str == OpCode.MKDIR_HELPER:
         q.add_log_cmd(Info.MKDIR_HELPER)
         user_data = input("Specify absolute path of newly created directory: ")
         user_data = bytearray(user_data.encode())
@@ -514,9 +469,25 @@ def pack_core_commands(  # noqa C901
         q.add_pus_tc(
             create_action_cmd(CORE_CONTROLLER_ID, ActionId.MKDIR_HELPER, user_data)
         )
+    elif cmd_str == OpCode.ENABLE_SCHEDULER:
+        q.add_log_cmd(Info.ENABLE_SCHEDULER)
+        q.add_pus_tc(create_enable_tc_sched_cmd())
+    elif cmd_str == OpCode.DISABLE_SCHEDULER:
+        q.add_log_cmd(Info.DISABLE_SCHEDULER)
+        q.add_pus_tc(create_disable_tc_sched_cmd())
+    elif cmd_str == OpCode.UPDATE_LEAP_SECONDS:
+        q.add_log_cmd(Info.UPDATE_LEAP_SECONDS)
+        leap_seconds = int(input("Specify new Leap Seconds Value: ")).to_bytes(
+            length=2, signed=False, byteorder="big"
+        )
+        q.add_pus_tc(
+            create_action_cmd(
+                CORE_CONTROLLER_ID, ActionId.UPDATE_LEAP_SECONRS, leap_seconds
+            )
+        )
     else:
         _LOGGER.warning(
-            f"Unknown operation code {op_code} for core controller commands"
+            f"Unknown operation code {cmd_str} for core controller commands"
         )
 
 
@@ -662,9 +633,7 @@ def handle_core_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
             f"PL Voltage [mV] {pl_voltage}"
         )
         pw.dlog(printout)
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[inc_len:], num_vars=3
-        )
+        pw.dlog(get_validity_buffer_str(validity_buffer=hk_data[inc_len:], num_vars=3))
 
 
 def handle_core_ctrl_action_replies(

eive_tmtc/tmtc/health.py

@@ -1,14 +1,12 @@
-from eive_tmtc.config.definitions import CustomServiceList
-from eive_tmtc.tmtc.obj_prompt import prompt_object
 from spacepackets.ecss import PusTelecommand
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
+    CmdTreeNode,
 )
-from tmtccmd.tmtc import service_provider
-from tmtccmd.pus.s201_fsfw_health import Subservice, FsfwHealth
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.pus.s201_fsfw_health import FsfwHealth, Subservice
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from eive_tmtc.config.definitions import CustomServiceList
+from eive_tmtc.tmtc.obj_prompt import prompt_object
 
 
 class OpCode:
@@ -30,11 +28,8 @@ def prompt_health() -> FsfwHealth:
     return FsfwHealth(health_idx)
 
 
-@service_provider(CustomServiceList.HEALTH)
-def pack_test_command(p: ServiceProviderParams):
-    o = p.op_code
-    q = p.queue_helper
-    if o == OpCode.SET_HEALTH:
+def build_health_cmds(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str == OpCode.SET_HEALTH:
         app_data = bytearray(prompt_object())
         health = prompt_health()
         app_data.append(health)
@@ -44,7 +39,7 @@ def pack_test_command(p: ServiceProviderParams):
                 service=201, subservice=Subservice.TC_SET_HEALTH, app_data=app_data
             )
         )
-    elif o == OpCode.ANNOUNCE_HEALTH:
+    elif cmd_str == OpCode.ANNOUNCE_HEALTH:
         app_data = bytearray(prompt_object())
         q.add_log_cmd(Info.ANNOUNCE_HEALTH)
         q.add_pus_tc(
@@ -52,19 +47,22 @@ def pack_test_command(p: ServiceProviderParams):
                 service=201, subservice=Subservice.TC_ANNOUNCE_HEALTH, app_data=app_data
             )
         )
-    elif o == OpCode.ANNOUNCE_HEALTH_ALL:
+    elif cmd_str == OpCode.ANNOUNCE_HEALTH_ALL:
         q.add_log_cmd(Info.ANNOUNCE_HEALTH_ALL)
         q.add_pus_tc(
             PusTelecommand(service=201, subservice=Subservice.TC_ANNOUNCE_HEALTH_ALL)
         )
     else:
-        raise ValueError(f"unknown op code {o} for service {CustomServiceList.HEALTH}")
+        raise ValueError(
+            f"unknown command string {cmd_str} for service {CustomServiceList.HEALTH}"
+        )
 
 
-@tmtc_definitions_provider
-def add_health_cmd_defs(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(OpCode.ANNOUNCE_HEALTH_ALL, Info.ANNOUNCE_HEALTH_ALL)
-    oce.add(OpCode.ANNOUNCE_HEALTH, Info.ANNOUNCE_HEALTH)
-    oce.add(OpCode.SET_HEALTH, Info.SET_HEALTH)
-    defs.add_service(CustomServiceList.HEALTH, info="Health Service", op_code_entry=oce)
+def create_global_health_node() -> CmdTreeNode:
+    health_node = CmdTreeNode("health", "Health Commands")
+    health_node.add_child(
+        CmdTreeNode(OpCode.ANNOUNCE_HEALTH_ALL, Info.ANNOUNCE_HEALTH_ALL)
+    )
+    health_node.add_child(CmdTreeNode(OpCode.ANNOUNCE_HEALTH, Info.ANNOUNCE_HEALTH))
+    health_node.add_child(CmdTreeNode(OpCode.SET_HEALTH, Info.SET_HEALTH))
+    return health_node

eive_tmtc/tmtc/internal_err_reporter.py

@@ -1,9 +1,8 @@
 import enum
 import struct
 
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
-
 from eive_tmtc.pus_tm.defs import PrintWrapper
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 
 class SetId(enum.IntEnum):
@@ -21,4 +20,4 @@ def handle_ier_hk_data(pw: PrintWrapper, hk_data: bytes, set_id: int):
         pw.dlog(f"TM Errors: {tm_errors}")
         pw.dlog(f"Queue Errors: {queue_errors}")
         pw.dlog(f"Store Errors: {store_hits}")
-        pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[inc_len:], 3))
+        pw.dlog(get_validity_buffer_str(hk_data[inc_len:], 3))

eive_tmtc/tmtc/obj_prompt.py

@@ -4,7 +4,10 @@ from eive_tmtc.config.object_ids import (
     GPS_0_HEALTH_DEV,
     GYRO_0_ADIS_HANDLER_ID,
     GYRO_1_L3G_HANDLER_ID,
+    GYRO_2_ADIS_HANDLER_ID,
     ACS_BOARD_ASS_ID,
+    PLOC_MPSOC_ID,
+    PLOC_SUPV_ID,
     RW_ASSEMBLY,
     SUS_BOARD_ASS_ID,
     MGM_0_LIS3_HANDLER_ID,
@@ -27,6 +30,7 @@ SUBSYSTEM_DICT = {
     0: "acs",
     1: "tcs",
     2: "com",
+    3: "payload",
 }
 
 ACS_OBJ_DICT = {
@@ -38,14 +42,15 @@ ACS_OBJ_DICT = {
     5: ("iMTQ MGT", IMTQ_HANDLER_ID),
     6: ("GYR 0 ADIS", GYRO_0_ADIS_HANDLER_ID),
     7: ("GYR 1 L3G", GYRO_1_L3G_HANDLER_ID),
-    8: ("MGM 0 LIS3", MGM_0_LIS3_HANDLER_ID),
-    9: ("MGM 1 RM3100", MGM_1_RM3100_HANDLER_ID),
-    10: ("GPS 0 Health Device", GPS_0_HEALTH_DEV),
-    11: ("SUS 0", SUS_0_N_LOC_XFYFZM_PT_XF),
-    12: ("SUS 6", SUS_6_R_LOC_XFYBZM_PT_XF),
-    13: ("RW 1", RW1_ID),
-    14: ("RW 2", RW2_ID),
-    15: ("STR", STAR_TRACKER_ID),
+    8: ("GYR 2 ADIS", GYRO_2_ADIS_HANDLER_ID),
+    9: ("MGM 0 LIS3", MGM_0_LIS3_HANDLER_ID),
+    10: ("MGM 1 RM3100", MGM_1_RM3100_HANDLER_ID),
+    11: ("GPS 0 Health Device", GPS_0_HEALTH_DEV),
+    12: ("SUS 0", SUS_0_N_LOC_XFYFZM_PT_XF),
+    13: ("SUS 6", SUS_6_R_LOC_XFYBZM_PT_XF),
+    14: ("RW 1", RW1_ID),
+    15: ("RW 2", RW2_ID),
+    16: ("STR", STAR_TRACKER_ID),
 }
 
 TCS_OBJ_DICT = {
@@ -57,6 +62,11 @@ TCS_OBJ_DICT = {
     5: ("TMP1075 IF BOARD", TMP1075_HANDLER_IF_BRD_ID),
 }
 
+PAYLOAD_OBJ_DICT = {
+    0: ("Payload MPSoC", PLOC_MPSOC_ID),
+    1: ("Payload Supervisor", PLOC_SUPV_ID),
+}
+
 
 def get_obj_if_from_dict(lut: dict) -> bytes:
     for k, v in lut.items():
@@ -79,6 +89,8 @@ def prompt_object() -> bytes:
         return get_obj_if_from_dict(ACS_OBJ_DICT)
     elif subsystem == "tcs":
         return get_obj_if_from_dict(TCS_OBJ_DICT)
+    elif subsystem == "payload":
+        return get_obj_if_from_dict(PAYLOAD_OBJ_DICT)
     else:
         print(f"No object for subsystem {subsystem}")
         return bytes()

eive_tmtc/tmtc/payload/ploc_mpsoc.py

@@ -11,25 +11,24 @@ import logging
 import struct
 import enum
 
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.config.object_ids import get_object_ids, PLOC_MPSOC_ID
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    OpCodeEntry,
-    TmtcDefinitionWrapper,
+    CmdTreeNode,
 )
 from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.tmtc import DefaultPusQueueHelper
 from eive_tmtc.utility.input_helper import InputHelper
-from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
+from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode, create_mode_command
+from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd, create_scalar_u8_parameter
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
 
 _LOGGER = logging.getLogger(__name__)
 
 MANUAL_INPUT = "1"
 
+CRIT_CMD_APID_DICT = {"1": ("flash_mkfs", 0x12A)}
+
 OBC_WRITE_FILE_DICT = {
     MANUAL_INPUT: ("manual input", ""),
     "2": ("/mnt/sd0/ploc/mpsoc/flash_write.bin", "/mnt/sd0/ploc/mpsoc/flash_write.bin"),
@@ -85,12 +84,26 @@ class ActionId(enum.IntEnum):
     SET_UART_TX_TRISTATE = 20
     RELEASE_UART_TX = 21
     TC_CAM_TAKE_PIC = 22
-    TC_SIMPLEX_SEND_FILE = 23
+    TC_SIMPLEX_STREAM_FILE = 23
     TC_DOWNLINK_DATA_MODULATE = 24
     TC_MODE_SNAPSHOT = 25
     TC_FLASH_DIR_GET_CONTENT = 28
     TM_FLASH_DIRECTORY_CONTENT = 29
     TC_FLASH_READ_FULL_FILE = 30
+    TC_SPLIT_FILE = 31
+    TC_VERIFY_BOOT = 32
+    TC_ENABLE_TC_EXECUTION = 33
+    TC_FLASH_MKFS = 34
+
+
+class Submode(enum.IntEnum):
+    IDLE_OR_NONE = 0
+    REPLAY = 1
+    SNAPSHOT = 2
+
+
+class ParamId(enum.IntEnum):
+    PLOC_SUPV_SKIP_CMD_TO_ON = 1
 
 
 class OpCode:
@@ -98,8 +111,6 @@ class OpCode:
     OFF = "off"
     NORMAL = "normal"
     VERIFY_BOOT = "verify_boot"
-    MODE_REPLAY = "mode_replay"
-    MODE_IDLE = "mode_idle"
     REPLAY_WRITE_SEQ = "replay_write"
     DOWNLINK_PWR_ON = "downlink_pwr_on"
     MEM_WRITE = "memory_write"
@@ -111,10 +122,18 @@ class OpCode:
     FLASH_GET_DIR_CONTENT = "flash_get_dir_content"
     REPLAY_STOP = "replay_stop"
     REPLAY_START = "replay_start"
+    CAM_CMD_SEND = "cam_cmd_send"
     CAM_TAKE_PIC = "cam_take_pic"
-    SIMPLEX_SEND_FILE = "simplex_send_file"
+    SIMPLEX_STREAM_FILE = "simplex_stream_file"
+    SPLIT_FILE = "split_file"
     DOWNLINK_DATA_MODULATE = "downlink_data_modulate"
+    ENABLE_PLOC_SUPV_COMMANDING_TO_ON = "enable_ploc_supv_cmd_to_on"
+    DISABLE_PLOC_SUPV_COMMANDING_TO_ON = "disable_ploc_supv_cmd_to_on"
+    MODE_IDLE = "mode_idle"
+    MODE_REPLAY = "mode_replay"
     MODE_SNAPSHOT = "mode_snapshot"
+    ENABLE_TC_EXECUTION = "enable_tc_exec"
+    FLASH_MKFS = "flash_mkfs"
 
 
 class Info:
@@ -128,77 +147,66 @@ class Info:
     REPLAY_WRITE_SEQ = "Replay write sequence"
     DOWNLINK_PWR_ON = "Downlink Power On"
     DOWNLINK_PWR_OFF = "Downlink Power Off"
+    MEM_WRITE = "Write to Memory"
+    MEM_READ = "Read from Memory"
     REPLAY_START = "Replay Start"
     CAM_TAKE_PIC = "Cam Take Picture"
-    SIMPLEX_SEND_FILE = "Simplex Send File"
+    CAM_CMD_SEND = "Send Camera Command"
+    SIMPLEX_STREAM_FILE = "Simplex Stream File with E-Band"
+    SPLIT_FILE = "Split file on MPSoC Flash"
     FLASH_READ_FILE = "Copy file from MPSoC to OBC"
     FLASH_WRITE_FILE = "Copy file from OBC to MPSoC"
     FLASH_DELETE_FILE = "Delete file on MPSoC"
     FLASH_GET_DIR_CONTENT = "Get flash directory content on MPSoC"
     DOWNLINK_DATA_MODULATE = "Downlink data modulate"
     MODE_SNAPSHOT = "Mode Snapshot"
+    ENABLE_PLOC_SUPV_COMMANDING_TO_ON = "Enable PLOC SUPV commanding when switching ON"
+    DISABLE_PLOC_SUPV_COMMANDING_TO_ON = (
+        "Disable PLOC SUPV commanding when switching ON"
+    )
+    ENABLE_TC_EXECUTION = "Enable execution of critical commands"
+    FLASH_MKFS = "Flash MKFS command"
 
 
 class MemAddresses(enum.IntEnum):
     DEADBEEF = 0x40000004
 
 
-@tmtc_definitions_provider
-def add_ploc_mpsoc_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(OpCode.OFF, Info.OFF)
-    oce.add(OpCode.ON, Info.ON)
-    oce.add(OpCode.NORMAL, Info.NORMAL)
-    oce.add(OpCode.MEM_WRITE, "Ploc MPSoC: Memory write")
-    oce.add(OpCode.MEM_READ, "Ploc MPSoC: Memory read")
-    oce.add(OpCode.FLASH_WRITE_FILE, Info.FLASH_WRITE_FILE)
-    oce.add(OpCode.FLASH_READ_FILE, Info.FLASH_READ_FILE)
-    oce.add(OpCode.FLASH_DELETE_FILE, Info.FLASH_DELETE_FILE)
-    oce.add(OpCode.FLASH_GET_DIR_CONTENT, Info.FLASH_GET_DIR_CONTENT)
-    oce.add(OpCode.REPLAY_START, Info.REPLAY_START)
-    oce.add(OpCode.REPLAY_STOP, Info.REPLAY_STOP)
-    oce.add(OpCode.DOWNLINK_PWR_ON, Info.DOWNLINK_PWR_ON)
-    oce.add(OpCode.DOWNLINK_PWR_OFF, Info.DOWNLINK_PWR_OFF)
-    oce.add(OpCode.REPLAY_WRITE_SEQ, Info.REPLAY_WRITE_SEQ)
-    oce.add("12", "Ploc MPSoC: OBSW reset sequence count")
-    oce.add(OpCode.VERIFY_BOOT, Info.VERIFY_BOOT)
-    oce.add(OpCode.MODE_REPLAY, Info.MODE_REPLAY)
-    oce.add(OpCode.MODE_IDLE, Info.MODE_IDLE)
-    oce.add("16", "Ploc MPSoC: Tc cam command send")
-    oce.add("17", "Ploc MPSoC: Set UART TX tristate")
-    oce.add("18", "Ploc MPSoC: Relesase UART TX")
-    oce.add(OpCode.CAM_TAKE_PIC, Info.CAM_TAKE_PIC)
-    oce.add(OpCode.SIMPLEX_SEND_FILE, Info.SIMPLEX_SEND_FILE)
-    oce.add(OpCode.DOWNLINK_DATA_MODULATE, Info.DOWNLINK_DATA_MODULATE)
-    oce.add(OpCode.MODE_SNAPSHOT, Info.MODE_SNAPSHOT)
-    defs.add_service(CustomServiceList.PLOC_MPSOC.value, "Ploc MPSoC", oce)
+def create_ploc_mpsoc_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("ploc_mpsoc", "PLOC MPSoC", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
 
 
-@service_provider(CustomServiceList.PLOC_MPSOC)
-def pack_ploc_mpsoc_commands(  # noqa C901
-    p: ServiceProviderParams,
+def pack_ploc_mpsoc_commands(
+    q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa C901: Complexity okay here.
     object_id = get_object_ids().get(PLOC_MPSOC_ID)
-    q = p.queue_helper
+    assert object_id is not None
     prefix = "PLOC MPSoC"
-    op_code = p.op_code
     q.add_log_cmd(
         f"Generate command for PLOC MPSoC with object id: {object_id.as_hex_string}"
     )
     obyt = object_id.as_bytes
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"{prefix}: {Info.OFF}")
         command = pack_mode_data(obyt, Mode.OFF, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.ON:
+    if cmd_str == OpCode.ON:
         q.add_log_cmd(f"{prefix}: {Info.ON}")
         data = pack_mode_data(obyt, Mode.ON, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.NORMAL:
+    if cmd_str == OpCode.NORMAL:
         q.add_log_cmd(f"{prefix}: {Info.NORMAL}")
         data = pack_mode_data(object_id.as_bytes, Mode.NORMAL, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == OpCode.MEM_WRITE:
+    if cmd_str == OpCode.MEM_WRITE:
         q.add_log_cmd("PLOC MPSoC: TC mem write test")
         memory_address = int(
             input("PLOC MPSoC: Tc Mem Write: Type memory address: 0x"), 16
@@ -210,39 +218,35 @@ def pack_ploc_mpsoc_commands(  # noqa C901
             object_id.as_bytes, memory_address, memory_data, mem_len
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "4":
-        q.add_log_cmd("PLOC MPSoC: TC mem read test")
-        data = prepare_mem_read_command(object_id=object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.FLASH_WRITE_FILE:
+    if cmd_str == OpCode.FLASH_WRITE_FILE:
         q.add_log_cmd(f"{prefix}: {Info.FLASH_WRITE_FILE}")
         data = prepare_flash_write_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.FLASH_READ_FILE:
+    if cmd_str == OpCode.FLASH_READ_FILE:
         q.add_log_cmd(f"{prefix}: {Info.FLASH_READ_FILE}")
         data = prepare_flash_read_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.FLASH_DELETE_FILE:
+    if cmd_str == OpCode.FLASH_DELETE_FILE:
         q.add_log_cmd("PLOC MPSoC: Flash delete")
         data = prepare_flash_delete_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code in OpCode.REPLAY_START:
+    if cmd_str in OpCode.REPLAY_START:
         q.add_log_cmd(f"{prefix}: {Info.REPLAY_START}")
         data = prepare_replay_start_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.REPLAY_STOP:
+    if cmd_str == OpCode.REPLAY_STOP:
         q.add_log_cmd("PLOC MPSoC: Replay stop")
         data = object_id.as_bytes + struct.pack("!I", ActionId.TC_REPLAY_STOP)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.DOWNLINK_PWR_ON:
+    if cmd_str == OpCode.DOWNLINK_PWR_ON:
         q.add_log_cmd(f"{prefix}: {OpCode.DOWNLINK_PWR_ON}")
         data = prepare_downlink_pwr_on_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.DOWNLINK_PWR_OFF:
+    if cmd_str == OpCode.DOWNLINK_PWR_OFF:
         q.add_log_cmd("PLOC MPSoC: Downlink pwr off")
         data = object_id.as_bytes + struct.pack("!I", ActionId.TC_DOWNLINK_PWR_OFF)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.FLASH_GET_DIR_CONTENT:
+    if cmd_str == OpCode.FLASH_GET_DIR_CONTENT:
         q.add_log_cmd(f"{prefix}: {Info.FLASH_GET_DIR_CONTENT}")
         dir_name = input("Please specify MPSoC directory name to get information for: ")
         dir_name = bytearray(dir_name.encode("utf-8"))
@@ -254,34 +258,20 @@ def pack_ploc_mpsoc_commands(  # noqa C901
                 user_data=dir_name,
             )
         )
-    if op_code == OpCode.REPLAY_WRITE_SEQ:
+    if cmd_str == OpCode.REPLAY_WRITE_SEQ:
         q.add_log_cmd(f"{prefix}: {Info.REPLAY_WRITE_SEQ}")
         data = prepare_replay_write_sequence_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "12":
+    if cmd_str == "12":
         q.add_log_cmd("PLOC MPSoC: Reset OBSW sequence count")
         data = object_id.as_bytes + struct.pack("!I", ActionId.OBSW_RESET_SEQ_COUNT)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.VERIFY_BOOT:
-        num_words = 1
+    if cmd_str == OpCode.VERIFY_BOOT:
         q.add_log_cmd(f"{prefix} {Info.VERIFY_BOOT}")
-        data = (
-            object_id.as_bytes
-            + struct.pack("!I", ActionId.TC_MEM_READ)
-            + struct.pack("!I", MemAddresses.DEADBEEF)
-            + struct.pack("!H", num_words)
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.MODE_REPLAY:
-        q.add_log_cmd("PLOC MPSoC: Tc mode replay")
-        data = object_id.as_bytes + struct.pack("!I", ActionId.TC_MODE_REPLAY)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.MODE_IDLE:
-        q.add_log_cmd("PLOC MPSoC: Tc mode idle")
-        data = object_id.as_bytes + struct.pack("!I", ActionId.TC_MODE_IDLE)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "16":
-        q.add_log_cmd("PLOC MPSoC: Tc cam command send")
+        app_data = object_id.as_bytes + struct.pack("!I", ActionId.TC_VERIFY_BOOT)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=app_data))
+    if cmd_str == OpCode.CAM_CMD_SEND:
+        q.add_log_cmd(Info.CAM_CMD_SEND)
         cam_cmd = input("Specify cam command string: ")
         data = (
             object_id.as_bytes
@@ -289,30 +279,112 @@ def pack_ploc_mpsoc_commands(  # noqa C901
             + bytearray(cam_cmd, "utf-8")
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "17":
+    if cmd_str == OpCode.ENABLE_TC_EXECUTION:
+        q.add_log_cmd(Info.ENABLE_TC_EXECUTION)
+        while True:
+            for key, val in CRIT_CMD_APID_DICT.items():
+                print(f"{key}: {val[0]} with APID {val[1]}")
+            key = input("Please specify the command to enable by key: ")
+            if key not in CRIT_CMD_APID_DICT:
+                print("invalid key")
+                continue
+            apid = CRIT_CMD_APID_DICT[key][1]
+            break
+        app_data = struct.pack("!H", apid)
+        q.add_pus_tc(
+            create_action_cmd(PLOC_MPSOC_ID, ActionId.TC_ENABLE_TC_EXECUTION, app_data)
+        )
+    if cmd_str == OpCode.FLASH_MKFS:
+        q.add_log_cmd(Info.FLASH_MKFS)
+        while True:
+            flash_select = int(input("Please select the flash ID (0 or 1): "))
+            if flash_select != 0 and flash_select != 1:
+                _LOGGER.warn("invalid flash select")
+                continue
+            break
+        q.add_pus_tc(
+            create_action_cmd(
+                PLOC_MPSOC_ID, ActionId.TC_FLASH_MKFS, bytes([flash_select])
+            )
+        )
+
+    if cmd_str == OpCode.SPLIT_FILE:
+        q.add_log_cmd(Info.SPLIT_FILE)
+        q.add_pus_tc(
+            create_action_cmd(
+                PLOC_MPSOC_ID,
+                ActionId.TC_SPLIT_FILE,
+                user_data=prepare_simplex_store_file_user_data(),
+            )
+        )
+    if cmd_str == "17":
         q.add_log_cmd("PLOC MPSoC: Set UART TX tristate")
         data = object_id.as_bytes + struct.pack("!I", ActionId.SET_UART_TX_TRISTATE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "18":
+    if cmd_str == "18":
         q.add_log_cmd("PLOC MPSoC: Release UART TX")
         data = object_id.as_bytes + struct.pack("!I", ActionId.RELEASE_UART_TX)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.CAM_TAKE_PIC:
+    if cmd_str == OpCode.CAM_TAKE_PIC:
         q.add_log_cmd("PLOC MPSoC: Cam take picture")
         data = prepare_cam_take_pic_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.SIMPLEX_SEND_FILE:
-        q.add_log_cmd("PLOC MPSoC: Simplex send file")
-        data = prepare_simplex_send_file_cmd(object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.DOWNLINK_DATA_MODULATE:
+    if cmd_str == OpCode.SIMPLEX_STREAM_FILE:
+        q.add_log_cmd(Info.SIMPLEX_STREAM_FILE)
+        data = prepare_simplex_stream_file_user_data()
+        q.add_pus_tc(
+            create_action_cmd(
+                PLOC_MPSOC_ID, ActionId.TC_SIMPLEX_STREAM_FILE, user_data=data
+            )
+        )
+    if cmd_str == OpCode.DOWNLINK_DATA_MODULATE:
         q.add_log_cmd("PLOC MPSoC: Downlink data modulate")
         data = prepare_downlink_data_modulate_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == OpCode.MODE_SNAPSHOT:
-        q.add_log_cmd("PLOC MPSoC: Mode snapshot")
-        data = object_id.as_bytes + struct.pack("!I", ActionId.TC_MODE_SNAPSHOT)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
+    if cmd_str == OpCode.MODE_SNAPSHOT:
+        q.add_log_cmd(Info.MODE_SNAPSHOT)
+        mode = prompt_mode_for_submode_change()
+        q.add_pus_tc(create_mode_command(PLOC_MPSOC_ID, mode, Submode.SNAPSHOT))
+    if cmd_str == OpCode.MODE_IDLE:
+        q.add_log_cmd(Info.MODE_IDLE)
+        mode = prompt_mode_for_submode_change()
+        q.add_pus_tc(create_mode_command(PLOC_MPSOC_ID, mode, Submode.IDLE_OR_NONE))
+    if cmd_str == OpCode.MODE_REPLAY:
+        q.add_log_cmd(Info.MODE_REPLAY)
+        mode = prompt_mode_for_submode_change()
+        q.add_pus_tc(create_mode_command(PLOC_MPSOC_ID, mode, Submode.REPLAY))
+    if cmd_str == OpCode.ENABLE_PLOC_SUPV_COMMANDING_TO_ON:
+        q.add_log_cmd(Info.ENABLE_PLOC_SUPV_COMMANDING_TO_ON)
+        q.add_pus_tc(
+            create_load_param_cmd(
+                create_scalar_u8_parameter(
+                    object_id.as_bytes, 0, ParamId.PLOC_SUPV_SKIP_CMD_TO_ON, 0
+                )
+            )
+        )
+    if cmd_str == OpCode.DISABLE_PLOC_SUPV_COMMANDING_TO_ON:
+        q.add_log_cmd(Info.DISABLE_PLOC_SUPV_COMMANDING_TO_ON)
+        q.add_pus_tc(
+            create_load_param_cmd(
+                create_scalar_u8_parameter(
+                    object_id.as_bytes, 0, ParamId.PLOC_SUPV_SKIP_CMD_TO_ON, 1
+                )
+            )
+        )
+
+
+def prompt_mode_for_submode_change() -> int:
+    while True:
+        mode = input("Please specify primary mode [0: ON, 1: NORMAL]: ")
+        if mode == "0":
+            mode = Mode.ON
+        elif mode == "1":
+            mode = Mode.NORMAL
+        else:
+            print("Invalid mode")
+            continue
+        break
+    return mode
 
 
 def generate_write_mem_command(
@@ -422,10 +494,10 @@ def prepare_replay_write_sequence_cmd(object_id: bytes) -> bytearray:
     return bytearray(command)
 
 
-def prepare_cam_take_pic_cmd(object_id: bytes) -> bytearray:
-    selection = input("Use default parameter? (Y/N): ")
+def prepare_cam_take_pic_cmd(object_id: bytes) -> bytes:
+    filename = input("Specify target filename: ")
+    selection = input("Use default parameter? (y/n): ")
     if selection.lower() in ["y", "1", "yes"]:
-        filename = "0:/test"
         encoder_setting_y = 7
         quantization_y = 0
         encoder_setting_cb = 7
@@ -434,7 +506,6 @@ def prepare_cam_take_pic_cmd(object_id: bytes) -> bytearray:
         quantization_cr = 0
         bypass_compressor = 0
     else:
-        filename = input("Specify filename: ")
         encoder_setting_y = int(input("Specify encoderSetting_Y: "))
         quantization_y = int(input("Specify quantization_Y: "))
         encoder_setting_cb = int(input("Specify encoderSetting_Cb: "))
@@ -445,7 +516,7 @@ def prepare_cam_take_pic_cmd(object_id: bytes) -> bytearray:
     command = (
         object_id
         + struct.pack("!I", ActionId.TC_CAM_TAKE_PIC)
-        + bytearray(filename, "utf-8")
+        + filename.encode()
         + bytes([0])
         + struct.pack("!B", encoder_setting_y)
         + struct.pack("!Q", quantization_y)
@@ -455,18 +526,23 @@ def prepare_cam_take_pic_cmd(object_id: bytes) -> bytearray:
         + struct.pack("!Q", quantization_cr)
         + struct.pack("!B", bypass_compressor)
     )
-    return bytearray(command)
+    return command
 
 
-def prepare_simplex_send_file_cmd(object_id: bytes) -> bytearray:
+def prepare_simplex_stream_file_user_data() -> bytes:
+    filename = input("Specify filename: ")
+    command = filename.encode() + bytes([0])
+    return command
+
+
+def prepare_simplex_store_file_user_data() -> bytes:
+    num_of_chunks = int(input("Please specify the number of chunks: "))
+    assert num_of_chunks >= 0
     filename = input("Specify filename: ")
     command = (
-        object_id
-        + struct.pack("!I", ActionId.TC_SIMPLEX_SEND_FILE)
-        + bytearray(filename, "utf-8")
-        + bytes([0])
+        struct.pack("!I", num_of_chunks) + bytearray(filename, "utf-8") + bytes([0])
     )
-    return bytearray(command)
+    return command
 
 
 def prepare_downlink_data_modulate_cmd(object_id: bytes) -> bytearray:
@@ -641,7 +717,7 @@ class DirElement:
     size: int
 
 
-def handle_mpsoc_data_reply(action_id: int, pw: PrintWrapper, custom_data: bytearray):
+def handle_mpsoc_data_reply(action_id: int, pw: PrintWrapper, custom_data: bytes):
     if action_id == ActionId.TM_MEM_READ_RPT:
         header_list = [
             "PLOC Memory Address",
@@ -669,7 +745,8 @@ def handle_mpsoc_data_reply(action_id: int, pw: PrintWrapper, custom_data: bytea
                 "PLOC MPSoC flash directory data shorter than minimum 16 bytes"
             )
         current_idx = 0
-        dir_name_short = custom_data[current_idx : current_idx + 12].decode("utf-8")
+        end_of_str = custom_data[current_idx : current_idx + 12].index(b"\x00")
+        dir_name_short = custom_data[current_idx : current_idx + end_of_str].decode()
         current_idx += 12
         num_elements = struct.unpack("!I", custom_data[current_idx : current_idx + 4])[
             0
@@ -690,9 +767,7 @@ def handle_mpsoc_data_reply(action_id: int, pw: PrintWrapper, custom_data: bytea
         # It is as weird as it looks..
         for _ in range(num_elements):
             end_of_str = custom_data[current_idx : current_idx + 12].index(b"\x00")
-            elem_name = custom_data[current_idx : current_idx + end_of_str].decode(
-                "utf-8"
-            )
+            elem_name = custom_data[current_idx : current_idx + end_of_str].decode()
             current_idx += 12
             elem_names.append(elem_name)
         for _ in range(num_elements):

eive_tmtc/tmtc/payload/ploc_supervisor.py

@@ -6,23 +6,20 @@
 @author J. Meier
 @date   10.07.2021
 """
+from datetime import datetime
 import enum
 import logging
 import struct
 
-from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.config import TmtcDefinitionWrapper
-from tmtccmd.config.tmtc import OpCodeEntry, tmtc_definitions_provider
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
-from tmtccmd.pus.s8_fsfw_action import create_action_cmd
-from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_data
-from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
-
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.config.object_ids import PLOC_SUPV_ID, get_object_ids
 from eive_tmtc.pus_tm.defs import PrintWrapper
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid
+from tmtccmd.config.tmtc import CmdTreeNode
+from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
+from tmtccmd.pus.s8_fsfw_action import create_action_cmd
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 from eive_tmtc.utility.input_helper import InputHelper
 
 _LOGGER = logging.getLogger(__name__)
@@ -42,14 +39,14 @@ MANUAL_INPUT = "1"
 HARDCODED_FILE = "/home/rmueller/EIVE/mpsoc_boot.bin"
 
 UPDATE_FILE_DICT = {
-    HARDCODED: ["hardcoded", ""],
-    MANUAL_INPUT: ["manual input", ""],
-    "2": ["/mnt/sd0/ploc/mpsoc/image.bin", "/mnt/sd0/ploc/mpsoc/image.bin"],
+    HARDCODED: ("hardcoded", ""),
+    MANUAL_INPUT: ("manual input", ""),
+    "2": ("/mnt/sd0/ploc/mpsoc/image.bin", "/mnt/sd0/ploc/mpsoc/image.bin"),
 }
 
 EVENT_BUFFER_PATH_DICT = {
-    MANUAL_INPUT: ["manual input", ""],
-    "2": ["/mnt/sd0/ploc/supervisor", "/mnt/sd0/ploc/supervisor"],
+    MANUAL_INPUT: ("manual input", ""),
+    "2": ("/mnt/sd0/ploc/supervisor", "/mnt/sd0/ploc/supervisor"),
 }
 
 
@@ -115,7 +112,7 @@ class SupvActionId(enum.IntEnum):
     REQUEST_ADC_REPORT = 57
     RESET_PL = 58
     ENABLE_NVMS = 59
-    CONTINUE_UPDATE = 60
+    RESUME_UPDATE = 60
     MEM_CHECK = 61
 
 
@@ -133,126 +130,90 @@ class OpCode:
     ON = "on"
     NORMAL = "nml"
     HK_TO_OBC = "hk_to_obc"
-    REQUEST_HK_SET_FROM_DEV = "req_hk_from_dev"
-    REQUEST_HK_SET = "req_hk"
+    REQUEST_GENERIC_HK_SET = "req_generic_hk"
     START_MPSOC = "start_mpsoc"
     SHUTDOWN_MPSOC = "stop_mpsoc"
     SEL_NVM = "sel_nvm"
     SET_TIME_REF = "set_time_ref"
     FACTORY_FLASH = "factory_flash"
-    REQ_BOOT_STATUS_REPORT = "boot_report"
     START_UPDATE = "start_update"
-    PERFORM_UPDATE = "update"
+    RESUME_UPDATE = "resum_update"
     FACTORY_RESET = "factory_reset"
     MEM_CHECK = "mem_check"
     RESET_MPSOC = "reset_mpsoc"
+    SET_GPIO = "set_gpio"
+    READ_GPIO = "read_gpio"
+    READ_STATUS_REPORT = "read_status_report"
 
 
 class Info(str, enum.Enum):
-    value: str
     OFF = "Switch Off"
     ON = "Switch On"
-    NML = "Switch Normal"
+    NORMAL = "Switch Normal"
     HK_TO_OBC = "Request  HK from PLOC SUPV"
-    REQUEST_HK_SET_FROM_DEV = "Request HK set from the device to the PLOC Handler"
-    REQUEST_HK_SET = "Request HK set from PLOC Handler"
+    REQUEST_GENERIC_HK_SET = "Request prompted HK set from PLOC Handler"
+    START_MPSOC = "Start MPSoC"
+    SHUTDOWN_MPSOC = "Shutdown MPSoC"
     SET_TIME_REF = "Set time reference"
     FACTORY_FLASH = "Factory Flash Mode"
-    PERFORM_UPDATE = "Start or continue MPSoC SW update at starting bytes"
+    RESUME_UPDATE = "Start or continue MPSoC SW update at starting bytes"
     START_UPDATE = "Start new MPSoC SW update"
     FACTORY_RESET = "Factory Reset of loggers"
-    REQ_BOOT_STATUS_REPORT = "Request boot status report and HK"
     MEM_CHECK = "Memory Check"
     SEL_NVM = "Select NVM"
     RESET_MPSOC = "Reset MPSoC"
+    SET_GPIO = "Set GPIO"
+    READ_GPIO = "Read GPIO"
+    READ_STATUS_REPORT = "Read HK status report"
 
 
-@tmtc_definitions_provider
-def add_ploc_supv_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(OpCode.OFF, Info.OFF)
-    oce.add(OpCode.ON, Info.ON)
-    oce.add(OpCode.NORMAL, Info.NML)
-    oce.add(OpCode.HK_TO_OBC, Info.HK_TO_OBC)
-    oce.add(OpCode.REQUEST_HK_SET, Info.REQUEST_HK_SET)
-    oce.add(OpCode.REQUEST_HK_SET_FROM_DEV, Info.REQUEST_HK_SET_FROM_DEV)
-    oce.add(OpCode.START_MPSOC, "PLOC Supervisor: Start MPSoC")
-    oce.add(OpCode.SHUTDOWN_MPSOC, "PLOC Supervisor: Shutdown MPSoC")
-    oce.add(OpCode.SEL_NVM, Info.SEL_NVM)
-    oce.add(OpCode.SET_TIME_REF, Info.SET_TIME_REF)
-    oce.add(OpCode.FACTORY_RESET, Info.FACTORY_RESET)
-    oce.add(OpCode.RESET_MPSOC, Info.RESET_MPSOC)
-    oce.add("8", "PLOC Supervisor: Set max restart tries")
-    oce.add("11", "PLOC Supervisor: Set boot timeout")
-    oce.add("12", "PLOC Supervisor: Disable Hk")
-    oce.add(OpCode.REQ_BOOT_STATUS_REPORT, Info.REQ_BOOT_STATUS_REPORT)
-    oce.add("17", "PLOC Supervisor: Enable latchup alert")
-    oce.add("18", "PLOC Supervisor: Disable latchup alert")
-    oce.add("20", "PLOC Supervisor: Set alert limit")
-    oce.add("23", "PLOC Supervisor: Set ADC enabled channels")
-    oce.add("24", "PLOC Supervisor: Set ADC window and stride")
-    oce.add("25", "PLOC Supervisor: Set ADC threshold")
-    oce.add("26", "PLOC Supervisor: Request latchup status report")
-    oce.add("27", "PLOC Supervisor: Copy ADC data to MRAM")
-    oce.add("30", "PLOC Supervisor: Run auto EM tests")
-    oce.add("31", "PLOC Supervisor: MRAM Wipe")
-    oce.add("35", "PLOC Supervisor: Set GPIO")
-    oce.add("36", "PLOC Supervisor: Read GPIO")
-    oce.add("37", "PLOC Supervisor: Restart supervisor")
-    oce.add(OpCode.PERFORM_UPDATE, Info.PERFORM_UPDATE)
-    oce.add(OpCode.START_UPDATE, Info.START_UPDATE)
-    oce.add("43", "PLOC Supervisor: Terminate supervisor process")
-    oce.add("44", "PLOC Supervisor: Start MPSoC quiet")
-    oce.add("45", "PLOC Supervisor: Set shutdown timeout")
-    oce.add(OpCode.FACTORY_FLASH, Info.FACTORY_FLASH)
-    oce.add("47", "PLOC Supervisor: Enable auto TM")
-    oce.add("48", "PLOC Supervisor: Disable auto TM")
-    oce.add("51", "PLOC Supervisor: Logging request event buffers")
-    oce.add("52", "PLOC Supervisor: Logging clear counters")
-    oce.add("53", "PLOC Supervisor: Logging set topic")
-    oce.add("54", "PLOC Supervisor: Logging request counters")
-    oce.add("55", "PLOC Supervisor: Request ADC Report")
-    oce.add("56", "PLOC Supervisor: Reset PL")
-    oce.add("57", "PLOC Supervisor: Enable NVMs")
-    oce.add("58", "PLOC Supervisor: Continue update")
-    oce.add(OpCode.MEM_CHECK, Info.MEM_CHECK)
-    defs.add_service(CustomServiceList.PLOC_SUPV.value, "PLOC Supervisor", oce)
+def create_ploc_supv_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("ploc_supv", "PLOC Supervisor", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
 
 
-@service_provider(CustomServiceList.PLOC_SUPV)
-def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
-    q = p.queue_helper
-    op_code = p.op_code
+def pack_ploc_supv_commands(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
     object_id = get_object_ids().get(PLOC_SUPV_ID)
     assert object_id is not None
     q.add_log_cmd(f"Testing PLOC Supervisor with object id: {object_id.as_hex_string}")
     obyt = object_id.as_bytes
     prefix = "PLOC Supervisor"
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"{prefix}: {Info.OFF}")
         command = pack_mode_data(object_id.as_bytes, Mode.OFF, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.ON:
+    if cmd_str == OpCode.ON:
         q.add_log_cmd(f"{prefix}: {Info.ON}")
         command = pack_mode_data(object_id.as_bytes, Mode.ON, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.NORMAL:
-        q.add_log_cmd(f"{prefix}: {Info.NML}")
+    if cmd_str == OpCode.NORMAL:
+        q.add_log_cmd(f"{prefix}: {Info.NORMAL}")
         command = pack_mode_data(object_id.as_bytes, Mode.NORMAL, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == OpCode.HK_TO_OBC:
+    if cmd_str == OpCode.HK_TO_OBC:
         q.add_log_cmd(f"{prefix}: {Info.HK_TO_OBC}")
         command = obyt + struct.pack("!I", SupvActionId.REQUEST_HK_REPORT)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.REQUEST_HK_SET:
-        q.add_log_cmd(f"{prefix}: {Info.REQUEST_HK_SET}")
-        sid = make_sid(object_id.as_bytes, prompt_set_id())
-        cmd = generate_one_hk_command(sid)
-        q.add_pus_tc(cmd)
-    if op_code == OpCode.REQUEST_HK_SET_FROM_DEV:
-        q.add_log_cmd(f"{prefix}: {Info.REQUEST_HK_SET_FROM_DEV}")
+    if cmd_str == OpCode.START_MPSOC:
+        q.add_log_cmd("PLOC Supervisor: Start MPSoC")
+        command = obyt + struct.pack("!I", SupvActionId.START_MPSOC)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+    if cmd_str == OpCode.SHUTDOWN_MPSOC:
+        q.add_log_cmd("PLOC Supervisor: Shutdown MPSoC")
+        command = object_id.as_bytes + struct.pack("!I", SupvActionId.SHUTWOWN_MPSOC)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+    if cmd_str == OpCode.READ_STATUS_REPORT:
+        q.add_log_cmd(f"{prefix}: {Info.READ_STATUS_REPORT}")
         set_id = prompt_set_id()
         action_cmd = None
+        # First read the set from the device.
         if set_id == SetId.HK_REPORT:
             action_cmd = create_action_cmd(PLOC_SUPV_ID, SupvActionId.REQUEST_HK_REPORT)
         if set_id == SetId.ADC_REPORT:
@@ -263,17 +224,33 @@ def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
             action_cmd = create_action_cmd(
                 PLOC_SUPV_ID, SupvActionId.REQUEST_LOGGING_COUNTERS
             )
-        assert action_cmd is not None
+        if set_id == SetId.LATCHUP_REPORT:
+            action_cmd = create_action_cmd(
+                PLOC_SUPV_ID, SupvActionId.GET_LATCHUP_STATUS_REPORT
+            )
+        if set_id == SetId.BOOT_STATUS_REPORT:
+            action_cmd = create_action_cmd(
+                PLOC_SUPV_ID, SupvActionId.GET_BOOT_STATUS_REPORT
+            )
+        if action_cmd is None:
+            _LOGGER.warning(f"invalid set ID {set_id!r} for PLOC SUPV")
+            return
+        # Now dump the HK set.
+        sid = make_sid(object_id.as_bytes, set_id)
+        req_hk = generate_one_hk_command(sid)
         q.add_pus_tc(action_cmd)
-    elif op_code == OpCode.START_MPSOC:
+        q.add_wait_seconds(2.0)
+        q.add_pus_tc(req_hk)
+        assert action_cmd is not None
+    elif cmd_str == OpCode.START_MPSOC:
         q.add_log_cmd("PLOC Supervisor: Start MPSoC")
         command = obyt + struct.pack("!I", SupvActionId.START_MPSOC)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.SHUTDOWN_MPSOC:
+    if cmd_str == OpCode.SHUTDOWN_MPSOC:
         q.add_log_cmd("PLOC Supervisor: Shutdown MPSoC")
         command = object_id.as_bytes + struct.pack("!I", SupvActionId.SHUTWOWN_MPSOC)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.SEL_NVM:
+    if cmd_str == OpCode.SEL_NVM:
         q.add_log_cmd("PLOC Supervisor: Select MPSoC boot image")
         mem = int(input("MEM (NVM0 - 0 or NVM1 - 1): "))
         bp0 = int(input("BP0 (0 or 1): "))
@@ -281,7 +258,7 @@ def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
         bp2 = int(input("BP2 (0 or 1): "))
         command = pack_sel_boot_image_cmd(object_id.as_bytes, mem, bp0, bp1, bp2)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.FACTORY_RESET:
+    if cmd_str == OpCode.FACTORY_RESET:
         q.add_log_cmd(f"{prefix}: {Info.FACTORY_RESET}")
         while True:
             print("Please select the key for a factory reset operation")
@@ -298,7 +275,7 @@ def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
                 user_data=bytes([key]),
             )
         )
-    if op_code == "8":
+    if cmd_str == "8":
         q.add_log_cmd("PLOC Supervisor: Set max restart tries")
         restart_tries = int(input("Specify maximum restart tries: "))
         command = (
@@ -307,15 +284,15 @@ def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
             + struct.pack("!B", restart_tries)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.RESET_MPSOC:
+    if cmd_str == OpCode.RESET_MPSOC:
         q.add_log_cmd(Info.RESET_MPSOC)
         command = object_id.as_bytes + struct.pack("!I", SupvActionId.RESET_MPSOC)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.SET_TIME_REF:
+    if cmd_str == OpCode.SET_TIME_REF:
         q.add_log_cmd("PLOC Supervisor: Set time reference")
         command = object_id.as_bytes + struct.pack("!I", SupvActionId.SET_TIME_REF)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "11":
+    if cmd_str == "11":
         q.add_log_cmd("PLOC Supervisor: Set boot timeout")
         boot_timeout = int(input("Specify boot timeout [ms]: "))
         command = (
@@ -324,143 +301,63 @@ def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
             + struct.pack("!I", boot_timeout)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "12":
-        q.add_log_cmd("PLOC Supervisor: Disable HK")
-        command = object_id.as_bytes + struct.pack("!I", SupvActionId.DISABLE_HK)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code in OpCode.REQ_BOOT_STATUS_REPORT:
-        q.add_log_cmd(f"{prefix}:  {Info.REQ_BOOT_STATUS_REPORT}")
-        command = object_id.as_bytes + struct.pack(
-            "!I", SupvActionId.GET_BOOT_STATUS_REPORT
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_wait_seconds(2.0)
-        sid = make_sid(object_id.as_bytes, SetId.BOOT_STATUS_REPORT)
-        req_hk = generate_one_hk_command(sid)
-        q.add_pus_tc(req_hk)
-    if op_code == "17":
-        q.add_log_cmd("PLOC Supervisor: Enable latchup alert")
-        command = pack_lachtup_alert_cmd(object_id.as_bytes, True)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "18":
-        q.add_log_cmd("PLOC Supervisor: Disable latchup alert")
-        command = pack_lachtup_alert_cmd(object_id.as_bytes, False)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "20":
-        q.add_log_cmd("PLOC Supervisor: Set alert limit")
-        command = pack_set_alert_limit_cmd(object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "23":
+    if cmd_str == "23":
         q.add_log_cmd("PLOC Supervisor: Set ADC enabled channels")
         command = pack_set_adc_enabled_channels_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "24":
+    if cmd_str == "24":
         q.add_log_cmd("PLOC Supervisor: Set ADC window and stride")
         command = pack_set_adc_window_and_stride_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "25":
+    if cmd_str == "25":
         q.add_log_cmd("PLOC Supervisor: Set ADC threshold")
         command = pack_set_adc_threshold_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "26":
-        q.add_log_cmd("PLOC Supervisor: Request latchup status report")
-        command = object_id.as_bytes + struct.pack(
-            "!I", SupvActionId.GET_LATCHUP_STATUS_REPORT
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "27":
-        q.add_log_cmd("PLOC Supervisor: Copy ADC data to MRAM")
-        command = object_id.as_bytes + struct.pack(
-            "!I", SupvActionId.COPY_ADC_DATA_TO_MRAM
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "30":
-        q.add_log_cmd("PLOC Supervisor: Run auto EM tests")
-        command = pack_auto_em_tests_cmd(object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "31":
-        q.add_log_cmd("PLOC Supervisor: Wipe MRAM")
-        command = pack_mram_wipe_cmd(object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "35":
+    if cmd_str == OpCode.SET_GPIO:
         q.add_log_cmd("PLOC Supervisor: Set GPIO command")
         command = pack_set_gpio_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "36":
+    if cmd_str == OpCode.READ_GPIO:
         q.add_log_cmd("PLOC Supervisor: Read GPIO command")
         command = pack_read_gpio_cmd(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "37":
+    if cmd_str == "37":
         q.add_log_cmd("PLOC Supervisor: Restart supervisor")
         command = object_id.as_bytes + struct.pack(
             "!I", SupvActionId.RESTART_SUPERVISOR
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code in OpCode.START_UPDATE:
+    if cmd_str in OpCode.START_UPDATE:
         q.add_log_cmd("PLOC Supversior: Start new MPSoC SW update")
         command = pack_update_command(object_id.as_bytes, True)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code in OpCode.PERFORM_UPDATE:
+    if cmd_str in OpCode.RESUME_UPDATE:
         q.add_log_cmd("PLOC Supervisor: Perform MPSoC SW update")
         command = pack_update_command(object_id.as_bytes, False)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "43":
+    if cmd_str == "43":
         q.add_log_cmd("PLOC Supervisor: Terminate supervisor process")
         command = object_id.as_bytes + struct.pack(
             "!I", SupvActionId.TERMINATE_SUPV_HELPER
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "44":
+    if cmd_str == "44":
         q.add_log_cmd("PLOC Supervisor: Start MPSoC quiet")
         command = object_id.as_bytes + struct.pack("!I", SupvActionId.START_MPSOC_QUIET)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "45":
+    if cmd_str == "45":
         q.add_log_cmd("PLOC Supervisor: Set shutdown timeout")
         command = pack_set_shutdown_timeout_command(object_id.as_bytes)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code in OpCode.FACTORY_FLASH:
+    if cmd_str in OpCode.FACTORY_FLASH:
         q.add_log_cmd(f"{prefix}: {Info.FACTORY_FLASH}")
         command = object_id.as_bytes + struct.pack("!I", SupvActionId.FACTORY_FLASH)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "47":
-        q.add_log_cmd("PLOC Supervisor: Enable auto TM")
-        command = object_id.as_bytes + struct.pack("!I", SupvActionId.ENABLE_AUTO_TM)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "48":
-        q.add_log_cmd("PLOC Supervisor: Disable auto TM")
-        command = object_id.as_bytes + struct.pack("!I", SupvActionId.DISABLE_AUTO_TM)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "51":
-        q.add_log_cmd("PLOC Supervisor: Logging request event buffers")
-        command = pack_logging_buffer_request(object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "52":
-        q.add_log_cmd("PLOC Supervisor: Logging clear counters")
-        command = object_id.as_bytes + struct.pack(
-            "!I", SupvActionId.LOGGING_CLEAR_COUNTERS
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "53":
-        q.add_log_cmd("PLOC Supervisor: Logging set topic")
-        command = pack_logging_set_topic(object_id.as_bytes)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "54":
-        q.add_log_cmd("PLOC Supervisor: Logging request counters")
-        command = object_id.as_bytes + struct.pack(
-            "!I", SupvActionId.REQUEST_LOGGING_COUNTERS
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "55":
-        q.add_log_cmd("PLOC Supervisor: Request ADC report")
-        command = object_id.as_bytes + struct.pack(
-            "!I", SupvActionId.REQUEST_ADC_REPORT
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "56":
+    if cmd_str == "56":
         q.add_log_cmd("PLOC Supervisor: Reset PL")
         command = object_id.as_bytes + struct.pack("!I", SupvActionId.RESET_PL)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "57":
+    if cmd_str == "57":
         q.add_log_cmd("PLOC Supervisor: Enable NVMs")
         nvm01 = int(input("Enable (1) or disable(0) NVM 0 and 1: "))
         nvm3 = int(input("Enable (1) or disable(0) NVM 3: "))
@@ -471,11 +368,11 @@ def pack_ploc_supv_commands(p: ServiceProviderParams):  # noqa C901
             + struct.pack("B", nvm3)
         )
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == "58":
+    if cmd_str == "58":
         q.add_log_cmd("PLOC Supervisor: Continue update")
-        command = object_id.as_bytes + struct.pack("!I", SupvActionId.CONTINUE_UPDATE)
+        command = object_id.as_bytes + struct.pack("!I", SupvActionId.RESUME_UPDATE)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code == OpCode.MEM_CHECK:
+    if cmd_str == OpCode.MEM_CHECK:
         custom_data = bytearray()
         update_file = get_update_file()
         memory_id = int(input("Specify memory ID: "))
@@ -753,8 +650,10 @@ def get_event_buffer_path() -> str:
 class SocState(enum.IntEnum):
     OFF = 0
     BOOTING = 1
-    OPERATIONAL = 2
-    SHUTDOWN = 3
+    UPDATE = 2
+    OPERATIONAL = 3
+    RESET = 4
+    FAULTY = 5
 
 
 def handle_supv_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
@@ -766,6 +665,8 @@ def handle_supv_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
         handle_adc_report(hk_data)
     elif set_id == SetId.COUNTERS_REPORT:
         handle_counters_report(hk_data)
+    elif set_id == SetId.LATCHUP_REPORT:
+        handle_latchup_status_report(hk_data)
     else:
         pw.dlog(f"PLOC SUPV: HK handling not implemented for set ID {set_id}")
         pw.dlog(f"Raw Data: 0x[{hk_data.hex(sep=',')}]")
@@ -792,12 +693,15 @@ def handle_hk_report(hk_data: bytes, pw: PrintWrapper):
     pw.dlog(f"Temp PS {temp_ps} C | Temp PL {temp_pl} C | Temp SUP {temp_sup} C")
     pw.dlog(f"Uptime {uptime} | CPU Load {cpu_load} | Avail Heap {avail_heap}")
     pw.dlog(f"Number TCs {num_tcs} | Number TMs {num_tms}")
-    pw.dlog(f"SOC state {SocState(soc_state)}")
+    try:
+        pw.dlog(f"SOC state {SocState(soc_state)}")
+    except ValueError:
+        pw.dlog(f"Invalid SOC state {soc_state}")
     pw.dlog(f"NVM 01 State {nvm_0_1_state}")
     pw.dlog(f"NVM 3 State {nvm_3_state}")
     pw.dlog(f"Mission IO state {mission_io_state}")
     pw.dlog(f"FMC state {fmc_state}")
-    pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[inc_len:], 13))
+    pw.dlog(get_validity_buffer_str(hk_data[inc_len:], 13))
 
 
 def handle_boot_report(hk_data: bytes, pw: PrintWrapper):
@@ -826,7 +730,7 @@ def handle_boot_report(hk_data: bytes, pw: PrintWrapper):
     pw.dlog(f"Active NVM: {active_nvm}")
     pw.dlog(f"BP0 State {bp_0_state} | BP1 State {bp_1_state} | BP2 State {bp_2_state}")
     pw.dlog(f"Boot State {boot_state} | Boot Cycles {boot_cycles}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 10)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 10))
 
 
 def handle_adc_report(hk_data: bytes):
@@ -907,3 +811,53 @@ def handle_counters_report(hk_data: bytes):
     print(f"MM task lost: {mm_task_lost}")
     print(f"HK task lost: {hk_task_lost}")
     print(f"DL task lost: {dl_task_lost}")
+
+
+def handle_latchup_status_report(hk_data: bytes):
+    # 1 byte ID, 7 times 2 bytes of counts, and 8 bytes of time and 1 byte sync status.
+    if len(hk_data) < 24:
+        raise ValueError("Latchup status report smaller than expected")
+    current_idx = 0
+    id = hk_data[current_idx]
+    current_idx += 1
+    counts_of_alerts = []
+    for _ in range(7):
+        counts_of_alerts.append(
+            struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
+        )
+        current_idx += 2
+    print(f"ID: {id}")
+    print(f"Counts of alerts: {counts_of_alerts}")
+    time_ms = struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
+    current_idx += 2
+    time_seconds = hk_data[current_idx]
+    current_idx += 1
+    time_minutes = hk_data[current_idx]
+    current_idx += 1
+    time_hour = hk_data[current_idx]
+    current_idx += 1
+    time_day = hk_data[current_idx]
+    current_idx += 1
+    time_month = hk_data[current_idx]
+    current_idx += 1
+    # Is stored as years since 1900.
+    time_year = 1900 + hk_data[current_idx]
+    current_idx += 1
+    is_synced = hk_data[current_idx]
+    print(f"Time Sync Status: {is_synced}")
+    try:
+        dt = datetime(
+            year=time_year,
+            month=time_month,
+            day=time_day,
+            hour=time_hour,
+            minute=time_minutes,
+            second=time_seconds,
+            microsecond=time_ms * 1000,
+        )
+        print(f"Time Now: {dt}")
+    except ValueError:
+        print(
+            f"Time: {time_day}.{time_month}.{time_year}T"
+            f"{time_hour}:{time_minutes}:{time_seconds}.{time_ms}"
+        )

eive_tmtc/tmtc/payload/plpcdu.py

@@ -6,7 +6,7 @@ from typing import Optional
 
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
-from tmtccmd.config import TmtcDefinitionWrapper
+from tmtccmd.config import CmdTreeNode, TmtcDefinitionWrapper
 
 from tmtccmd.config.tmtc import OpCodeEntry, tmtc_definitions_provider
 from tmtccmd.tmtc import DefaultPusQueueHelper
@@ -28,13 +28,12 @@ from tmtccmd.pus.s20_fsfw_param import (
 )
 from spacepackets.ecss.tc import PusTelecommand
 from eive_tmtc.config.object_ids import PL_PCDU_ID
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 _LOGGER = logging.getLogger(__name__)
 
 
 class OpCode:
-    SWITCH_HPA_ON_PROC = ["0", "proc_hpa"]
     SWITCH_ON = "on"
     SWITCH_OFF = "off"
     NORMAL_SSR = "nml_ssr"
@@ -76,12 +75,17 @@ class Info:
     NORMAL_HPA = f"{NORMAL}, HPA on"
     NORMAL_CUSTOM = f"{NORMAL}, Custom Channel Settings"
     REQ_OS_HK = "Request One Shot HK"
-    SWITCH_HPA_ON_PROC = "Switch HPA on procedure"
     ENABLE_HK = "Enable HK"
     DISABLE_HK = "Disable HK"
     UPDATE_I_UPPER_LIMIT = "Update upper current parameter"
     UPDATE_V_LOWER_LIMIT = "Update lower voltage parameter"
     UPDATE_V_UPPER_LIMIT = "Update upper voltage parameter"
+    INJECT_SSR_TO_DRO_FAILURE = "Inject SSR to DRO failure"
+    INJECT_DRO_TO_X8_FAILURE = "Inject DRO to X8 failure"
+    INJECT_X8_TO_TX_FAILURE = "Inject X8 to TX failure"
+    INJECT_TX_TO_MPA_FAILURE = "Inject TX to MPA failure"
+    INJECT_MPA_TO_HPA_FAILURE = "Inject MPA to HPA failure"
+    INJECT_ALL_ON_FAILURE = "Inject all on failure"
     DISABLE_ORDER_CHECKING = "Disable order checks"
     ENABLE_ORDER_CHECKING = "Enable order checks"
 
@@ -182,10 +186,21 @@ class DevSelect(enum.IntEnum):
     HPA = 5
 
 
+def create_pl_pcdu_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("pl_pcdu", "Payload PCDU", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
+
+
 @tmtc_definitions_provider
 def add_pl_pcdu_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
-    oce.add(keys=OpCode.SWITCH_HPA_ON_PROC, info=Info.SWITCH_HPA_ON_PROC)
     oce.add(keys=OpCode.SWITCH_ON, info=Info.SWITCH_ON)
     oce.add(keys=OpCode.SWITCH_OFF, info=Info.SWITCH_OFF)
     oce.add(keys=OpCode.NORMAL_SSR, info=Info.NORMAL_SSR)
@@ -227,13 +242,13 @@ def add_pl_pcdu_cmds(defs: TmtcDefinitionWrapper):
 
 
 def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
-    q: DefaultPusQueueHelper, op_code: str
+    q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa C901: Complexity is okay here.
-    if op_code == OpCode.SWITCH_ON:
+    if cmd_str == OpCode.SWITCH_ON:
         pack_pl_pcdu_mode_cmd(q=q, info=Info.SWITCH_ON, mode=Mode.ON, submode=0)
-    if op_code == OpCode.SWITCH_OFF:
+    if cmd_str == OpCode.SWITCH_OFF:
         pack_pl_pcdu_mode_cmd(q=q, info=Info.SWITCH_OFF, mode=Mode.OFF, submode=0)
-    if op_code in OpCode.ENABLE_HK:
+    if cmd_str in OpCode.ENABLE_HK:
         interval = float(
             input("Please enter HK collection interval in floating point seconds: ")
         )
@@ -243,13 +258,13 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
         q.add_log_cmd(f"Enable PL PCDU HK with interval of {interval} seconds")
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    if op_code == OpCode.DISABLE_HK:
+    if cmd_str == OpCode.DISABLE_HK:
         cmd = disable_periodic_hk_command(
             diag=True, sid=make_sid(PL_PCDU_ID, SetId.ADC)
         )
         q.add_log_cmd("Disabling PL PCDU HK")
         q.add_pus_tc(cmd)
-    if op_code == OpCode.NORMAL_SSR:
+    if cmd_str == OpCode.NORMAL_SSR:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_SSR,
@@ -258,57 +273,57 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
                 NormalSubmodesMask.SOLID_STATE_RELAYS_ADC_ON
             ),
         )
-    if op_code == OpCode.NORMAL_DRO:
+    if cmd_str == OpCode.NORMAL_DRO:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_DRO,
             mode=Mode.NORMAL,
             submode=submode_mask_to_submode(NormalSubmodesMask.DRO_ON),
         )
-    if op_code == OpCode.NORMAL_X8:
+    if cmd_str == OpCode.NORMAL_X8:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_X8,
             mode=Mode.NORMAL,
             submode=submode_mask_to_submode(NormalSubmodesMask.X8_ON),
         )
-    if op_code == OpCode.NORMAL_TX:
+    if cmd_str == OpCode.NORMAL_TX:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_TX,
             mode=Mode.NORMAL,
             submode=submode_mask_to_submode(NormalSubmodesMask.TX_ON),
         )
-    if op_code == OpCode.NORMAL_MPA:
+    if cmd_str == OpCode.NORMAL_MPA:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_MPA,
             mode=Mode.NORMAL,
             submode=submode_mask_to_submode(NormalSubmodesMask.MPA_ON),
         )
-    if op_code == OpCode.NORMAL_HPA:
+    if cmd_str == OpCode.NORMAL_HPA:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_HPA,
             mode=Mode.NORMAL,
             submode=submode_mask_to_submode(NormalSubmodesMask.HPA_ON),
         )
-
-    if op_code == OpCode.NORMAL_CUSTOM:
+    if cmd_str == OpCode.NORMAL_CUSTOM:
         pack_pl_pcdu_mode_cmd(
             q=q,
             info=Info.NORMAL_CUSTOM,
             mode=Mode.NORMAL,
             submode=prompt_custom_normal_submode(),
         )
-    if op_code == OpCode.REQ_OS_HK:
+
+    if cmd_str == OpCode.REQ_OS_HK:
         q.add_log_cmd(f"PL PCDU: {Info.REQ_OS_HK}")
         q.add_pus_tc(
             generate_one_diag_command(
                 sid=make_sid(object_id=PL_PCDU_ID, set_id=SetId.ADC)
             )
         )
-    if op_code == OpCode.DISABLE_ORDER_CHECKING:
+    if cmd_str == OpCode.DISABLE_ORDER_CHECKING:
         q.add_log_cmd(Info.DISABLE_ORDER_CHECKING)
         q.add_pus_tc(
             create_load_param_cmd(
@@ -318,7 +333,7 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
             )
         )
 
-    if op_code == OpCode.ENABLE_ORDER_CHECKING:
+    if cmd_str == OpCode.ENABLE_ORDER_CHECKING:
         q.add_log_cmd(Info.ENABLE_ORDER_CHECKING)
         q.add_pus_tc(
             create_load_param_cmd(
@@ -328,7 +343,7 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
             )
         )
 
-    if op_code == OpCode.UPDATE_I_UPPER_LIMIT:
+    if cmd_str == OpCode.UPDATE_I_UPPER_LIMIT:
         q.add_log_cmd(Info.UPDATE_I_UPPER_LIMIT)
         print("Select device to update lower current limit for: ")
         param_id = dev_select_to_upper_i_update_param_id(dev_select_prompt(True))
@@ -340,7 +355,7 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
                 create_scalar_double_parameter(PL_PCDU_ID, 0, param_id, new_param_value)
             )
         )
-    if op_code == OpCode.UPDATE_V_LOWER_LIMIT:
+    if cmd_str == OpCode.UPDATE_V_LOWER_LIMIT:
         q.add_log_cmd(Info.UPDATE_V_LOWER_LIMIT)
         print("Select device to update lower voltage limit for: ")
         param_id = dev_select_to_lower_u_update_param_id(dev_select_prompt(False))
@@ -352,7 +367,7 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
                 create_scalar_double_parameter(PL_PCDU_ID, 0, param_id, new_param_value)
             )
         )
-    if op_code == OpCode.UPDATE_V_UPPER_LIMIT:
+    if cmd_str == OpCode.UPDATE_V_UPPER_LIMIT:
         q.add_log_cmd(Info.UPDATE_V_UPPER_LIMIT)
         print("Select device to update upper voltage limit for: ")
         param_id = dev_select_to_upper_u_update_param_id(dev_select_prompt(False))
@@ -364,9 +379,7 @@ def pack_pl_pcdu_commands(  # noqa C901: Complexity is okay here.
                 create_scalar_double_parameter(PL_PCDU_ID, 0, param_id, new_param_value)
             )
         )
-    if op_code == OpCode.SWITCH_HPA_ON_PROC:
-        hpa_on_procedure(q)
-    if op_code == OpCode.INJECT_ALL_ON_FAILURE:
+    if cmd_str == OpCode.INJECT_ALL_ON_FAILURE:
         pack_failure_injection_cmd(
             q=q,
             param_id=ParamId.INJECT_ALL_ON_FAILURE,
@@ -602,8 +615,8 @@ def handle_plpcdu_hk(pw: PrintWrapper, set_id: int, hk_data: bytes):
         pw.dlog(ch_print)
         for i in range(12):
             pw.dlog(f"{ADC_CHANNELS_NAMED[i].ljust(24)} | {processed_vals[i]}")
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=3
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=3)
         )
 
 

eive_tmtc/tmtc/payload/rad_sensor.py

@@ -18,7 +18,7 @@ from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_data
 from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid
 from tmtccmd.util import ObjectIdU32
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 
 class SetId(enum.IntEnum):
@@ -66,27 +66,27 @@ def add_rad_sens_cmds(defs: TmtcDefinitionWrapper):
     )
 
 
-def pack_rad_sensor_test_into(
-    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+def create_rad_sensor_cmd(
+    object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
 ):
     q.add_log_cmd(f"Commanding Radiation sensor handler {object_id}")
 
-    if op_code in OpCode.ON:
+    if cmd_str in OpCode.ON:
         rad_sensor_mode_cmd(object_id, Mode.ON, Info.ON, q)
-    if op_code in OpCode.NORMAL:
+    if cmd_str in OpCode.NORMAL:
         rad_sensor_mode_cmd(object_id, Mode.NORMAL, Info.NORMAL, q)
-    if op_code in OpCode.OFF:
+    if cmd_str in OpCode.OFF:
         rad_sensor_mode_cmd(object_id, Mode.OFF, Info.OFF, q)
-    if op_code in OpCode.REQ_HK_ONCE:
+    if cmd_str in OpCode.REQ_HK_ONCE:
         q.add_log_cmd(f"Rad sensor: {Info.REQ_OS_HK}")
         q.add_pus_tc(
             generate_one_hk_command(sid=make_sid(object_id.as_bytes, set_id=SetId.HK))
         )
-    if op_code in OpCode.DEBUG_ON:
+    if cmd_str in OpCode.DEBUG_ON:
         q.add_log_cmd(f"Rad sensor: {Info.DEBUG_ON}")
         command = object_id.as_bytes + struct.pack("!I", CommandId.ENABLE_DEBUG_OUTPUT)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-    if op_code in OpCode.DEBUG_OFF:
+    if cmd_str in OpCode.DEBUG_OFF:
         q.add_log_cmd(f"Rad sensor: {Info.DEBUG_OFF}")
         command = object_id.as_bytes + struct.pack("!I", CommandId.DISABLE_DEBUG_OUTPUT)
         q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
@@ -115,6 +115,6 @@ def handle_rad_sensor_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
         for idx, val in ain_dict.items():
             pw.dlog(f"{idx} | {val:#06x} | {str(val).ljust(5)}")
         current_idx += inc_len
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=7
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=7)
         )

eive_tmtc/tmtc/payload/scex.py

@@ -2,16 +2,12 @@ import enum
 import json
 
 from spacepackets.ecss import PusTelecommand
-
-from eive_tmtc.config.definitions import CustomServiceList
-from tmtccmd.config.tmtc import tmtc_definitions_provider
-from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_data, Subservice
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.config.tmtc import CmdTreeNode
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
-from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
-from eive_tmtc.config.object_ids import SCEX_HANDLER_ID
+from tmtccmd.pus.s200_fsfw_mode import Mode, Subservice, pack_mode_data
+from tmtccmd.tmtc import DefaultPusQueueHelper
 
+from eive_tmtc.config.object_ids import SCEX_HANDLER_ID
 
 USE_SCEX_CONF_FILE = True
 
@@ -26,10 +22,8 @@ class OpCode:
     ALL_CELLS_CMD = "allcells"
     FRAM = "fram"
 
-    ON = "on"
     SWITCH_ON = "on"
-    OFF = "off"
-    SWITCH_OFF = OFF
+    SWITCH_OFF = "off"
     NORMAL = "normal"
 
 
@@ -59,31 +53,20 @@ class Info:
     NORMAL = "Switch SCEX to normal mode"
 
 
-@tmtc_definitions_provider
-def add_scex_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCode.PING, info=Info.PING)
-    oce.add(keys=OpCode.ION_CMD, info=Info.ION_CMD)
-    oce.add(keys=OpCode.TEMP_CMD, info=Info.TEMP_CMD)
-    oce.add(keys=OpCode.EXP_STATUS_CMD, info=Info.EXP_STATUS_CMD)
-    oce.add(keys=OpCode.ONE_CELLS_CMD, info=Info.ONE_CELLS_CMD)
-
-    oce.add(keys=OpCode.ALL_CELLS_CMD, info=Info.ALL_CELLS_CMD)
-    oce.add(keys=OpCode.FRAM, info=Info.FRAM)
-    oce.add(keys=OpCode.ON, info=Info.SWITCH_ON)
-    oce.add(keys=OpCode.OFF, info=Info.SWITCH_OFF)
-    oce.add(keys=OpCode.NORMAL, info=Info.NORMAL)
-
-    defs.add_service(
-        name=CustomServiceList.SCEX.value, info="SCEX Device", op_code_entry=oce
-    )
+def create_scex_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    scex_node = CmdTreeNode("scex", "Solar Cell Experiment")
+    for op_code, info in combined_dict.items():
+        scex_node.add_child(CmdTreeNode(op_code, info))
+    return scex_node
 
 
-@service_provider(CustomServiceList.SCEX.value)
-def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
-    op_code = p.op_code
-    q = p.queue_helper
-    if op_code == OpCode.ON:
+def pack_scex_cmds(q: DefaultPusQueueHelper, cmd_str: str):  # noqa C901
+    if cmd_str == OpCode.SWITCH_ON:
         q.add_log_cmd(Info.SWITCH_ON)
         q.add_pus_tc(
             PusTelecommand(
@@ -92,7 +75,7 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
                 app_data=pack_mode_data(SCEX_HANDLER_ID, Mode.ON, 0),
             )
         )
-    if op_code == OpCode.NORMAL:
+    if cmd_str == OpCode.NORMAL:
         q.add_log_cmd(Info.NORMAL)
         q.add_pus_tc(
             PusTelecommand(
@@ -101,7 +84,7 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
                 app_data=pack_mode_data(SCEX_HANDLER_ID, Mode.NORMAL, 0),
             )
         )
-    if op_code == OpCode.OFF:
+    if cmd_str == OpCode.SWITCH_OFF:
         q.add_log_cmd(Info.SWITCH_OFF)
         q.add_pus_tc(
             PusTelecommand(
@@ -110,20 +93,20 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
                 app_data=pack_mode_data(SCEX_HANDLER_ID, Mode.OFF, 0),
             )
         )
-    if op_code == OpCode.PING:
+    if cmd_str == OpCode.PING:
         q.add_log_cmd(Info.PING)
         app_data = bytes([0])
         q.add_pus_tc(create_action_cmd(SCEX_HANDLER_ID, ActionId.PING, app_data))
-    if op_code == OpCode.ION_CMD:
+    if cmd_str == OpCode.ION_CMD:
         q.add_log_cmd(Info.ION_CMD)
         app_data = bytes([0])
         q.add_pus_tc(create_action_cmd(SCEX_HANDLER_ID, ActionId.ION_CMD, app_data))
-    if op_code == OpCode.TEMP_CMD:
+    if cmd_str == OpCode.TEMP_CMD:
         q.add_log_cmd(Info.TEMP_CMD)
         app_data = bytes([0])
         q.add_pus_tc(create_action_cmd(SCEX_HANDLER_ID, ActionId.TEMP_CMD, app_data))
 
-    if op_code == OpCode.EXP_STATUS_CMD:
+    if cmd_str == OpCode.EXP_STATUS_CMD:
         q.add_log_cmd(Info.EXP_STATUS_CMD)
         app_data = bytes([0])
         q.add_pus_tc(
@@ -131,7 +114,7 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
         )
 
     # one cell
-    if op_code == OpCode.ONE_CELLS_CMD:
+    if cmd_str == OpCode.ONE_CELLS_CMD:
         q.add_log_cmd(Info.ONE_CELLS_CMD)
         app_data = bytearray([0])
 
@@ -161,7 +144,8 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
                 dac_weight1 = json_data["dac_weight1"]
                 dac_weight2 = json_data["dac_weight2"]
                 dac_weight3 = json_data["dac_weight3"]
-
+        else:
+            raise ValueError("CLI support for SCEX params not implemented")
         # in app_data
         # app_data.extend(struct.pack("!H", first_dac))
         app_data.append(cell_select)
@@ -178,7 +162,7 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
             create_action_cmd(SCEX_HANDLER_ID, ActionId.ONE_CELLS_CMD, app_data)
         )
 
-    if op_code == OpCode.ALL_CELLS_CMD:
+    if cmd_str == OpCode.ALL_CELLS_CMD:
         q.add_log_cmd(Info.ALL_CELLS_CMD)
         app_data = bytearray([0])
 
@@ -195,6 +179,8 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
                 dac_weight2 = json_data["dac_weight2"]
                 dac_weight3 = json_data["dac_weight3"]
 
+        else:
+            raise ValueError("CLI support for SCEX params not implemented")
         # in app_data
         # app_data.extend(struct.pack("!H", first_dac))
         append_16_bit_val(packet=app_data, val=first_dac[cn])
@@ -210,7 +196,7 @@ def pack_scex_cmds(p: ServiceProviderParams):  # noqa C901
             create_action_cmd(SCEX_HANDLER_ID, ActionId.ALL_CELLS_CMD, app_data)
         )
 
-    if op_code == OpCode.FRAM:
+    if cmd_str == OpCode.FRAM:
         q.add_log_cmd(Info.FRAM)
         app_data = bytes([0])
         q.add_pus_tc(create_action_cmd(SCEX_HANDLER_ID, ActionId.FRAM, app_data))

eive_tmtc/tmtc/payload/subsystem.py

@@ -1,14 +1,11 @@
 import enum
 from typing import Dict, Tuple
 
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.config.object_ids import PL_SUBSYSTEM_ID
 from spacepackets.ecss import PusTelecommand
 from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.config import CmdTreeNode
+from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
 
 
@@ -24,24 +21,28 @@ class ModeId(enum.IntEnum):
 class OpCode(str, enum.Enum):
     OFF = "off"
     REPORT_ALL_MODES = "report_modes"
+    MPSOC_STREAM = "mode_mpsoc_stream"
+    CAM_STREAM = "mode_cam_stream"
+    EARTH_OBSV = "mode_eart_obsv"
 
 
 class Info(str, enum.Enum):
     OFF = "Off Command"
     REPORT_ALL_MODES = "Report all modes"
+    MPSOC_STREAM = "MPSoC Stream Mode"
+    CAM_STREAM = "Camera Stream Mode"
+    EARTH_OBSV = "Earth Observation Mode"
 
 
 HANDLER_LIST: Dict[str, Tuple[int, str]] = {
     OpCode.OFF: (ModeId.OFF, Info.OFF),
+    OpCode.MPSOC_STREAM: (ModeId.MPSOC_STREAM, Info.MPSOC_STREAM),
 }
 
 
-@service_provider(CustomServiceList.PL_SS)
-def build_acs_subsystem_cmd(p: ServiceProviderParams):
-    op_code = p.op_code
-    q = p.queue_helper
-    info_prefix = "ACS Subsystem"
-    if op_code in OpCode.REPORT_ALL_MODES:
+def create_payload_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
+    info_prefix = "Payload Subsystem"
+    if cmd_str == OpCode.REPORT_ALL_MODES:
         q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
         q.add_pus_tc(
             PusTelecommand(
@@ -50,21 +51,29 @@ def build_acs_subsystem_cmd(p: ServiceProviderParams):
                 app_data=PL_SUBSYSTEM_ID,
             )
         )
-    mode_info_tup = HANDLER_LIST.get(op_code)
+    mode_info_tup = HANDLER_LIST.get(cmd_str)
+    assert mode_info_tup is not None
     if mode_info_tup is None:
         return
     pack_mode_cmd_with_info(
         object_id=PL_SUBSYSTEM_ID,
         info=f"{info_prefix}: {mode_info_tup[1]}",
-        submode=0,
         mode=mode_info_tup[0],
+        submode=0,
         q=q,
     )
 
 
-@tmtc_definitions_provider
-def add_payload_subsystem_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(OpCode.OFF, Info.OFF)
-    oce.add(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
-    defs.add_service(CustomServiceList.PL_SS, "Payload Subsystem", oce)
+def create_payload_subsystem_node() -> CmdTreeNode:
+    payload_node = CmdTreeNode("payload", "Payload Subsystem")
+    subsystem_node = CmdTreeNode("subsystem", "Subsystem Commands")
+    subsystem_node.add_child(CmdTreeNode(OpCode.OFF, Info.OFF))
+    subsystem_node.add_child(CmdTreeNode(OpCode.MPSOC_STREAM, Info.MPSOC_STREAM))
+    subsystem_node.add_child(CmdTreeNode(OpCode.EARTH_OBSV, Info.EARTH_OBSV))
+    subsystem_node.add_child(CmdTreeNode(OpCode.CAM_STREAM, Info.CAM_STREAM))
+
+    subsystem_node.add_child(
+        CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
+    )
+    payload_node.add_child(subsystem_node)
+    return payload_node

eive_tmtc/tmtc/power/__init__.py

@@ -1,2 +0,0 @@
-from .subsystem import add_eps_subsystem_cmds
-from .pwr_ctrl import pwr_cmd_defs

eive_tmtc/tmtc/power/acu.py

@@ -8,6 +8,7 @@ import struct
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.tmtc.power.common_power import (
+    add_gomspace_nodes,
     pack_common_gomspace_cmds,
     add_gomspace_cmd_defs,
     req_hk_cmds,
@@ -16,7 +17,7 @@ from eive_tmtc.tmtc.power.common_power import (
     OBC_ENDIANNESS,
     unpack_array_in_data,
 )
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
+from tmtccmd.config import CmdTreeNode, TmtcDefinitionWrapper, OpCodeEntry
 from tmtccmd.config.tmtc import tmtc_definitions_provider
 
 from tmtccmd.tmtc import DefaultPusQueueHelper
@@ -50,6 +51,15 @@ class Info:
     TEST = "ACU Test"
 
 
+def create_acu_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "acu", "P60 PCDU ACU device", hide_children_which_are_leaves=True
+    )
+    add_gomspace_nodes(node)
+    node.add_child(CmdTreeNode(OpCode.TEST[0], Info.TEST))
+    return node
+
+
 @tmtc_definitions_provider
 def add_acu_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
@@ -63,16 +73,16 @@ def add_acu_cmds(defs: TmtcDefinitionWrapper):
     )
 
 
-def pack_acu_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
+def pack_acu_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str):
     q.add_log_cmd("Handling ACU command")
-    pack_common_power_cmds("ACU", object_id, q, op_code)
-    pack_common_gomspace_cmds("ACU", object_id, q, op_code)
-    acu_req_hk_cmds(q, op_code)
+    pack_common_power_cmds("ACU", object_id, q, cmd_str)
+    pack_common_gomspace_cmds("ACU", object_id, q, cmd_str)
+    acu_req_hk_cmds(q, cmd_str)
     pack_test_cmds(object_id=object_id, q=q)
 
 
 def acu_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds("ACU", q, op_code, ACU_HANDLER_ID, [SetId.CORE, SetId.AUX])
+    req_hk_cmds("ACU", q, op_code, ACU_HANDLER_ID, (SetId.CORE, SetId.AUX))
 
 
 class ACUTestProcedure:

eive_tmtc/tmtc/power/bpx_batt.py

@@ -1,23 +1,19 @@
 import enum
 import struct
 
-from eive_tmtc.pus_tm.defs import PrintWrapper
 from spacepackets.ecss import PusTelecommand
-
-from eive_tmtc.config.definitions import CustomServiceList
-from eive_tmtc.config.object_ids import BPX_HANDLER_ID
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
+    CmdTreeNode,
 )
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
-from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid
-from tmtccmd.pus.s200_fsfw_mode import pack_mode_data, Mode
+from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_data
 from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservices
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.pus.tc.s3_fsfw_hk import generate_one_hk_command, make_sid
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from eive_tmtc.config.object_ids import BPX_HANDLER_ID
+from eive_tmtc.pus_tm.defs import PrintWrapper
 
 
 class BpxSetId(enum.IntEnum):
@@ -54,38 +50,38 @@ class BpxOpCode:
     REBOOT = "reboot"
 
 
-@tmtc_definitions_provider
-def add_bpx_cmd_definitions(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=BpxOpCode.ON, info="On command")
-    oce.add(keys=BpxOpCode.OFF, info="Off command")
-    oce.add(keys=BpxOpCode.HK, info="Request BPX HK")
-    oce.add(keys=BpxOpCode.RST_BOOT_CNT, info="Reset Boot Count")
-    oce.add(keys=BpxOpCode.RST_CFG, info="Reset Config to stored default settings")
-    oce.add(keys=BpxOpCode.SET_CFG, info="Set BPX configuration")
-    oce.add(keys=BpxOpCode.MAN_HEATER_ON, info="Manual heater on")
-    oce.add(keys=BpxOpCode.MAN_HEATER_OFF, info="Manual heater off")
-    oce.add(keys=BpxOpCode.REQUEST_CFG, info="Request Configuration Struct (Step 1)")
-    oce.add(
-        keys=BpxOpCode.REQUEST_CFG_HK, info="Request Configuration Struct HK (Step 2)"
+def create_bpx_batt_node() -> CmdTreeNode:
+    node = CmdTreeNode("bat", "BPX battery device", hide_children_for_print=True)
+    node.add_child(CmdTreeNode(BpxOpCode.ON, "ON command"))
+    node.add_child(CmdTreeNode(BpxOpCode.OFF, "OFF command"))
+    node.add_child(CmdTreeNode(BpxOpCode.HK, "HK command"))
+    node.add_child(CmdTreeNode(BpxOpCode.RST_BOOT_CNT, "Reset boot count"))
+    node.add_child(
+        CmdTreeNode(BpxOpCode.RST_CFG, "Reset Config to stored default settings")
     )
-    oce.add(keys=BpxOpCode.REBOOT, info="Reboot Command")
-    defs.add_service(
-        name=CustomServiceList.BPX_BATTERY.value,
-        info="BPX Battery Handler",
-        op_code_entry=oce,
+    node.add_child(CmdTreeNode(BpxOpCode.SET_CFG, "Set BPX configuration"))
+    node.add_child(CmdTreeNode(BpxOpCode.MAN_HEATER_ON, "Manual heater on"))
+    node.add_child(CmdTreeNode(BpxOpCode.MAN_HEATER_OFF, "Manual heater off"))
+    node.add_child(
+        CmdTreeNode(BpxOpCode.REQUEST_CFG, "Request Configuration Struct (Step 1)")
     )
+    node.add_child(
+        CmdTreeNode(
+            BpxOpCode.REQUEST_CFG_HK, "Request Configuration Struct HK (Step 2)"
+        )
+    )
+    node.add_child(CmdTreeNode(BpxOpCode.REBOOT, "Reboot Command"))
+    return node
 
 
-@service_provider(CustomServiceList.BPX_BATTERY.value)
-def pack_bpx_commands(p: ServiceProviderParams):  # noqa C901: Complexity is okay here.
-    op_code = p.op_code
-    q = p.queue_helper
-    if op_code == BpxOpCode.HK:
+def pack_bpx_commands(
+    q: DefaultPusQueueHelper, cmd_str: str
+):  # noqa C901: Complexity is okay here.
+    if cmd_str == BpxOpCode.HK:
         q.add_log_cmd("Requesting BPX battery HK set")
         sid = make_sid(object_id=BPX_HANDLER_ID, set_id=BpxSetId.GET_HK_SET)
         q.add_pus_tc(generate_one_hk_command(sid=sid))
-    if op_code == BpxOpCode.OFF:
+    if cmd_str == BpxOpCode.OFF:
         q.add_log_cmd("Off mode")
         mode_cmd = pack_mode_data(BPX_HANDLER_ID, Mode.OFF, 0)
         q.add_pus_tc(
@@ -95,7 +91,7 @@ def pack_bpx_commands(p: ServiceProviderParams):  # noqa C901: Complexity is oka
                 app_data=mode_cmd,
             )
         )
-    if op_code == BpxOpCode.ON:
+    if cmd_str == BpxOpCode.ON:
         q.add_log_cmd("On mode")
         mode_cmd = pack_mode_data(BPX_HANDLER_ID, Mode.ON, 0)
         q.add_pus_tc(
@@ -105,21 +101,21 @@ def pack_bpx_commands(p: ServiceProviderParams):  # noqa C901: Complexity is oka
                 app_data=mode_cmd,
             )
         )
-    if op_code == BpxOpCode.RST_BOOT_CNT:
+    if cmd_str == BpxOpCode.RST_BOOT_CNT:
         q.add_log_cmd("Resetting reboot counters")
         q.add_pus_tc(
             create_action_cmd(
                 object_id=BPX_HANDLER_ID, action_id=BpxActionId.RESET_COUNTERS
             )
         )
-    if op_code == BpxOpCode.RST_CFG:
+    if cmd_str == BpxOpCode.RST_CFG:
         q.add_log_cmd("Reset BPX configuration")
         q.add_pus_tc(
             create_action_cmd(
                 object_id=BPX_HANDLER_ID, action_id=BpxActionId.CONFIG_CMD
             )
         )
-    if op_code == BpxOpCode.SET_CFG:
+    if cmd_str == BpxOpCode.SET_CFG:
         q.add_log_cmd("Setting BPX configuration")
         user_data = bytearray()
         batt_mode = BpxHeaterModeSelect(
@@ -137,21 +133,21 @@ def pack_bpx_commands(p: ServiceProviderParams):  # noqa C901: Complexity is oka
                 user_data=user_data,
             )
         )
-    if op_code == BpxOpCode.REQUEST_CFG:
+    if cmd_str == BpxOpCode.REQUEST_CFG:
         q.add_log_cmd("Requesting configuration struct")
         q.add_pus_tc(
             create_action_cmd(object_id=BPX_HANDLER_ID, action_id=BpxActionId.GET_CFG)
         )
-    if op_code == BpxOpCode.REQUEST_CFG_HK:
+    if cmd_str == BpxOpCode.REQUEST_CFG_HK:
         q.add_log_cmd("Requesting configuration struct HK")
         sid = make_sid(object_id=BPX_HANDLER_ID, set_id=BpxSetId.GET_CFG_SET)
         q.add_pus_tc(generate_one_hk_command(sid=sid))
-    if op_code == BpxOpCode.REBOOT:
+    if cmd_str == BpxOpCode.REBOOT:
         q.add_log_cmd("Rebooting BPX battery")
         q.add_pus_tc(
             create_action_cmd(object_id=BPX_HANDLER_ID, action_id=BpxActionId.REBOOT)
         )
-    if op_code == BpxOpCode.MAN_HEATER_ON:
+    if cmd_str == BpxOpCode.MAN_HEATER_ON:
         q.add_log_cmd("BPX manual heater on with seconds burntime")
         burn_time = int(input("BPX heater burn time in seconds [1-65535]: "))
         if burn_time < 1 or burn_time > 65535:
@@ -163,7 +159,7 @@ def pack_bpx_commands(p: ServiceProviderParams):  # noqa C901: Complexity is oka
                 user_data=struct.pack("!H", burn_time),
             )
         )
-    if op_code == BpxOpCode.MAN_HEATER_OFF:
+    if cmd_str == BpxOpCode.MAN_HEATER_OFF:
         q.add_log_cmd("BPX manual heater off")
         q.add_pus_tc(
             create_action_cmd(
@@ -217,9 +213,7 @@ def handle_bpx_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
         validity_buffer = hk_data[inc_len:]
         pw.dlog(str(HEADER_LIST))
         pw.dlog(str(content_list))
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=10
-        )
+        pw.dlog(get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=10))
     elif set_id == BpxSetId.GET_CFG_SET:
         battheat_mode = hk_data[0]
         battheat_low = struct.unpack("!b", hk_data[1:2])[0]
@@ -233,6 +227,4 @@ def handle_bpx_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
         validity_buffer = hk_data[3:]
         pw.dlog(str(header_list))
         pw.dlog(str(content_list))
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=validity_buffer, num_vars=10
-        )
+        pw.dlog(get_validity_buffer_str(validity_buffer=validity_buffer, num_vars=10))

eive_tmtc/tmtc/power/common_power.py

@@ -1,6 +1,6 @@
 import enum
 import struct
-from typing import List
+from typing import List, Tuple
 
 from eive_tmtc.gomspace.gomspace_common import (
     pack_set_u8_param_command,
@@ -14,8 +14,7 @@ from eive_tmtc.gomspace.gomspace_common import (
     pack_reboot_command,
 )
 from eive_tmtc.gomspace.gomspace_pdu_definitions import OUT_ENABLE_LIST
-from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import OpCodeEntry
+from tmtccmd.config import CmdTreeNode, OpCodeEntry
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.tc.s3_fsfw_hk import (
     make_sid,
@@ -258,7 +257,7 @@ def req_hk_cmds(
     q: DefaultPusQueueHelper,
     op_code: str,
     obj_id: bytes,
-    set_id_pair: [int, int],
+    set_id_pair: Tuple[int, int],
 ):
     if op_code in PowerOpCodes.REQUEST_CORE_HK_ONCE:
         q.add_log_cmd(f"{prefix}: {PowerInfo.REQUEST_CORE_HK_ONCE}")
@@ -270,10 +269,6 @@ def req_hk_cmds(
         q.add_pus_tc(generate_one_hk_command(sid=hk_sid))
 
 
-def pack_pdu_disable_safe_off_cmd() -> PusTelecommand:
-    pass
-
-
 def generic_on_cmd(
     object_id: bytes, q: DefaultPusQueueHelper, info_str: str, out_idx: int
 ):
@@ -311,6 +306,54 @@ def add_common_power_defs(oce: OpCodeEntry):
     oce.add(keys=PowerOpCodes.DISABLE_INFO_HK, info=PowerInfo.DISABLE_INFO_HK)
 
 
+def add_gomspace_nodes(node: CmdTreeNode):
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.REQUEST_CORE_HK_ONCE[0], PowerInfo.REQUEST_CORE_HK_ONCE
+        )
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.REQUEST_AUX_HK_ONCE[0], PowerInfo.REQUEST_AUX_HK_ONCE)
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.ENABLE_INFO_HK[0], PowerInfo.ENABLE_INFO_HK)
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.DISABLE_INFO_HK[0], PowerInfo.DISABLE_INFO_HK)
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.REQUEST_CORE_HK_ONCE[0],
+            PowerInfo.REQUEST_CORE_HK_ONCE,
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.REQUEST_AUX_HK_ONCE[0],
+            PowerInfo.REQUEST_AUX_HK_ONCE,
+        )
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.PRINT_LATCHUPS[0], PowerInfo.PRINT_LATCHUPS)
+    )
+    node.add_child(CmdTreeNode(GomspaceOpCode.GET_PARAM[0], GsInfo.GET_PARAMETER))
+    node.add_child(CmdTreeNode(GomspaceOpCode.REBOOT[0], GsInfo.REBOOT))
+    node.add_child(
+        CmdTreeNode(GomspaceOpCode.SET_INTEGER_PARAM[0], GsInfo.SET_PARAMETER)
+    )
+    node.add_child(
+        CmdTreeNode(GomspaceOpCode.REQUEST_CONFIG_TABLE[0], GsInfo.REQUEST_CONFIG_TABLE)
+    )
+    node.add_child(CmdTreeNode(GomspaceOpCode.SAVE_TABLE[0], GsInfo.SAVE_TABLE))
+    node.add_child(
+        CmdTreeNode(GomspaceOpCode.SAVE_TABLE_DEFAULT[0], GsInfo.SAVE_TABLE_DEFAULT)
+    )
+    node.add_child(CmdTreeNode(GomspaceOpCode.LOAD_TABLE[0], GsInfo.LOAD_TABLE))
+    node.add_child(
+        CmdTreeNode(GomspaceOpCode.RESET_GND_WATCHDOG[0], GsInfo.RESET_GND_WATCHDOG)
+    )
+
+
 def add_gomspace_cmd_defs(oce: OpCodeEntry):
     oce.add(
         keys=PowerOpCodes.REQUEST_CORE_HK_ONCE,

eive_tmtc/tmtc/power/p60dock.py

@@ -5,7 +5,9 @@
 @author J. Meier
 @date   13.12.2020
 """
+from tmtccmd.config import CmdTreeNode
 from eive_tmtc.tmtc.power.common_power import (
+    add_gomspace_nodes,
     pack_common_gomspace_cmds,
     req_hk_cmds,
     pack_common_power_cmds,
@@ -27,22 +29,24 @@ from eive_tmtc.config.object_ids import P60_DOCK_HANDLER
 from tmtccmd.util import ObjectIdU32
 
 
-class P60OpCode:
+class CmdString:
     STACK_3V3_ON = "stack_3v3_on"
     STACK_3V3_OFF = "stack_3v3_off"
     STACK_5V_ON = "stack_5v_on"
     STACK_5V_OFF = "stack_5v_off"
+    TEST = "test"
     ACU_OFF = "acu_off"
     ACU_ON = "acu_on"
-    TEST = ["test", "0"]
 
 
-class P60Info:
+class CmdInfo:
     PREFIX = "P60 Dock"
     STACK_3V3_ON = f"{PREFIX}: Turn Stack 3V3 on"
     STACK_3V3_OFF = f"{PREFIX}: Turn Stack 3V3 off"
     STACK_5V_ON = f"{PREFIX}: Turn Stack 5V on"
     STACK_5V_OFF = f"{PREFIX}: Turn Stack 5V off"
+    ACU_OFF = "Switch ACU off"
+    ACU_ON = "Switch ACU on"
 
 
 class P60DockTestProcedure:
@@ -101,14 +105,14 @@ class P60DockHkTable:
 
 
 def pack_p60dock_cmds(  # noqa C901: Complexity okay here.
-    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+    object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str
 ):
     objb = object_id.as_bytes
-    pack_common_power_cmds("P60 Dock", object_id, q, op_code)
-    pack_common_gomspace_cmds("P60 Dock", object_id, q, op_code)
-    p60_dock_req_hk_cmds(q, op_code)
-    if op_code in P60OpCode.STACK_3V3_ON:
-        q.add_log_cmd(P60Info.STACK_3V3_ON)
+    pack_common_power_cmds("P60 Dock", object_id, q, cmd_str)
+    pack_common_gomspace_cmds("P60 Dock", object_id, q, cmd_str)
+    p60_dock_req_hk_cmds(q, cmd_str)
+    if cmd_str == CmdString.STACK_3V3_ON:
+        q.add_log_cmd(CmdInfo.STACK_3V3_ON)
         q.add_pus_tc(
             pack_set_u8_param_command(
                 objb,
@@ -116,8 +120,8 @@ def pack_p60dock_cmds(  # noqa C901: Complexity okay here.
                 Channel.on,
             )
         )
-    if op_code in P60OpCode.STACK_3V3_OFF:
-        q.add_log_cmd(P60Info.STACK_3V3_OFF)
+    if cmd_str == CmdString.STACK_3V3_OFF:
+        q.add_log_cmd(CmdInfo.STACK_3V3_OFF)
         q.add_pus_tc(
             pack_set_u8_param_command(
                 objb,
@@ -125,8 +129,8 @@ def pack_p60dock_cmds(  # noqa C901: Complexity okay here.
                 Channel.off,
             )
         )
-    if op_code in P60OpCode.STACK_5V_ON:
-        q.add_log_cmd(P60Info.STACK_5V_ON)
+    if cmd_str == CmdString.STACK_5V_ON:
+        q.add_log_cmd(CmdInfo.STACK_5V_ON)
         q.add_pus_tc(
             pack_set_u8_param_command(
                 objb,
@@ -134,8 +138,8 @@ def pack_p60dock_cmds(  # noqa C901: Complexity okay here.
                 Channel.on,
             )
         )
-    if op_code in P60OpCode.STACK_5V_OFF:
-        q.add_log_cmd(P60Info.STACK_5V_OFF)
+    if cmd_str == CmdString.STACK_5V_OFF:
+        q.add_log_cmd(CmdInfo.STACK_5V_OFF)
         q.add_pus_tc(
             pack_set_u8_param_command(
                 objb,
@@ -241,5 +245,18 @@ def pack_p60dock_cmds(  # noqa C901: Complexity okay here.
         q.add_pus_tc(pack_set_u16_param_command(objb, invalid_address, parameter))
 
 
+def create_p60_dock_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "p60_dock", "P60 PCDU dock device", hide_children_which_are_leaves=True
+    )
+    add_gomspace_nodes(node)
+    node.add_child(CmdTreeNode(CmdString.STACK_3V3_ON, CmdInfo.STACK_3V3_ON))
+    node.add_child(CmdTreeNode(CmdString.STACK_3V3_OFF, CmdInfo.STACK_3V3_OFF))
+    node.add_child(CmdTreeNode(CmdString.STACK_5V_ON, CmdInfo.STACK_5V_ON))
+    node.add_child(CmdTreeNode(CmdString.STACK_5V_OFF, CmdInfo.STACK_5V_OFF))
+    node.add_child(CmdTreeNode(CmdString.TEST, "P60 Tests"))
+    return node
+
+
 def p60_dock_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds("P60 Dock", q, op_code, P60_DOCK_HANDLER, [SetId.CORE, SetId.AUX])
+    req_hk_cmds("P60 Dock", q, op_code, P60_DOCK_HANDLER, (SetId.CORE, SetId.AUX))

eive_tmtc/tmtc/power/pdu1.py

@@ -14,6 +14,7 @@ from eive_tmtc.gomspace.gomspace_common import (
 )
 from eive_tmtc.gomspace.gomspace_pdu_definitions import PduHkTable
 from eive_tmtc.tmtc.power.common_power import (
+    add_gomspace_nodes,
     pack_common_gomspace_cmds,
     req_hk_cmds,
     PowerOpCodes,
@@ -23,14 +24,12 @@ from eive_tmtc.tmtc.power.common_power import (
     create_generic_on_cmd,
     create_generic_off_cmd,
     pack_common_power_cmds,
-    GomspaceOpCode,
-    GsInfo,
     add_common_power_defs,
     SetId,
 )
 from spacepackets.ecss import PusTelecommand
 
-from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config import CmdTreeNode, OpCodeEntry, TmtcDefinitionWrapper
 from tmtccmd.config.tmtc import tmtc_definitions_provider
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.util import ObjectIdU32
@@ -75,13 +74,13 @@ class PDU1TestProcedure:
     turn_channel_3_off = False
 
 
-def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
+def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str):
     q.add_log_cmd("Commanding PDU1")
     objb = object_id.as_bytes
-    pdu1_switch_cmds(q, op_code)
-    pdu1_req_hk_cmds(q, op_code)
-    pack_common_power_cmds("PDU1", object_id, q, op_code)
-    pack_common_gomspace_cmds("PDU1", object_id, q, op_code)
+    pdu1_switch_cmds(q, cmd_str)
+    pdu1_req_hk_cmds(q, cmd_str)
+    pack_common_power_cmds("PDU1", object_id, q, cmd_str)
+    pack_common_gomspace_cmds("PDU1", object_id, q, cmd_str)
     if PDU1TestProcedure.all or PDU1TestProcedure.ping:
         q.add_log_cmd("PDU1: Ping Test")
         ping_data = bytearray([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
@@ -99,7 +98,7 @@ def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
 
 
 def pdu1_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds("PDU1", q, op_code, PDU_1_HANDLER_ID, [SetId.CORE, SetId.AUX])
+    req_hk_cmds("PDU1", q, op_code, PDU_1_HANDLER_ID, (SetId.CORE, SetId.AUX))
 
 
 def info_on_pdu1(base: str) -> str:
@@ -111,39 +110,39 @@ def info_off_pdu1(base: str) -> str:
 
 
 def pdu1_switch_cmds(  # noqa C901: Complexity is okay here.
-    q: DefaultPusQueueHelper, op_code: str
+    q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa C901: Complexity okay here
-    if op_code in PowerOpCodes.TCS_ON:
+    if cmd_str in PowerOpCodes.TCS_ON:
         tcs_on_cmd(q)
-    elif op_code in PowerOpCodes.TCS_OFF:
+    elif cmd_str in PowerOpCodes.TCS_OFF:
         tcs_off_cmd(q)
-    elif op_code in PowerOpCodes.SYRLINKS_ON:
+    elif cmd_str in PowerOpCodes.SYRLINKS_ON:
         syrlinks_on_cmd(q)
-    elif op_code in PowerOpCodes.SYRLINKS_OFF:
+    elif cmd_str in PowerOpCodes.SYRLINKS_OFF:
         syrlinks_off_cmd(q)
-    elif op_code in PowerOpCodes.STAR_TRACKER_ON:
+    elif cmd_str in PowerOpCodes.STAR_TRACKER_ON:
         startracker_on_cmd(q)
-    elif op_code in PowerOpCodes.STAR_TRACKER_OFF:
+    elif cmd_str in PowerOpCodes.STAR_TRACKER_OFF:
         startracker_off_cmd(q)
-    elif op_code in PowerOpCodes.MGT_ON:
+    elif cmd_str in PowerOpCodes.MGT_ON:
         mgt_on_cmd(q)
-    elif op_code in PowerOpCodes.MGT_OFF:
+    elif cmd_str in PowerOpCodes.MGT_OFF:
         mgt_off_cmd(q)
-    elif op_code in PowerOpCodes.SUS_N_ON:
+    elif cmd_str in PowerOpCodes.SUS_N_ON:
         sun_sensor_nominal_on_cmd(q)
-    elif op_code in PowerOpCodes.SUS_N_OFF:
+    elif cmd_str in PowerOpCodes.SUS_N_OFF:
         sun_sensor_nominal_off_cmd(q)
-    elif op_code in PowerOpCodes.SCEX_ON:
+    elif cmd_str in PowerOpCodes.SCEX_ON:
         solar_cell_experiment_on_cmd(q)
-    elif op_code in PowerOpCodes.SCEX_OFF:
+    elif cmd_str in PowerOpCodes.SCEX_OFF:
         solar_cell_experiment_off_cmd(q)
-    elif op_code in PowerOpCodes.PLOC_ON:
+    elif cmd_str in PowerOpCodes.PLOC_ON:
         ploc_on_cmd(q)
-    elif op_code in PowerOpCodes.PLOC_OFF:
+    elif cmd_str in PowerOpCodes.PLOC_OFF:
         ploc_off_cmd(q)
-    elif op_code in PowerOpCodes.ACS_A_ON:
+    elif cmd_str in PowerOpCodes.ACS_A_ON:
         acs_board_a_on_cmd(q)
-    elif op_code in PowerOpCodes.ACS_A_OFF:
+    elif cmd_str in PowerOpCodes.ACS_A_OFF:
         acs_board_a_off_cmd(q)
 
 
@@ -166,6 +165,67 @@ def add_pdu1_common_defs(oce: OpCodeEntry):
     oce.add(keys=PowerOpCodes.SCEX_OFF, info=info_off_pdu1(Pdu1InfoBase.SCEX))
 
 
+def add_pdu1_subnodes(node: CmdTreeNode):
+    node.add_child(CmdTreeNode(PowerOpCodes.TCS_ON[0], info_on_pdu1(Pdu1InfoBase.TCS)))
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.TCS_OFF[0], info_off_pdu1(Pdu1InfoBase.TCS))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.STAR_TRACKER_ON[0], info_on_pdu1(Pdu1InfoBase.STR))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.STAR_TRACKER_OFF[0], info_off_pdu1(Pdu1InfoBase.STR))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SUS_N_ON[0], info_on_pdu1(Pdu1InfoBase.SUS_N))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SUS_N_OFF[0], info_off_pdu1(Pdu1InfoBase.SUS_N))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.ACS_A_ON[0], info_on_pdu1(Pdu1InfoBase.ACS_A))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.ACS_A_OFF[0], info_off_pdu1(Pdu1InfoBase.ACS_A))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SYRLINKS_ON[0], info_on_pdu1(Pdu1InfoBase.SYRLINKS))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SYRLINKS_OFF[0], info_off_pdu1(Pdu1InfoBase.SYRLINKS))
+    )
+    node.add_child(CmdTreeNode(PowerOpCodes.MGT_ON[0], info_on_pdu1(Pdu1InfoBase.MGT)))
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.MGT_OFF[0], info_off_pdu1(Pdu1InfoBase.MGT))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.PLOC_ON[0], info_on_pdu1(Pdu1InfoBase.PLOC))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.PLOC_OFF[0], info_off_pdu1(Pdu1InfoBase.PLOC))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SCEX_ON[0], info_on_pdu1(Pdu1InfoBase.SCEX))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SCEX_OFF[0], info_off_pdu1(Pdu1InfoBase.SCEX))
+    )
+
+
+def create_pdu1_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "pdu1", "P60 PCDU PDU1 device", hide_children_which_are_leaves=True
+    )
+    add_gomspace_nodes(node)
+    add_pdu1_subnodes(node)
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.PRINT_SWITCH_V_I[0], "PDU1: Print Switches, Voltages, Currents"
+        )
+    )
+    return node
+
+
 @tmtc_definitions_provider
 def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
@@ -176,7 +236,6 @@ def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
         keys=PowerOpCodes.PRINT_SWITCH_V_I,
         info="PDU1: Print Switches, Voltages, Currents",
     )
-    oce.add(keys=GomspaceOpCode.GET_PARAM, info=GsInfo.GET_PARAMETER)
 
     defs.add_service(
         name=CustomServiceList.PDU1.value,

eive_tmtc/tmtc/power/pdu2.py

@@ -19,6 +19,7 @@ from eive_tmtc.gomspace.gomspace_common import (
 )
 from eive_tmtc.gomspace.gomspace_pdu_definitions import PduHkTable, PduConfigTable
 from eive_tmtc.tmtc.power.common_power import (
+    add_gomspace_nodes,
     pack_common_gomspace_cmds,
     req_hk_cmds,
     PowerOpCodes,
@@ -32,7 +33,7 @@ from eive_tmtc.tmtc.power.common_power import (
     add_common_power_defs,
 )
 from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config import CmdTreeNode, OpCodeEntry, TmtcDefinitionWrapper
 from tmtccmd.config.tmtc import tmtc_definitions_provider
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.util import ObjectIdU32
@@ -88,13 +89,13 @@ class PDU2TestProcedure:
     request_hk_table = False
 
 
-def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
+def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, cmd_str: str):
     q.add_log_cmd("Testing PDU2")
     objb = object_id.as_bytes
-    pdu2_switch_cmds(q, op_code)
-    pdu2_req_hk_cmds(q, op_code)
-    pack_common_power_cmds("PDU2", object_id, q, op_code)
-    pack_common_gomspace_cmds("PDU2", object_id, q, op_code)
+    pdu2_switch_cmds(q, cmd_str)
+    pdu2_req_hk_cmds(q, cmd_str)
+    pack_common_power_cmds("PDU2", object_id, q, cmd_str)
+    pack_common_gomspace_cmds("PDU2", object_id, q, cmd_str)
     if PDU2TestProcedure.all or PDU2TestProcedure.reboot:
         q.add_log_cmd("PDU2: Reboot")
         q.add_pus_tc(pack_reboot_command(object_id))
@@ -171,6 +172,85 @@ def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
     )
 
 
+def add_pdu2_subnodes(node: CmdTreeNode):
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.ACS_B_ON[0], info_on_pdu2(Pdu2InfoBase.ACS_B))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.ACS_B_OFF[0], info_off_pdu2(Pdu2InfoBase.ACS_B))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SUS_R_ON[0], info_on_pdu2(Pdu2InfoBase.SUS_R))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.SUS_R_OFF[0], info_off_pdu2(Pdu2InfoBase.SUS_R))
+    )
+    node.add_child(CmdTreeNode(PowerOpCodes.RW_ON[0], info_on_pdu2(Pdu2InfoBase.RW)))
+    node.add_child(CmdTreeNode(PowerOpCodes.RW_OFF[0], info_off_pdu2(Pdu2InfoBase.RW)))
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.PL_PCDU_VBAT_NOM_ON[0],
+            info_on_pdu2(Pdu2InfoBase.PL_PCDU_BAT_NOM),
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.PL_PCDU_VBAT_NOM_OFF[0],
+            info_off_pdu2(Pdu2InfoBase.PL_PCDU_BAT_NOM),
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.PL_PCDU_VBAT_RED_ON[0],
+            info_on_pdu2(Pdu2InfoBase.PL_PCDU_BAT_RED),
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.PL_PCDU_VBAT_RED_OFF[0],
+            info_off_pdu2(Pdu2InfoBase.PL_PCDU_BAT_RED),
+        )
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.HEATER_ON[0], info_on_pdu2(Pdu2InfoBase.HEATER))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.HEATER_OFF[0], info_off_pdu2(Pdu2InfoBase.HEATER))
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.SOLAR_ARRAY_DEPL_ON[0],
+            info_on_pdu2(Pdu2InfoBase.SOLAR_ARRAY_DEPL),
+        )
+    )
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.SOLAR_ARRAY_DEPL_OFF[0],
+            info_off_pdu2(Pdu2InfoBase.SOLAR_ARRAY_DEPL),
+        )
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.PL_CAM_ON[0], info_on_pdu2(Pdu2InfoBase.PL_CAM))
+    )
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.PL_CAM_OFF[0], info_off_pdu2(Pdu2InfoBase.PL_CAM))
+    )
+
+
+def create_pdu2_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "pdu2", "P60 PCDU PDU2 device", hide_children_which_are_leaves=True
+    )
+    add_gomspace_nodes(node)
+    add_pdu2_subnodes(node)
+    node.add_child(
+        CmdTreeNode(
+            PowerOpCodes.PRINT_SWITCH_V_I[0], "PDU2: Print Switches, Voltages, Currents"
+        )
+    )
+    return node
+
+
 def pdu2_switch_cmds(q: DefaultPusQueueHelper, op_code: str):  # noqa C901
     if op_code in PowerOpCodes.PL_PCDU_VBAT_NOM_ON:
         pl_pcdu_bat_nom_on_cmd(q)
@@ -252,7 +332,7 @@ def add_pdu2_common_defs(oce: OpCodeEntry):
 
 
 def pdu2_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds("PDU2", q, op_code, PDU_2_HANDLER_ID, [SetId.CORE, SetId.AUX])
+    req_hk_cmds("PDU2", q, op_code, PDU_2_HANDLER_ID, (SetId.CORE, SetId.AUX))
 
 
 def pl_pcdu_bat_nom_on_cmd(q: DefaultPusQueueHelper):

eive_tmtc/tmtc/power/power.py

@@ -16,21 +16,23 @@ from eive_tmtc.config.object_ids import (
     get_object_ids,
 )
 from eive_tmtc.tmtc.power.pdu1 import (
+    add_pdu1_subnodes,
     pdu1_req_hk_cmds,
     pdu1_switch_cmds,
     add_pdu1_common_defs,
     add_pdu1_cmds,
 )
 from eive_tmtc.tmtc.power.pdu2 import (
+    add_pdu2_subnodes,
     pdu2_req_hk_cmds,
     add_pdu2_common_defs,
     pdu2_switch_cmds,
     add_pdu2_cmds,
 )
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
+from tmtccmd.config import CmdTreeNode, TmtcDefinitionWrapper, OpCodeEntry
 from eive_tmtc.config.object_ids import PCDU_HANDLER_ID
 
-from eive_tmtc.tmtc.power.p60dock import P60OpCode, P60Info, p60_dock_req_hk_cmds
+from eive_tmtc.tmtc.power.p60dock import CmdString, CmdInfo, p60_dock_req_hk_cmds
 from eive_tmtc.tmtc.power.acu import add_acu_cmds, acu_req_hk_cmds
 from tmtccmd.pus.tc.s3_fsfw_hk import (
     create_request_one_diag_command,
@@ -73,29 +75,29 @@ class PcduSwitches(enum.IntEnum):
     P60_DOCK_3V3_STACK = 19
 
 
-def pack_power_commands(q: DefaultPusQueueHelper, op_code: str):
-    pdu1_switch_cmds(q, op_code)
-    pdu2_switch_cmds(q, op_code)
-    if op_code in PowerOpCodes.SWITCHER_HK:
+def pack_power_commands(q: DefaultPusQueueHelper, cmd_str: str):
+    pdu1_switch_cmds(q, cmd_str)
+    pdu2_switch_cmds(q, cmd_str)
+    if cmd_str in PowerOpCodes.SWITCHER_HK:
         q.add_log_cmd("Requesting switcher state HK")
         q.add_pus_tc(
             create_request_one_diag_command(
                 make_sid(PCDU_HANDLER_ID, PcduSetIds.SWITCHER_SET)
             )
         )
-    if op_code in PowerOpCodes.INFO_CORE:
+    if cmd_str in PowerOpCodes.INFO_CORE:
         pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         acu_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         q.add_wait_seconds(8.0)
-    elif op_code in PowerOpCodes.INFO_AUX:
+    elif cmd_str in PowerOpCodes.INFO_AUX:
         pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         acu_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         q.add_wait_seconds(8.0)
-    elif op_code in PowerOpCodes.INFO_ALL:
+    elif cmd_str in PowerOpCodes.INFO_ALL:
         pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
@@ -105,7 +107,7 @@ def pack_power_commands(q: DefaultPusQueueHelper, op_code: str):
         acu_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
         acu_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
         q.add_wait_seconds(8.0)
-    elif op_code in PowerOpCodes.RESET_ALL_GND_WDTS:
+    elif cmd_str in PowerOpCodes.RESET_ALL_GND_WDTS:
         oids = get_object_ids()
         pack_reset_gnd_wdt_cmd(q, "P60 Dock", oids[P60_DOCK_HANDLER])
         pack_reset_gnd_wdt_cmd(q, "ACU", oids[ACU_HANDLER_ID])
@@ -114,24 +116,38 @@ def pack_power_commands(q: DefaultPusQueueHelper, op_code: str):
         q.add_wait_seconds(5.0)
     if q.empty():
         logging.getLogger(__name__).info(
-            f"Queue is empty, no stack for op code {op_code}"
+            f"Queue is empty, no stack for op code {cmd_str}"
         )
 
 
 @tmtc_definitions_provider
 def add_p60_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
-    oce.add(keys=P60OpCode.STACK_3V3_ON, info=P60Info.STACK_3V3_ON)
-    oce.add(keys=P60OpCode.STACK_3V3_OFF, info=P60Info.STACK_3V3_OFF)
-    oce.add(keys=P60OpCode.STACK_5V_ON, info=P60Info.STACK_5V_ON)
-    oce.add(keys=P60OpCode.STACK_5V_OFF, info=P60Info.STACK_5V_OFF)
+    oce.add(keys=CmdString.STACK_3V3_ON, info=CmdInfo.STACK_3V3_ON)
+    oce.add(keys=CmdString.STACK_3V3_OFF, info=CmdInfo.STACK_3V3_OFF)
+    oce.add(keys=CmdString.STACK_5V_ON, info=CmdInfo.STACK_5V_ON)
+    oce.add(keys=CmdString.STACK_5V_OFF, info=CmdInfo.STACK_5V_OFF)
     add_gomspace_cmd_defs(oce)
-    oce.add(keys=P60OpCode.TEST, info="P60 Tests")
+    oce.add(keys=CmdString.TEST, info="P60 Tests")
     defs.add_service(
         name=CustomServiceList.P60DOCK.value, info="P60 Device", op_code_entry=oce
     )
 
 
+def create_power_node() -> CmdTreeNode:
+    node = CmdTreeNode("power", "Power commands", hide_children_which_are_leaves=True)
+    add_pdu1_subnodes(node)
+    add_pdu2_subnodes(node)
+    node.add_child(CmdTreeNode(PowerOpCodes.SWITCHER_HK[0], PowerInfo.SWITCHER_HK))
+    node.add_child(CmdTreeNode(PowerOpCodes.INFO_ALL[0], PowerInfo.INFO_ALL))
+    node.add_child(CmdTreeNode(PowerOpCodes.INFO_CORE[0], PowerInfo.INFO_CORE))
+    node.add_child(CmdTreeNode(PowerOpCodes.INFO_AUX[0], PowerInfo.INFO_AUX))
+    node.add_child(
+        CmdTreeNode(PowerOpCodes.RESET_ALL_GND_WDTS[0], PowerInfo.RESET_ALL_GND_WDTS)
+    )
+    return node
+
+
 @tmtc_definitions_provider
 def add_power_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()

eive_tmtc/tmtc/power/pwr_ctrl.py

@@ -3,32 +3,26 @@ import enum
 import logging
 import struct
 
-from eive_tmtc.config.definitions import CustomServiceList
-from eive_tmtc.config.object_ids import PWR_CONTROLLER
-from eive_tmtc.pus_tm.defs import PrintWrapper
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
+    CmdTreeNode,
+)
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
+from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd
+from tmtccmd.pus.s20_fsfw_param_defs import (
+    create_scalar_double_parameter,
+    create_scalar_float_parameter,
 )
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.queue import DefaultPusQueueHelper
 from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_command
-from tmtccmd.tmtc.decorator import ServiceProviderParams
 from tmtccmd.pus.tc.s3_fsfw_hk import (
+    disable_periodic_hk_command,
+    enable_periodic_hk_command_with_interval,
     generate_one_hk_command,
     make_sid,
-    enable_periodic_hk_command_with_interval,
-    disable_periodic_hk_command,
 )
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.tmtc.queue import DefaultPusQueueHelper
 
-from tmtccmd.pus.s20_fsfw_param import create_load_param_cmd
-
-from tmtccmd.pus.s20_fsfw_param_defs import (
-    create_scalar_float_parameter,
-    create_scalar_double_parameter,
-)
+from eive_tmtc.config.object_ids import PWR_CONTROLLER
+from eive_tmtc.pus_tm.defs import PrintWrapper
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -51,17 +45,17 @@ class ParamId(enum.IntEnum):
     HIGHER_MODES_LIMIT = 6
 
 
-class OpCodes:
-    OFF = ["mode_off"]
-    ON = ["mode_on"]
-    NML = ["mode_normal"]
-    SET_PARAMETER = ["set_parameter"]
-    REQUEST_CORE_HK = ["core_hk"]
-    ENABLE_CORE_HK = ["core_enable_hk"]
-    DISABLE_CORE_HK = ["core_disable_hk"]
-    REQUEST_ENABLE_PL_HK = ["enable_pl_hk"]
-    ENABLE_ENABLE_PL_HK = ["enable_pl_enable_hk"]
-    DISABLE_ENABLE_PL_HK = ["enable_pl_disable_hk"]
+class OpCode:
+    OFF = "off"
+    ON = "on"
+    NML = "normal"
+    SET_PARAMETER = "set_parameter"
+    REQUEST_CORE_HK = "core_hk"
+    ENABLE_CORE_HK = "core_enable_hk"
+    DISABLE_CORE_HK = "core_disable_hk"
+    REQUEST_ENABLE_PL_HK = "enable_pl_hk"
+    ENABLE_ENABLE_PL_HK = "enable_pl_enable_hk"
+    DISABLE_ENABLE_PL_HK = "enable_pl_disable_hk"
 
 
 class Info:
@@ -77,46 +71,37 @@ class Info:
     DISABLE_ENABLE_PL_HK = "Disable Enable PL HK Data Generation"
 
 
-@tmtc_definitions_provider
-def pwr_cmd_defs(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCodes.OFF, info=Info.OFF)
-    oce.add(keys=OpCodes.ON, info=Info.ON)
-    oce.add(keys=OpCodes.NML, info=Info.NML)
-    oce.add(keys=OpCodes.SET_PARAMETER, info=Info.SET_PARAMETER)
-    oce.add(keys=OpCodes.REQUEST_CORE_HK, info=Info.REQUEST_CORE_HK)
-    oce.add(keys=OpCodes.ENABLE_CORE_HK, info=Info.ENABLE_CORE_HK)
-    oce.add(keys=OpCodes.DISABLE_CORE_HK, info=Info.DISABLE_CORE_HK)
-    oce.add(keys=OpCodes.REQUEST_ENABLE_PL_HK, info=Info.REQUEST_ENABLE_PL_HK)
-    oce.add(keys=OpCodes.ENABLE_ENABLE_PL_HK, info=Info.ENABLE_ENABLE_PL_HK)
-    oce.add(keys=OpCodes.DISABLE_ENABLE_PL_HK, info=Info.DISABLE_ENABLE_PL_HK)
-    defs.add_service(
-        name=CustomServiceList.PWR_CTRL.value, info="PWR Controller", op_code_entry=oce
-    )
+def create_pwr_ctrl_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("pwr_ctrl", "Power Controller", hide_children_for_print=True)
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
 
 
-@service_provider(CustomServiceList.PWR_CTRL.value)
-def pack_acs_ctrl_command(p: ServiceProviderParams):
-    op_code = p.op_code
-    q = p.queue_helper
-    if op_code in OpCodes.OFF:
+def pack_power_ctrl_command(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(f"{Info.OFF}")
         q.add_pus_tc(pack_mode_command(PWR_CONTROLLER, Mode.OFF, 0))
-    elif op_code in OpCodes.ON:
+    elif cmd_str == OpCode.ON:
         q.add_log_cmd(f"{Info.ON}")
         q.add_pus_tc(pack_mode_command(PWR_CONTROLLER, Mode.ON, 0))
-    elif op_code in OpCodes.NML:
+    elif cmd_str == OpCode.NML:
         q.add_log_cmd(f"{Info.NML}")
         q.add_pus_tc(pack_mode_command(PWR_CONTROLLER, Mode.NORMAL, 0))
-    elif op_code in OpCodes.SET_PARAMETER:
+    elif cmd_str in OpCode.SET_PARAMETER:
         q.add_log_cmd(f"{Info.SET_PARAMETER}")
         set_pwr_ctrl_param(q)
-    elif op_code in OpCodes.REQUEST_CORE_HK:
+    elif cmd_str == OpCode.REQUEST_CORE_HK:
         q.add_log_cmd(Info.REQUEST_CORE_HK)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(PWR_CONTROLLER, SetId.CORE_HK_SET))
         )
-    elif op_code in OpCodes.ENABLE_CORE_HK:
+    elif cmd_str == OpCode.ENABLE_CORE_HK:
         interval = float(input("Please specify interval in floating point seconds: "))
         q.add_log_cmd(Info.ENABLE_CORE_HK)
         cmd_tuple = enable_periodic_hk_command_with_interval(
@@ -124,19 +109,19 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_CORE_HK:
+    elif cmd_str == OpCode.DISABLE_CORE_HK:
         q.add_log_cmd(Info.DISABLE_CORE_HK)
         q.add_pus_tc(
             disable_periodic_hk_command(
                 False, make_sid(PWR_CONTROLLER, SetId.CORE_HK_SET)
             )
         )
-    elif op_code in OpCodes.REQUEST_ENABLE_PL_HK:
+    elif cmd_str == OpCode.REQUEST_ENABLE_PL_HK:
         q.add_log_cmd(Info.REQUEST_ENABLE_PL_HK)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(PWR_CONTROLLER, SetId.ENABLE_PL_SET))
         )
-    elif op_code in OpCodes.ENABLE_ENABLE_PL_HK:
+    elif cmd_str == OpCode.ENABLE_ENABLE_PL_HK:
         interval = float(input("Please specify interval in floating point seconds: "))
         q.add_log_cmd(Info.ENABLE_ENABLE_PL_HK)
         cmd_tuple = enable_periodic_hk_command_with_interval(
@@ -144,7 +129,7 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
         )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
-    elif op_code in OpCodes.DISABLE_ENABLE_PL_HK:
+    elif cmd_str == OpCode.DISABLE_ENABLE_PL_HK:
         q.add_log_cmd(Info.DISABLE_ENABLE_PL_HK)
         q.add_pus_tc(
             disable_periodic_hk_command(
@@ -283,7 +268,7 @@ def handle_core_hk_data(pw: PrintWrapper, hk_data: bytes):
     pw.dlog(f"Total Battery Current: {total_battery_current} [mA]")
     pw.dlog(f"Open Circuit Voltage Charge: {open_circuit_voltage_charge*100:8.3f} [%]")
     pw.dlog(f"Coulomb Counter Charge: {coulomb_counter_charge*100:8.3f} [%]")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=3))
 
 
 def handle_enable_pl_data(pw: PrintWrapper, hk_data: bytes):
@@ -299,4 +284,4 @@ def handle_enable_pl_data(pw: PrintWrapper, hk_data: bytes):
     )[0]
     current_idx += inc_len_uint16
     pw.dlog(f"PL Use Allowed: {pl_use_allowed}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=1)
+    pw.dlog(get_validity_buffer_str(hk_data[current_idx:], num_vars=1))

eive_tmtc/tmtc/power/subsystem.py

@@ -1,18 +1,16 @@
 import enum
-from typing import Tuple, Dict
+from typing import Dict, Tuple
 
 from spacepackets.ecss import PusTelecommand
-from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
-from eive_tmtc.config.object_ids import EPS_SUBSYSTEM_ID
-from eive_tmtc.config.definitions import CustomServiceList
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
+    CmdTreeNode,
 )
-from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservices, Mode
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.pus.s200_fsfw_mode import Mode
+from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservices
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from eive_tmtc.config.object_ids import EPS_SUBSYSTEM_ID
+from eive_tmtc.tmtc.common import pack_mode_cmd_with_info
 
 
 class OpCode(str, enum.Enum):
@@ -33,12 +31,9 @@ HANDLER_LIST: Dict[str, Tuple[int, int, str]] = {
 }
 
 
-@service_provider(CustomServiceList.EPS_SS.value)
-def build_eps_subsystem_cmd(p: ServiceProviderParams):
-    op_code = p.op_code
-    q = p.queue_helper
+def build_eps_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
     info_prefix = "EPS Subsystem"
-    if op_code in OpCode.REPORT_ALL_MODES:
+    if cmd_str in OpCode.REPORT_ALL_MODES:
         q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
         q.add_pus_tc(
             PusTelecommand(
@@ -47,7 +42,7 @@ def build_eps_subsystem_cmd(p: ServiceProviderParams):
                 app_data=EPS_SUBSYSTEM_ID,
             )
         )
-    mode_info_tup = HANDLER_LIST.get(op_code)
+    mode_info_tup = HANDLER_LIST.get(cmd_str)
     if mode_info_tup is None:
         return
     pack_mode_cmd_with_info(
@@ -59,10 +54,9 @@ def build_eps_subsystem_cmd(p: ServiceProviderParams):
     )
 
 
-@tmtc_definitions_provider
-def add_eps_subsystem_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    for op_code, (_, _, info) in HANDLER_LIST.items():
-        oce.add(op_code, info)
-    oce.add(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
-    defs.add_service(CustomServiceList.EPS_SS, "EPS Subsystem", oce)
+def create_eps_subsystem_node() -> CmdTreeNode:
+    eps_node = CmdTreeNode("eps", "EPS Subsystem")
+    for cmd_str, (_, _, info) in HANDLER_LIST.items():
+        eps_node.add_child(CmdTreeNode(cmd_str, info))
+    eps_node.add_child(CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES))
+    return eps_node

eive_tmtc/tmtc/power/tm.py

@@ -1,5 +1,9 @@
+import dataclasses
 import struct
+import logging
+import sqlite3
 from typing import List, Tuple
+from eive_tmtc.pus_tm.hk import HkTmInfo
 
 from eive_tmtc.tmtc.power.acu import acu_config_table_handler
 from eive_tmtc.tmtc.power.common_power import (
@@ -9,7 +13,7 @@ from eive_tmtc.tmtc.power.common_power import (
 )
 from eive_tmtc.tmtc.power.power import PcduSetIds
 from tmtccmd.util import ObjectIdBase
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter, get_validity_buffer_str
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.gomspace.gomspace_common import GomspaceDeviceActionId
 from eive_tmtc.config.object_ids import (
@@ -19,6 +23,8 @@ from eive_tmtc.config.object_ids import (
     ACU_HANDLER_ID,
 )
 
+_LOGGER = logging.getLogger(__name__)
+
 P60_INDEX_LIST = [
     "ACU VCC",
     "PDU1 VCC",
@@ -119,6 +125,8 @@ class DevicesInfoParser:
         return current_idx
 
     def print(self, pw: PrintWrapper):
+        if self.dev_types is None or self.dev_statuses is None:
+            return
         pw.dlog("Device Type | Device State (0:None | 1:OK | 3:ERROR | 4:NOT FOUND)")
         for i in range(len(self.dev_types)):
             pw.dlog(
@@ -146,7 +154,25 @@ class DevicesInfoParser:
         return "Unknown Type"
 
 
-def handle_pdu_data(pw: PrintWrapper, pdu_idx: int, set_id: int, hk_data: bytes):
+@dataclasses.dataclass
+class PduData:
+    boot_count: int
+    batt_mode: int
+    temperature: float
+    vcc: int
+    vbat: int
+    out_enables: List[bool]
+    voltages: List[int]
+    currents: List[int]
+
+
+def handle_pdu_data(
+    hk_data: bytes,
+    hk_info: HkTmInfo,
+    pw: PrintWrapper,
+    pdu_idx: int,
+    set_id: int,
+):
     current_idx = 0
     priv_idx = pdu_idx - 1
     if set_id == SetId.AUX or set_id == SetId.AUX:
@@ -219,7 +245,86 @@ def handle_pdu_data(pw: PrintWrapper, pdu_idx: int, set_id: int, hk_data: bytes)
             f"Boot Count {boot_count} | Battery Mode {batt_mode} | "
             f"Temperature {temperature} | VCC {vcc} | VBAT {vbat}"
         )
-        pw.dlog(info)
+        try:
+            handle_pdu_db_insertion(
+                hk_info,
+                pdu_idx,
+                PduData(
+                    boot_count,
+                    batt_mode,
+                    temperature,
+                    vcc,
+                    vbat,
+                    output_enb_list,
+                    voltage_list,
+                    current_list,
+                ),
+            )
+        except sqlite3.OperationalError as e:
+            _LOGGER.warning(f"SQLite error {e}")
+        _LOGGER.info(info)
+
+
+def handle_pdu_db_insertion(
+    hk_info: HkTmInfo,
+    pdu_idx: int,
+    pdu_data: PduData,
+):
+    cursor = hk_info.db_con.cursor()
+    if pdu_idx == 1:
+        tbl_base_name = "pdu1"
+        channel_list = PDU1_CHANNELS_NAMES
+    else:
+        tbl_base_name = "pdu2"
+        channel_list = PDU2_CHANNELS_NAMES
+    cursor.execute(
+        f"""
+        CREATE TABLE IF NOT EXISTS {tbl_base_name}(
+            packet_uuid TEXT PRIMARY KEY,
+            generation_time TEXT,
+            boot_count NUM,
+            bat_mode NUM,
+            temp REAL,
+            vcc NUM,
+            vbat NUM
+    )"""
+    )
+    cursor.execute(
+        f"INSERT INTO {tbl_base_name} VALUES(?, ?, ?, ?, ?, ?, ?)",
+        (
+            str(hk_info.packet_uuid),
+            hk_info.packet_datetime,
+            pdu_data.boot_count,
+            pdu_data.batt_mode,
+            pdu_data.temperature,
+            pdu_data.vcc,
+            pdu_data.vbat,
+        ),
+    )
+
+    for idx, name in enumerate(channel_list):
+        words = name.split()
+        camel_case_name = "_".join(word.lower() for word in words)
+        tbl_name = f"{tbl_base_name}_{camel_case_name}"
+        cursor.execute(
+            f"""
+            CREATE TABLE IF NOT EXISTS {tbl_name}(
+                packet_uuid TEXT PRIMARY KEY,
+                generation_time TEXT,
+                out_enable NUM,
+                voltage NUM,
+                current NUM
+        )"""
+        )
+        value_tuple = (
+            str(hk_info.packet_uuid),
+            hk_info.packet_datetime,
+            pdu_data.out_enables[idx],
+            pdu_data.voltages[idx],
+            pdu_data.currents[idx],
+        )
+        cursor.execute(f"INSERT INTO {tbl_name} VALUES(?, ?, ?, ?, ?)", value_tuple)
+    hk_info.db_con.commit()
 
 
 def handle_p60_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
@@ -269,8 +374,8 @@ def handle_p60_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
         temps = f"In C: Temp 0 {temp_0} | Temp 1 {temp_1} | "
         pw.dlog(temps)
         pw.dlog(batt_info)
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=9
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=9)
         )
     if set_id == SetId.AUX:
         pw.dlog("Received P60 AUX HK. Voltages in mV, currents in mA")
@@ -337,8 +442,8 @@ def handle_p60_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
             "6:TempSens(BatPack)|7:TempSens(BatPack)"
         )
         dev_parser.print(pw=pw)
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=27
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=27)
         )
 
 
@@ -390,8 +495,8 @@ def handle_acu_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
             f"Boot Count {bootcnt} | Uptime {uptime} sec | "
             f"MPPT Time {mppt_time} msec | MPPT Period {mppt_period} msec"
         )
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=12
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=12)
         )
     if set_id == SetId.AUX:
         current_idx = 0
@@ -428,13 +533,13 @@ def handle_acu_hk_data(pw: PrintWrapper, set_id: int, hk_data: bytes):
             "ACU Dev Types: 0:FRAM|1:ADC|2:ADC|3:DAC|4:DAC|5:DAC|6:TempSens|7:Reserved"
         )
         dev_parser.print(pw=pw)
-        FsfwTmTcPrinter.get_validity_buffer(
-            validity_buffer=hk_data[current_idx:], num_vars=8
+        pw.dlog(
+            get_validity_buffer_str(validity_buffer=hk_data[current_idx:], num_vars=8)
         )
 
 
 def handle_get_param_data_reply(
-    obj_id: ObjectIdBase, action_id: int, pw: PrintWrapper, custom_data: bytearray
+    obj_id: ObjectIdBase, action_id: int, pw: PrintWrapper, custom_data: bytes
 ):
     if action_id == GomspaceDeviceActionId.PARAM_GET:
         pw.dlog(f"Parameter Get Request received for object {obj_id}")
@@ -574,4 +679,4 @@ def handle_pcdu_hk(pw: PrintWrapper, set_id: int, hk_data: bytes):
             pw.dlog(f"{name.ljust(25)}: {val}")
         pw.dlog(f"{'P60 Dock 5V Stack'.ljust(25)}: {p60_stack_5v_val}")
         pw.dlog(f"{'P60 Dock 3V3 Stack'.ljust(25)}: {p60_stack_3v3_val}")
-        FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4)
+        pw.dlog(get_validity_buffer_str(hk_data[current_idx:], 4))

eive_tmtc/tmtc/solar_array_deployment.py

@@ -9,17 +9,14 @@
 import logging
 import struct
 
-from eive_tmtc.config.definitions import CustomServiceList
-from eive_tmtc.config.object_ids import SOLAR_ARRAY_DEPLOYMENT_ID
 from spacepackets.ecss import PusTelecommand
 from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
+    CmdTreeNode,
 )
-from tmtccmd.tmtc import service_provider, DefaultPusQueueHelper
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from eive_tmtc.config.object_ids import SOLAR_ARRAY_DEPLOYMENT_ID
 
 
 class OpCode:
@@ -38,25 +35,17 @@ class ActionId:
     MANUAL_DEPLOYMENT = 5
 
 
-@tmtc_definitions_provider
-def add_sa_depl_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCode.MANUAL_DEPLOYMENT, info=Info.MANUAL_DEPLOYMENT)
-    oce.add(keys=OpCode.BURN_SA_0_ONLY, info=Info.BURN_SA_0_ONLY)
-    oce.add(keys=OpCode.BURN_SA_1_ONLY, info=Info.BURN_SA_1_ONLY)
-    defs.add_service(
-        name=CustomServiceList.SA_DEPLYOMENT,
-        info="Solar Array Deployment",
-        op_code_entry=oce,
-    )
+def add_solar_array_deployment_node() -> CmdTreeNode:
+    node = CmdTreeNode("solar_array_deployment", "Solar Array Deployment")
+    node.add_child(CmdTreeNode(OpCode.MANUAL_DEPLOYMENT, Info.MANUAL_DEPLOYMENT))
+    node.add_child(CmdTreeNode(OpCode.BURN_SA_0_ONLY, Info.BURN_SA_0_ONLY))
+    node.add_child(CmdTreeNode(OpCode.BURN_SA_1_ONLY, Info.BURN_SA_1_ONLY))
+    return node
 
 
-@service_provider(CustomServiceList.SA_DEPLYOMENT)
-def pack_solar_array_deployment_test_into(p: ServiceProviderParams):
-    q = p.queue_helper
-    op_code = p.op_code
+def pack_solar_array_deployment_test_into(q: DefaultPusQueueHelper, cmd_str: str):
     switch_interval_ms = 0
-    if op_code == OpCode.MANUAL_DEPLOYMENT:
+    if cmd_str == OpCode.MANUAL_DEPLOYMENT:
         while True:
             burn_time_secs = prompt_burn_time()
             if burn_time_secs < 0:
@@ -80,9 +69,9 @@ def pack_solar_array_deployment_test_into(p: ServiceProviderParams):
         q.add_pus_tc(
             pack_manual_array_depl_cmd(burn_time_secs, switch_interval_ms, dry_run)
         )
-    elif op_code in OpCode.BURN_SA_0_ONLY:
+    elif cmd_str == OpCode.BURN_SA_0_ONLY:
         burn_one_channel_only(q, 0)
-    elif op_code in OpCode.BURN_SA_1_ONLY:
+    elif cmd_str == OpCode.BURN_SA_1_ONLY:
         burn_one_channel_only(q, 1)
 
 

eive_tmtc/tmtc/system.py

@@ -3,18 +3,18 @@ import enum
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.tmtc.acs.subsystem import AcsMode
 from tmtccmd.config.tmtc import (
+    CmdTreeNode,
     tmtc_definitions_provider,
     TmtcDefinitionWrapper,
     OpCodeEntry,
 )
-from tmtccmd.tmtc import service_provider
+from tmtccmd.tmtc import DefaultPusQueueHelper
 from eive_tmtc.config.object_ids import EIVE_SYSTEM_ID
 from tmtccmd.pus.s200_fsfw_mode import (
     create_mode_command,
     create_announce_mode_recursive_command,
 )
 from tmtccmd.pus.s8_fsfw_action import create_action_cmd
-from tmtccmd.tmtc.decorator import ServiceProviderParams
 
 
 class SystemMode:
@@ -55,40 +55,49 @@ class Info:
     REBOOT_I2C = "Reboot I2C bus"
 
 
-@service_provider(CustomServiceList.SYSTEM.value)
-def build_system_cmds(p: ServiceProviderParams):
-    o = p.op_code
-    q = p.queue_helper
+def build_system_cmds(q: DefaultPusQueueHelper, cmd_str: str):
     prefix = "EIVE System"
-    if o == OpCode.SAFE_MODE:
+    if cmd_str == OpCode.SAFE_MODE:
         q.add_log_cmd(f"{prefix}: {Info.SAFE_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.SAFE, 0))
-    elif o == OpCode.IDLE_MODE:
+    elif cmd_str == OpCode.IDLE_MODE:
         q.add_log_cmd(f"{prefix}: {Info.IDLE_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.IDLE, 0))
-    elif o == OpCode.NADIR_MODE:
+    elif cmd_str == OpCode.NADIR_MODE:
         q.add_log_cmd(f"{prefix}: {Info.NADIR_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.PTG_NADIR, 0))
-    elif o == OpCode.TARGET_MODE:
+    elif cmd_str == OpCode.TARGET_MODE:
         q.add_log_cmd(f"{prefix}: {Info.TARGET_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.PTG_TARGET, 0))
-    elif o == OpCode.TARGET_GS_MODE:
+    elif cmd_str == OpCode.TARGET_GS_MODE:
         q.add_log_cmd(f"{prefix}: {Info.TARGET_GS_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.PTG_TARGET_GS, 0))
-    elif o == OpCode.INERTIAL_MODE:
+    elif cmd_str == OpCode.INERTIAL_MODE:
         q.add_log_cmd(f"{prefix}: {Info.INERTIAL_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.PTG_INERTIAL, 0))
-    elif o == OpCode.ANNOUNCE_MODES:
+    elif cmd_str == OpCode.ANNOUNCE_MODES:
         q.add_log_cmd(f"{prefix}: {Info.ANNOUNCE_MODES}")
         q.add_pus_tc(create_announce_mode_recursive_command(EIVE_SYSTEM_ID))
-    elif o == OpCode.BOOT_MODE:
+    elif cmd_str == OpCode.BOOT_MODE:
         q.add_log_cmd(f"{prefix}: {Info.BOOT_MODE}")
         q.add_pus_tc(create_mode_command(EIVE_SYSTEM_ID, SystemMode.BOOT, 0))
-    elif o == OpCode.REBOOT_I2C:
+    elif cmd_str == OpCode.REBOOT_I2C:
         q.add_log_cmd(f"{prefix}: {Info.REBOOT_I2C}")
         q.add_pus_tc(create_action_cmd(EIVE_SYSTEM_ID, ActionId.EXECUTE_I2C_REBOOT))
 
 
+def create_system_node() -> CmdTreeNode:
+    op_code_strs = [
+        getattr(OpCode, key) for key in dir(OpCode) if not key.startswith("__")
+    ]
+    info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
+    combined_dict = dict(zip(op_code_strs, info_strs))
+    node = CmdTreeNode("system", "EIVE System")
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
+    return node
+
+
 @tmtc_definitions_provider
 def add_system_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()

eive_tmtc/tmtc/tcs/ctrl.py

@@ -3,6 +3,7 @@ from eive_tmtc.config.object_ids import TCS_CONTROLLER
 from eive_tmtc.tmtc.tcs import CtrlSetId
 from eive_tmtc.tmtc.tcs.brd_assy import pack_tcs_ass_cmds
 from tmtccmd.config.tmtc import (
+    CmdTreeNode,
     tmtc_definitions_provider,
     TmtcDefinitionWrapper,
     OpCodeEntry,
@@ -17,7 +18,7 @@ from tmtccmd.pus.tc.s3_fsfw_hk import (
 )
 
 
-class OpCode:
+class CmdStr:
     REQUEST_PRIMARY_TEMP_SET = "temp"
     ENABLE_TEMP_SET = "enable_temp_set"
     REQUEST_DEVICE_TEMP_SET = "temp_devs"
@@ -26,7 +27,7 @@ class OpCode:
     REQUEST_TCS_CTRL_INFO = "tcs_ctrl_info"
 
 
-class Info:
+class CmdInfo:
     ENABLE_TEMP_SET = "Enable Primary Temperature Set"
     REQUEST_PRIMARY_TEMP_SET = "Request HK set of primary sensor temperatures"
     REQUEST_DEVICE_TEMP_SET = "Request HK set of device sensor temperatures"
@@ -35,56 +36,74 @@ class Info:
     REQUEST_TCS_CTRL_INFO = "Request TCS controller information"
 
 
-def pack_tcs_ctrl_commands(q: DefaultPusQueueHelper, op_code: str):
-    if op_code == OpCode.REQUEST_PRIMARY_TEMP_SET:
+def pack_tcs_ctrl_commands(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str == CmdStr.REQUEST_PRIMARY_TEMP_SET:
         sensor_set_sid = make_sid(TCS_CONTROLLER, CtrlSetId.PRIMARY_SENSORS)
-        q.add_log_cmd(Info.REQUEST_PRIMARY_TEMP_SET)
+        q.add_log_cmd(CmdInfo.REQUEST_PRIMARY_TEMP_SET)
         q.add_pus_tc(generate_one_hk_command(sensor_set_sid))
-    if op_code == OpCode.REQUEST_DEVICE_TEMP_SET:
-        q.add_log_cmd(Info.REQUEST_DEVICE_TEMP_SET)
+    if cmd_str == CmdStr.REQUEST_DEVICE_TEMP_SET:
+        q.add_log_cmd(CmdInfo.REQUEST_DEVICE_TEMP_SET)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(TCS_CONTROLLER, CtrlSetId.DEVICE_SENSORS))
         )
-    if op_code == OpCode.REQUEST_DEVICE_SUS_SET:
-        q.add_log_cmd(Info.REQUEST_DEVICE_SUS_SET)
+    if cmd_str == CmdStr.REQUEST_DEVICE_SUS_SET:
+        q.add_log_cmd(CmdInfo.REQUEST_DEVICE_SUS_SET)
         q.add_pus_tc(
             generate_one_hk_command(
                 make_sid(TCS_CONTROLLER, CtrlSetId.SUS_TEMP_SENSORS)
             )
         )
-    if op_code == OpCode.REQUEST_HEATER_INFO:
-        q.add_log_cmd(Info.REQUEST_HEATER_INFO)
+    if cmd_str == CmdStr.REQUEST_HEATER_INFO:
+        q.add_log_cmd(CmdInfo.REQUEST_HEATER_INFO)
         q.add_pus_tc(
             create_request_one_diag_command(
                 make_sid(TCS_CONTROLLER, CtrlSetId.HEATER_INFO)
             )
         )
-    if op_code == OpCode.REQUEST_TCS_CTRL_INFO:
-        q.add_log_cmd(Info.REQUEST_TCS_CTRL_INFO)
+    if cmd_str == CmdStr.REQUEST_TCS_CTRL_INFO:
+        q.add_log_cmd(CmdInfo.REQUEST_TCS_CTRL_INFO)
         q.add_pus_tc(
             create_request_one_hk_command(
                 make_sid(TCS_CONTROLLER, CtrlSetId.TCS_CTRL_INFO)
             )
         )
-    if op_code == OpCode.ENABLE_TEMP_SET:
+    if cmd_str == CmdStr.ENABLE_TEMP_SET:
         interval_seconds = float(input("Please specify interval in seconds: "))
         cmds = create_enable_periodic_hk_command_with_interval_with_diag(
             False, make_sid(TCS_CONTROLLER, CtrlSetId.PRIMARY_SENSORS), interval_seconds
         )
         for cmd in cmds:
             q.add_pus_tc(cmd)
-    pack_tcs_ass_cmds(q, op_code)
+    pack_tcs_ass_cmds(q, cmd_str)
+
+
+CTN = CmdTreeNode
+
+
+def create_tcs_ctrl_node() -> CmdTreeNode:
+    node = CmdTreeNode(
+        "tcs_ctrl", "TCS Controller", hide_children_which_are_leaves=True
+    )
+    node.add_child(CTN(CmdStr.ENABLE_TEMP_SET, CmdInfo.ENABLE_TEMP_SET))
+    node.add_child(
+        CTN(CmdStr.REQUEST_PRIMARY_TEMP_SET, CmdInfo.REQUEST_PRIMARY_TEMP_SET)
+    )
+    node.add_child(CTN(CmdStr.REQUEST_DEVICE_TEMP_SET, CmdInfo.REQUEST_DEVICE_TEMP_SET))
+    node.add_child(CTN(CmdStr.REQUEST_DEVICE_SUS_SET, CmdInfo.REQUEST_DEVICE_SUS_SET))
+    node.add_child(CTN(CmdStr.REQUEST_HEATER_INFO, CmdInfo.REQUEST_HEATER_INFO))
+    node.add_child(CTN(CmdStr.REQUEST_TCS_CTRL_INFO, CmdInfo.REQUEST_TCS_CTRL_INFO))
+    return node
 
 
 @tmtc_definitions_provider
 def add_tcs_ctrl_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
-    oce.add(keys=OpCode.ENABLE_TEMP_SET, info=Info.ENABLE_TEMP_SET)
-    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)
-    oce.add(keys=OpCode.REQUEST_HEATER_INFO, info=Info.REQUEST_HEATER_INFO)
-    oce.add(keys=OpCode.REQUEST_TCS_CTRL_INFO, info=Info.REQUEST_TCS_CTRL_INFO)
+    oce.add(keys=CmdStr.ENABLE_TEMP_SET, info=CmdInfo.ENABLE_TEMP_SET)
+    oce.add(keys=CmdStr.REQUEST_PRIMARY_TEMP_SET, info=CmdInfo.REQUEST_PRIMARY_TEMP_SET)
+    oce.add(keys=CmdStr.REQUEST_DEVICE_TEMP_SET, info=CmdInfo.REQUEST_DEVICE_TEMP_SET)
+    oce.add(keys=CmdStr.REQUEST_DEVICE_SUS_SET, info=CmdInfo.REQUEST_DEVICE_SUS_SET)
+    oce.add(keys=CmdStr.REQUEST_HEATER_INFO, info=CmdInfo.REQUEST_HEATER_INFO)
+    oce.add(keys=CmdStr.REQUEST_TCS_CTRL_INFO, info=CmdInfo.REQUEST_TCS_CTRL_INFO)
     defs.add_service(
         name=CustomServiceList.TCS_CTRL,
         info="TCS controller",

eive_tmtc/tmtc/tcs/heater.py

@@ -5,21 +5,21 @@
 """
 import enum
 
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.config import CmdTreeNode, OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.pus.s8_fsfw_action import create_action_cmd
+from tmtccmd.pus.s201_fsfw_health import (
+    FsfwHealth,
+    Subservice,
+    pack_set_health_cmd_data,
+)
+from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.util.obj_id import ObjectIdU32
+
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.config.object_ids import get_object_ids
 from eive_tmtc.tmtc.tcs.defs import Heater
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
-from tmtccmd.tmtc import DefaultPusQueueHelper
-from tmtccmd.util.obj_id import ObjectIdU32
-from tmtccmd.pus.s201_fsfw_health import (
-    pack_set_health_cmd_data,
-    FsfwHealth,
-    Subservice,
-)
-from tmtccmd.pus.s8_fsfw_action import create_action_cmd
-from spacepackets.ecss.tc import PusTelecommand
-
 
 HEATER_LOCATION = [
     "PLOC Processing Board",
@@ -34,10 +34,10 @@ HEATER_LOCATION = [
 
 
 class OpCode:
-    HEATER_CMD = ["switch_cmd"]
-    HEATER_EXT_CTRL = ["set_ext_ctrl"]
-    HEATER_FAULTY_CMD = ["set_faulty"]
-    HEATER_HEALTHY_CMD = ["set_healthy"]
+    HEATER_CMD = "switch_cmd"
+    HEATER_EXT_CTRL = "set_ext_ctrl"
+    HEATER_FAULTY_CMD = "set_faulty"
+    HEATER_HEALTHY_CMD = "set_healthy"
 
 
 class Info:
@@ -55,6 +55,18 @@ class ActionIds(enum.IntEnum):
     SWITCH_HEATER = 0
 
 
+CTN = CmdTreeNode
+
+
+def create_heater_node() -> CmdTreeNode:
+    node = CmdTreeNode("heaters", "Heater Device", hide_children_which_are_leaves=True)
+    node.add_child(CTN(OpCode.HEATER_CMD, Info.HEATER_CMD))
+    node.add_child(CTN(OpCode.HEATER_HEALTHY_CMD, Info.HEATER_HEALTHY_CMD))
+    node.add_child(CTN(OpCode.HEATER_EXT_CTRL, Info.HEATER_EXT_CTRL))
+    node.add_child(CTN(OpCode.HEATER_FAULTY_CMD, Info.HEATER_FAULTY_CMD))
+    return node
+
+
 @tmtc_definitions_provider
 def add_heater_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
@@ -69,8 +81,8 @@ def add_heater_cmds(defs: TmtcDefinitionWrapper):
     )
 
 
-def pack_heater_cmds(object_id: bytearray, op_code: str, q: DefaultPusQueueHelper):
-    if op_code in OpCode.HEATER_CMD:
+def pack_heater_cmds(object_id: bytes, cmd_str: str, q: DefaultPusQueueHelper):
+    if cmd_str == OpCode.HEATER_CMD:
         q.add_log_cmd("Heater Switching")
         heater_number = prompt_heater()
         while True:
@@ -90,7 +102,7 @@ def pack_heater_cmds(object_id: bytearray, op_code: str, q: DefaultPusQueueHelpe
         debug_string = f"Switching heater {heater_number} {act_str}"
         q.add_log_cmd(debug_string)
         q.add_pus_tc(pack_switch_heater_command(object_id, heater_number, action))
-    if op_code in OpCode.HEATER_EXT_CTRL:
+    if cmd_str == OpCode.HEATER_EXT_CTRL:
         heater_number = prompt_heater()
         obj_id = heater_idx_to_obj(heater_number)
         health_cmd(
@@ -100,7 +112,7 @@ def pack_heater_cmds(object_id: bytearray, op_code: str, q: DefaultPusQueueHelpe
             health_str="External Control",
             heater_idx=heater_number,
         )
-    if op_code in OpCode.HEATER_FAULTY_CMD:
+    if cmd_str == OpCode.HEATER_FAULTY_CMD:
         heater_number = prompt_heater()
         obj_id = heater_idx_to_obj(heater_number)
         health_cmd(
@@ -110,7 +122,7 @@ def pack_heater_cmds(object_id: bytearray, op_code: str, q: DefaultPusQueueHelpe
             health_str="Faulty",
             heater_idx=heater_number,
         )
-    if op_code in OpCode.HEATER_HEALTHY_CMD:
+    if cmd_str == OpCode.HEATER_HEALTHY_CMD:
         heater_number = prompt_heater()
         obj_id = heater_idx_to_obj(heater_number)
         health_cmd(

eive_tmtc/tmtc/tcs/rtd.py

@@ -5,7 +5,7 @@ import struct
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
+from tmtccmd.config import CmdTreeNode, TmtcDefinitionWrapper, OpCodeEntry
 from tmtccmd.config.tmtc import tmtc_definitions_provider
 
 from tmtccmd.tmtc import DefaultPusQueueHelper
@@ -13,7 +13,7 @@ from tmtccmd.util import ObjectIdU32
 from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_data, Subservice
 import eive_tmtc.config.object_ids as oids
 from eive_tmtc.config.object_ids import get_object_ids
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 
 RTD_IDS = [
     oids.RTD_0_PLOC_HSPD,
@@ -81,34 +81,43 @@ class SetId(enum.IntEnum):
     TEMPERATURE = 1
 
 
-class OpCode:
-    ON = ["0", "on"]
-    OFF = ["1", "off"]
-    NORMAL = ["2", "normal"]
-    WRITE_CONFIG = ["3", "Write config"]
+class CmdStr:
+    ON = "on"
+    OFF = "off"
+    NORMAL = "normal"
+    WRITE_CONFIG = "write_cfg"
 
 
-class Info:
+class CmdInfo:
     ON = "Switch handler on"
     OFF = "Switch handler off"
     NORMAL = "Switch handler normal"
     WRITE_CONFIG = "Write config"
 
 
+def create_rtd_node() -> CmdTreeNode:
+    node = CmdTreeNode("rtd", "RTD commands", hide_children_which_are_leaves=True)
+    node.add_child(CmdTreeNode(CmdStr.ON, CmdInfo.ON))
+    node.add_child(CmdTreeNode(CmdStr.NORMAL, CmdInfo.NORMAL))
+    node.add_child(CmdTreeNode(CmdStr.OFF, CmdInfo.OFF))
+    node.add_child(CmdTreeNode(CmdStr.WRITE_CONFIG, CmdInfo.WRITE_CONFIG))
+    return node
+
+
 @tmtc_definitions_provider
 def specify_rtd_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
-    oce.add(keys=OpCode.ON, info=Info.ON)
-    oce.add(keys=OpCode.NORMAL, info=Info.NORMAL)
-    oce.add(keys=OpCode.OFF, info=Info.OFF)
-    oce.add(keys=OpCode.WRITE_CONFIG, info=Info.WRITE_CONFIG)
+    oce.add(keys=CmdStr.ON, info=CmdInfo.ON)
+    oce.add(keys=CmdStr.NORMAL, info=CmdInfo.NORMAL)
+    oce.add(keys=CmdStr.OFF, info=CmdInfo.OFF)
+    oce.add(keys=CmdStr.WRITE_CONFIG, info=CmdInfo.WRITE_CONFIG)
     defs.add_service(
         name=CustomServiceList.RTD.value, info="RTD commands", op_code_entry=oce
     )
 
 
 def pack_rtd_commands(
-    op_code: str, object_id: Optional[ObjectIdU32], q: DefaultPusQueueHelper
+    cmd_str: str, object_id: Optional[ObjectIdU32], q: DefaultPusQueueHelper
 ):
     if object_id is not None and object_id not in RTD_IDS:
         print("Specified object ID not a valid RTD ID")
@@ -117,14 +126,14 @@ def pack_rtd_commands(
         tgt_rtd_idx = prompt_rtd_idx()
         object_id_dict = get_object_ids()
         object_id = object_id_dict.get(RTD_IDS[tgt_rtd_idx])
-    if op_code in OpCode.ON:
+    if cmd_str == CmdStr.ON:
         app_data = pack_mode_data(object_id=object_id.as_bytes, mode=Mode.ON, submode=0)
         q.add_pus_tc(
             PusTelecommand(
                 service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=app_data
             )
         )
-    if op_code in OpCode.NORMAL:
+    if cmd_str == CmdStr.NORMAL:
         app_data = pack_mode_data(
             object_id=object_id.as_bytes, mode=Mode.NORMAL, submode=0
         )
@@ -133,7 +142,7 @@ def pack_rtd_commands(
                 service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=app_data
             )
         )
-    if op_code in OpCode.OFF:
+    if cmd_str == CmdStr.OFF:
         app_data = pack_mode_data(
             object_id=object_id.as_bytes, mode=Mode.OFF, submode=0
         )
@@ -142,7 +151,7 @@ def pack_rtd_commands(
                 service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=app_data
             )
         )
-    if op_code in OpCode.WRITE_CONFIG:
+    if cmd_str in CmdStr.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))
 
@@ -161,7 +170,7 @@ def handle_rtd_hk(object_id: bytes, hk_data: bytes, pw: PrintWrapper):
     pw.dlog(f"RTD Value: {rtd_val}")
     pw.dlog(f"Error Byte: {error_byte}")
     pw.dlog(f"Last Error Byte: {last_err_byte}")
-    FsfwTmTcPrinter.get_validity_buffer(hk_data[fmt_len:], 4)
+    pw.dlog(get_validity_buffer_str(hk_data[fmt_len:], 4))
 
 
 def prompt_rtd_idx():

eive_tmtc/tmtc/tcs/subsystem.py

@@ -23,17 +23,17 @@ class InfoSys:
     ANNOUNCE_MODES = "Announce Modes recursively"
 
 
-def pack_tcs_sys_commands(q: DefaultPusQueueHelper, op_code: str):
-    if op_code == OpCode.OFF:
+def pack_tcs_sys_commands(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str == OpCode.OFF:
         q.add_log_cmd(InfoSys.OFF)
         pack_mode_cmd_with_info(TCS_SUBSYSTEM_ID, Mode.OFF, 0, q, InfoSys.OFF)
-    if op_code == OpCode.NML:
+    if cmd_str == OpCode.NML:
         q.add_log_cmd(InfoSys.NML)
         pack_mode_cmd_with_info(TCS_SUBSYSTEM_ID, Mode.NORMAL, 0, q, InfoSys.OFF)
-    if op_code == OpCode.ANNOUNCE_MODES:
+    if cmd_str == OpCode.ANNOUNCE_MODES:
         q.add_log_cmd(InfoSys.ANNOUNCE_MODES)
         q.add_pus_tc(create_announce_mode_recursive_command(TCS_SUBSYSTEM_ID))
-    pack_tcs_ass_cmds(q, op_code)
+    pack_tcs_ass_cmds(q, cmd_str)
 
 
 @tmtc_definitions_provider

eive_tmtc/tmtc/tcs/tmp1075.py

@@ -8,6 +8,8 @@
 import enum
 import struct
 
+from tmtccmd.config import CmdTreeNode
+
 from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from spacepackets.ecss.tc import PusTelecommand
@@ -16,21 +18,21 @@ from tmtccmd.config.tmtc import (
     TmtcDefinitionWrapper,
     OpCodeEntry,
 )
-from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
+from tmtccmd.fsfw.tmtc_printer import get_validity_buffer_str
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.s200_fsfw_mode import Mode, pack_mode_data
 from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command, make_sid
 from tmtccmd.util import ObjectIdU32
 
 
-class OpCode:
+class CmdStr:
     OFF = "off"
     ON = "on"
     NML = "nml"
     HK = "hk"
 
 
-class Info:
+class CmdInfo:
     OFF = "Off"
     ON = "On"
     NML = "Normal"
@@ -47,37 +49,46 @@ class SetId(enum.IntEnum):
 
 
 def pack_tmp1075_test_into(
-    object_id: ObjectIdU32, op_code: str, q: DefaultPusQueueHelper
+    object_id: ObjectIdU32, cmd_str: str, q: DefaultPusQueueHelper
 ):
     q.add_log_cmd(
         f"Testing Tmp1075 Temperature Sensor Handler with object id: {object_id}"
     )
     obyt = object_id.as_bytes
-    if op_code == OpCode.OFF:
+    if cmd_str == CmdStr.OFF:
         q.add_log_cmd("TMP1075: Set Normal Off")
         mode_data = pack_mode_data(obyt, Mode.OFF, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-    if op_code == OpCode.NML:
+    if cmd_str == CmdStr.NML:
         q.add_log_cmd("TMP1075: Set Mode Normal")
         mode_data = pack_mode_data(obyt, Mode.NORMAL, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-    if op_code == OpCode.ON:
+    if cmd_str == CmdStr.ON:
         q.add_log_cmd("TMP1075: Set Mode On")
         mode_data = pack_mode_data(obyt, Mode.ON, 0)
         q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-    if op_code == OpCode.HK:
+    if cmd_str == CmdStr.HK:
         q.add_log_cmd("TMP1075: Request One-Shot HK")
         q.add_pus_tc(create_request_one_hk_command(make_sid(obyt, SetId.TEMPERATURE)))
     return q
 
 
+def create_tmp_sens_node() -> CmdTreeNode:
+    node = CmdTreeNode("tmp_1075", "TMP1075 Temperatur Sensors")
+    node.add_child(CmdTreeNode(CmdStr.OFF, CmdInfo.OFF))
+    node.add_child(CmdTreeNode(CmdStr.ON, CmdInfo.ON))
+    node.add_child(CmdTreeNode(CmdStr.NML, CmdInfo.NML))
+    node.add_child(CmdTreeNode(CmdStr.HK, CmdInfo.HK))
+    return node
+
+
 @tmtc_definitions_provider
 def add_tmp_sens_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
-    oce.add(OpCode.OFF, Info.OFF)
-    oce.add(OpCode.ON, Info.ON)
-    oce.add(OpCode.NML, Info.NML)
-    oce.add(OpCode.HK, Info.HK)
+    oce.add(CmdStr.OFF, CmdInfo.OFF)
+    oce.add(CmdStr.ON, CmdInfo.ON)
+    oce.add(CmdStr.NML, CmdInfo.NML)
+    oce.add(CmdStr.HK, CmdInfo.HK)
     defs.add_service(CustomServiceList.TMP1075.value, "TMP1075 Temperature Sensor", oce)
 
 
@@ -85,4 +96,4 @@ def handle_tmp_1075_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
     if set_id == SetId.TEMPERATURE:
         temp = struct.unpack("!f", hk_data[0:4])[0]
         pw.dlog(f"TMP1075 Temperature: {temp}")
-        pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[4:], 1))
+        pw.dlog(get_validity_buffer_str(hk_data[4:], 1))

eive_tmtc/tmtc/test.py

@@ -1,52 +1,60 @@
-from spacepackets.ecss import PusTelecommand, PusService
-from tmtccmd.config import CoreServiceList
-from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
-)
+import datetime
+import math
+import struct
+
+from spacepackets.ecss import PusService, PusTelecommand
+from tmtccmd.config import CmdTreeNode
+from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
 from tmtccmd.pus.s17_test import create_service_17_ping_command
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.tmtc import DefaultPusQueueHelper
 
 
-class OpCodes:
+class OpCode:
     PING = "ping"
     TRIGGER_EVENT = "trig_event"
     PING_WITH_DATA = "ping_with_data"
+    SCHEDULE_PING = "sched_ping"
 
 
 class Info:
     PING = "Simple Ping and Connection Test"
     TRIGGER_EVENT = "Trigger an event"
     PING_WITH_DATA = "Ping with data. Size of sent data is sent back"
+    SCHEDULE_PING = "Schedule a ping"
 
 
-@tmtc_definitions_provider
-def add_test_defs(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCodes.PING, info=Info.PING)
-    oce.add(keys=OpCodes.TRIGGER_EVENT, info=Info.TRIGGER_EVENT)
-    oce.add(keys=OpCodes.PING_WITH_DATA, info=Info.PING_WITH_DATA)
-
-    defs.add_service(
-        name=CoreServiceList.SERVICE_17_ALT,
-        info="PUS 17 Test Service",
-        op_code_entry=oce,
-    )
+def create_test_node() -> CmdTreeNode:
+    node = CmdTreeNode("test", "Test Commands")
+    node.add_child(CmdTreeNode(OpCode.PING, Info.PING))
+    node.add_child(CmdTreeNode(OpCode.TRIGGER_EVENT, Info.TRIGGER_EVENT))
+    node.add_child(CmdTreeNode(OpCode.PING_WITH_DATA, Info.PING_WITH_DATA))
+    node.add_child(CmdTreeNode(OpCode.SCHEDULE_PING, Info.SCHEDULE_PING))
+    return node
 
 
-@service_provider(CoreServiceList.SERVICE_17_ALT)
-def pack_test_command(p: ServiceProviderParams):
-    info = p.info
-    q = p.queue_helper
-    if info.op_code == OpCodes.PING:
+def build_test_commands(q: DefaultPusQueueHelper, cmd_path: str):
+    if cmd_path == OpCode.PING:
         q.add_log_cmd("Sending PUS TC [17,1]")
         q.add_pus_tc(create_service_17_ping_command())
-    if info.op_code == OpCodes.TRIGGER_EVENT:
+    if cmd_path == OpCode.TRIGGER_EVENT:
         q.add_log_cmd("Sending PUS TC Event Trigger [17, 128]")
         q.add_pus_tc(PusTelecommand(service=PusService.S17_TEST, subservice=128))
-    if info.op_code == OpCodes.PING_WITH_DATA:
+    if cmd_path == OpCode.SCHEDULE_PING:
+        q.add_log_cmd("Sending scheduled PUS ping")
+        # Generate a UNIX timestamp 30 seconds in the future using the datetime API with a UTC timezone
+        now = datetime.datetime.now(tz=datetime.timezone.utc)
+        second_offset_to_now = input("Please specify offset to now in seconds: ")
+        now += datetime.timedelta(seconds=int(second_offset_to_now))
+        unix_stamp = struct.pack("!I", math.floor(now.timestamp()))
+        print(f"Sending ping scheuled at {now}")
+        ping = PusTelecommand(service=PusService.S17_TEST, subservice=128)
+        q.add_pus_tc(
+            create_time_tagged_cmd(
+                release_time=unix_stamp,
+                tc_to_insert=ping,
+            )
+        )
+    if cmd_path == OpCode.PING_WITH_DATA:
         q.add_log_cmd("Sending Ping With Data, Size Reported Back [17, 129]")
         while True:
             data_size = int(input("Please specify data size [0-1024]: "))
@@ -55,7 +63,7 @@ def pack_test_command(p: ServiceProviderParams):
             break
         dummy_data = bytearray()
         next_byte = True
-        for i in range(data_size):
+        for _ in range(data_size):
             dummy_data.append(int(next_byte))
             next_byte = not next_byte
         q.add_pus_tc(

eive_tmtc/tmtc/time.py

@@ -1,44 +1,42 @@
 import enum
+import struct
 import logging
-from datetime import datetime
+import datetime
 
-from eive_tmtc.config.definitions import CustomServiceList
 from spacepackets.ecss import PusTelecommand, PusService
-from tmtccmd.config.tmtc import (
-    tmtc_definitions_provider,
-    TmtcDefinitionWrapper,
-    OpCodeEntry,
-)
 
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
+from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.config import CmdTreeNode
+
+
+_LOGGER = logging.getLogger(__name__)
 
 
 class Subservice(enum.IntEnum):
     SET_TIME = 128
     DUMP_TIME = 129
+    RELATIVE_TIMESHIFT = 130
 
 
-class OpCode:
-    SET_CURRENT_TIME = ["set_curr_time"]
-    DUMP_TIME = ["dump_time"]
+class CmdStr:
+    SET_CURRENT_TIME = "set_curr_time"
+    RELATIVE_TIMESHIFT = "relative_timeshift"
+    DUMP_TIME = "dump_time"
 
 
 class Info:
     SET_CURRENT_TIME = "Setting current time in ASCII format"
+    RELATIVE_TIMESHIFT = "Shift time with a relative offset"
     DUMP_TIME = "Dump system time as event"
 
 
-@service_provider(CustomServiceList.TIME.value)
-def pack_set_current_time_ascii_command(p: ServiceProviderParams):
-    q = p.queue_helper
-    o = p.op_code
-    if o in OpCode.SET_CURRENT_TIME:
-        current_time = datetime.utcnow().isoformat() + "Z" + "\0"
-        current_time_ascii = current_time.encode("ascii")
-        logging.getLogger(__name__).info(
-            f"Current time in ASCII format: {current_time_ascii}"
+def pack_time_management_cmd(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str == CmdStr.SET_CURRENT_TIME:
+        current_time = (
+            datetime.datetime.now(datetime.timezone.utc).isoformat() + "Z" + "\0"
         )
+        current_time_ascii = current_time.encode("ascii")
+        _LOGGER.info(f"Current time in ASCII format: {current_time_ascii}")
         q.add_log_cmd(Info.SET_CURRENT_TIME)
         q.add_pus_tc(
             PusTelecommand(
@@ -47,7 +45,18 @@ def pack_set_current_time_ascii_command(p: ServiceProviderParams):
                 app_data=current_time_ascii,
             )
         )
-    elif o in OpCode.DUMP_TIME:
+    elif cmd_str == CmdStr.RELATIVE_TIMESHIFT:
+        nanos = int(input("Specify relative timeshift in nanoseconds: "))
+        nanos_packed = struct.pack("!q", nanos)
+        q.add_log_cmd(Info.RELATIVE_TIMESHIFT)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=PusService.S9_TIME_MGMT,
+                subservice=Subservice.RELATIVE_TIMESHIFT,
+                app_data=nanos_packed,
+            )
+        )
+    elif cmd_str == CmdStr.DUMP_TIME:
         q.add_log_cmd(Info.DUMP_TIME)
         q.add_pus_tc(
             PusTelecommand(
@@ -56,16 +65,9 @@ def pack_set_current_time_ascii_command(p: ServiceProviderParams):
         )
 
 
-@tmtc_definitions_provider
-def add_time_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(
-        keys=OpCode.SET_CURRENT_TIME,
-        info=Info.SET_CURRENT_TIME,
-    )
-    oce.add(keys=OpCode.DUMP_TIME, info=Info.DUMP_TIME)
-    defs.add_service(
-        name=CustomServiceList.TIME.value,
-        info="Time Service",
-        op_code_entry=oce,
-    )
+def create_time_node() -> CmdTreeNode:
+    time_node = CmdTreeNode("time", "Time Management")
+    time_node.add_child(CmdTreeNode(CmdStr.SET_CURRENT_TIME, "Set current time"))
+    time_node.add_child(CmdTreeNode(CmdStr.DUMP_TIME, "Dumpy current time"))
+    time_node.add_child(CmdTreeNode(CmdStr.RELATIVE_TIMESHIFT, Info.RELATIVE_TIMESHIFT))
+    return time_node

eive_tmtc/tmtc/tm_store.py

@@ -5,24 +5,23 @@ import math
 import struct
 from typing import Tuple
 
+from dateutil.parser import parse
+from spacepackets.ecss.pus_15_tm_storage import Subservice
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.config import CmdTreeNode, TmtcDefinitionWrapper
+from tmtccmd.config.tmtc import OpCodeEntry
+from tmtccmd.tmtc.queue import DefaultPusQueueHelper
+from tmtccmd.util import ObjectIdU32
+
+from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.config.object_ids import (
+    CFDP_TM_STORE,
     HK_TM_STORE,
     MISC_TM_STORE,
-    OK_TM_STORE,
     NOT_OK_TM_STORE,
-    CFDP_TM_STORE,
+    OK_TM_STORE,
     get_object_ids,
 )
-from eive_tmtc.config.definitions import CustomServiceList
-from tmtccmd.config import TmtcDefinitionWrapper
-from tmtccmd.config.tmtc import tmtc_definitions_provider, OpCodeEntry
-from tmtccmd.tmtc import service_provider
-from tmtccmd.tmtc.decorator import ServiceProviderParams
-from dateutil.parser import parse
-
-from spacepackets.ecss.tc import PusTelecommand
-from spacepackets.ecss.pus_15_tm_storage import Subservice
-from tmtccmd.util import ObjectIdU32
 
 
 class CustomSubservice(enum.IntEnum):
@@ -44,12 +43,9 @@ class Info:
 _LOGGER = logging.getLogger(__name__)
 
 
-@service_provider(CustomServiceList.TM_STORE)
-def pack_tm_store_commands(p: ServiceProviderParams):
-    q = p.queue_helper
-    o = p.op_code
-    if o == OpCode.DELETE_UP_TO:
-        obj_id, _ = store_select_prompt()
+def pack_tm_store_commands(q: DefaultPusQueueHelper, cmd_path: str):
+    if cmd_path == OpCode.DELETE_UP_TO:
+        obj_id, store_string = store_select_prompt()
         app_data = bytearray(obj_id.as_bytes)
         delete_up_to_time = time_prompt("Determining deletion end time")
         end_stamp = int(math.floor(delete_up_to_time.timestamp()))
@@ -62,7 +58,7 @@ def pack_tm_store_commands(p: ServiceProviderParams):
                 service=15, subservice=Subservice.DELETE_UP_TO, app_data=app_data
             )
         )
-    elif o == OpCode.RETRIEVAL_BY_TIME_RANGE:
+    elif cmd_path == OpCode.RETRIEVAL_BY_TIME_RANGE:
         q.add_log_cmd(Info.RETRIEVAL_BY_TIME_RANGE)
         obj_id, _ = store_select_prompt()
         app_data = bytearray(obj_id.as_bytes)
@@ -84,7 +80,7 @@ def pack_tm_store_commands(p: ServiceProviderParams):
                 app_data=app_data,
             )
         )
-    elif o == OpCode.DELETE_BY_TIME_RANGE:
+    elif cmd_path == OpCode.DELETE_BY_TIME_RANGE:
         q.add_log_cmd(Info.DELETE_BY_TIME_RANGE)
         obj_id, _ = store_select_prompt()
         app_data = bytearray(obj_id.as_bytes)
@@ -108,7 +104,16 @@ def pack_tm_store_commands(p: ServiceProviderParams):
         )
 
 
-@tmtc_definitions_provider
+def create_persistent_tm_store_node() -> CmdTreeNode:
+    node = CmdTreeNode("tm_store", "Persistent TM Store")
+    node.add_child(CmdTreeNode(OpCode.DELETE_UP_TO, Info.DELETE_UP_TO))
+    node.add_child(CmdTreeNode(OpCode.DELETE_BY_TIME_RANGE, Info.DELETE_BY_TIME_RANGE))
+    node.add_child(
+        CmdTreeNode(OpCode.RETRIEVAL_BY_TIME_RANGE, Info.RETRIEVAL_BY_TIME_RANGE)
+    )
+    return node
+
+
 def add_persistent_tm_store_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     oce.add(keys=OpCode.DELETE_UP_TO, info=Info.DELETE_UP_TO)
@@ -159,8 +164,7 @@ def time_prompt(info_str: str) -> datetime.datetime:
         return time_prompt_fully_manually()
     elif time_input_key == 2:
         return time_prompt_offset_from_now()
-    else:
-        raise ValueError()
+    raise ValueError("can not determine datetime")
 
 
 def time_prompt_fully_manually() -> datetime.datetime:
@@ -207,5 +211,6 @@ def store_select_prompt() -> Tuple[ObjectIdU32, str]:
         break
     obj_id_raw = desc_and_obj_id[0]
     obj_id = obj_id_dict.get(obj_id_raw)
+    assert obj_id is not None
     print(f"Selected store: {obj_id} ({desc_and_obj_id[1]})")
-    return obj_id_dict.get(obj_id_raw), desc_and_obj_id[1]
+    return obj_id, desc_and_obj_id[1]

eive_tmtc/tmtc/wdt.py

@@ -1,5 +1,6 @@
 import enum
 from tmtccmd.config.tmtc import (
+    CmdTreeNode,
     OpCodeEntry,
     TmtcDefinitionWrapper,
     tmtc_definitions_provider,
@@ -26,13 +27,20 @@ class ActionId(enum.IntEnum):
     DISABLE = 1
 
 
-def pack_wdt_commands(q: DefaultPusQueueHelper, op_code: str):
-    if op_code == OpCode.ENABLE:
+def pack_wdt_commands(q: DefaultPusQueueHelper, cmd_str: str):
+    if cmd_str == OpCode.ENABLE:
         q.add_pus_tc(create_action_cmd(XIPHOS_WDT_ID, ActionId.ENABLE))
-    if op_code == OpCode.DISABLE:
+    if cmd_str == OpCode.DISABLE:
         q.add_pus_tc(create_action_cmd(XIPHOS_WDT_ID, ActionId.DISABLE))
 
 
+def create_wdt_node() -> CmdTreeNode:
+    node = CmdTreeNode("xiphos_wdt", "Xiphos Watchdog Timer")
+    node.add_child(CmdTreeNode(OpCode.ENABLE, Info.ENABLE))
+    node.add_child(CmdTreeNode(OpCode.DISABLE, Info.DISABLE))
+    return node
+
+
 @tmtc_definitions_provider
 def add_xiphos_wdt_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()

pyproject.toml

@@ -6,32 +6,33 @@ build-backend = "setuptools.build_meta"
 name = "eive-tmtc"
 description = "TMTC Commander EIVE"
 readme = "README.md"
-version = "5.11.0"
+version = "7.1.0"
 requires-python = ">=3.10"
 license = {text = "Apache-2.0"}
 authors = [
-    {name = "Robin Mueller", email = "muellerr@irs.uni-stuttgart.de"},
-    {name = "Jakob Meier", email = "meierj@irs.uni-stuttgart.de"},
+  {name = "Robin Mueller", email = "muellerr@irs.uni-stuttgart.de"},
+  {name = "Jakob Meier", email = "meierj@irs.uni-stuttgart.de"},
 ]
 keywords = ["eive", "space", "communication", "commanding"]
 classifiers = [
-    "Development Status :: 5 - Production/Stable",
-    "License :: OSI Approved :: Apache Software License",
-    "Natural Language :: English",
-    "Operating System :: POSIX",
-    "Operating System :: Microsoft :: Windows",
-    "Programming Language :: Python :: 3",
-    "Programming Language :: Python :: 3.8",
-    "Programming Language :: Python :: 3.9",
-    "Topic :: Communications",
-    "Topic :: Software Development :: Libraries",
-    "Topic :: Software Development :: Libraries :: Python Modules",
-    "Topic :: Scientific/Engineering"
+  "Development Status :: 5 - Production/Stable",
+  "License :: OSI Approved :: Apache Software License",
+  "Natural Language :: English",
+  "Operating System :: POSIX",
+  "Operating System :: Microsoft :: Windows",
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: 3.8",
+  "Programming Language :: Python :: 3.9",
+  "Topic :: Communications",
+  "Topic :: Software Development :: Libraries",
+  "Topic :: Software Development :: Libraries :: Python Modules",
+  "Topic :: Scientific/Engineering"
 ]
 dependencies = [
-	"tmtccmd ~= 7.0",
-	"python-dateutil ~= 2.8",
-	# "tmtccmd @ git+https://github.com/robamu-org/tmtccmd@main"
+  "tmtccmd ~= 8.0.1",
+  # "tmtccmd @ git+https://github.com/robamu-org/tmtccmd@main",
+  "cfdp-py~=0.1.0",
+  "python-dateutil ~= 2.8",
 ]
 
 [project.urls]
@@ -44,7 +45,7 @@ include-package-data = true
 [tool.setuptools.packages]
 find = {}
 
-[tool.ruff]
+[tool.ruff.lint]
 ignore = ["E501"]
-[tool.ruff.extend-per-file-ignores]
+[tool.ruff.lint.extend-per-file-ignores]
 "__init__.py" = ["F401"]

scripts/raw-analysis.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+from base64 import b64decode
+from spacepackets.ccsds.time import CdsShortTimestamp
+from spacepackets.ecss.tm import PusTelemetry
+from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
+
+bruh = "CGX6cQAdIAEIOzcAAEBedwUTOzkYZe5WAAEAAAAAAAAAAF4z"
+data = b64decode(bruh)
+tm = PusTelemetry.unpack(data, CdsShortTimestamp.empty())
+srv1_tm = Service1Tm.from_tm(
+    tm, UnpackParams(time_reader=CdsShortTimestamp.empty(), bytes_err_code=2)
+)
+print(f"service {tm.service} subservice {tm.subservice}")
+print(f"error code: {srv1_tm.error_code}")

tmtcc.py

@@ -7,20 +7,20 @@ from pathlib import Path
 from typing import Tuple
 
 import tmtccmd
+from cfdppy.handler import RemoteEntityCfgTable
+from cfdppy.mib import (
+    IndicationCfg,
+    LocalEntityCfg,
+    RemoteEntityCfg,
+)
 from spacepackets.cfdp import (
     ChecksumType,
     TransmissionMode,
 )
 from spacepackets.ecss import PusVerificator
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from spacepackets.version import get_version as get_sp_version
 from tmtccmd import BackendBase
-from tmtccmd.cfdp.handler import RemoteEntityCfgTable
-from eive_tmtc.cfdp.handler import CfdpInCcsdsHandler
-from tmtccmd.cfdp.mib import (
-    IndicationCfg,
-    LocalEntityCfg,
-    RemoteEntityCfg,
-)
 from tmtccmd.config import (
     SetupWrapper,
     default_json_path,
@@ -30,6 +30,7 @@ from tmtccmd.config.args import (
     PreArgsParsingWrapper,
     ProcedureParamsWrapper,
     SetupParams,
+    perform_tree_printout,
 )
 from tmtccmd.core import BackendRequest
 from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
@@ -40,11 +41,11 @@ from tmtccmd.logging.pus import (
     TimedLogWhen,
 )
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase, SpecificApidHandlerBase
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
+from tmtccmd.tmtc import CcsdsTmHandler
 
 from eive_tmtc import APP_LOGGER
 from eive_tmtc.cfdp.fault_handler import EiveCfdpFaultHandler
+from eive_tmtc.cfdp.handler import CfdpInCcsdsHandler
 from eive_tmtc.cfdp.tm import CfdpInCcsdsWrapper
 from eive_tmtc.cfdp.user import EiveCfdpUser, EiveCheckTimerProvider
 from eive_tmtc.config.definitions import (
@@ -55,8 +56,7 @@ from eive_tmtc.config.definitions import (
 )
 from eive_tmtc.config.hook import EiveHookObject
 from eive_tmtc.pus_tc.tc_handler import TcHandler
-from eive_tmtc.pus_tm.hk_handler import HkFilter
-from eive_tmtc.pus_tm.pus_demux import pus_factory_hook
+from eive_tmtc.pus_tm.pus_handler import PusHandler, UnknownApidHandler
 
 _LOGGER = APP_LOGGER
 _LOG_LEVEL = logging.INFO
@@ -66,42 +66,6 @@ ROTATING_TIMED_LOGGER_INTERVAL_WHEN = TimedLogWhen.PER_MINUTE
 ROTATING_TIMED_LOGGER_INTERVAL = 30
 
 
-class PusHandler(SpecificApidHandlerBase):
-    def __init__(
-        self,
-        wrapper: VerificationWrapper,
-        printer: FsfwTmTcPrinter,
-        raw_logger: RawTmtcTimedLogWrapper,
-        hk_level: int,
-    ):
-        super().__init__(PUS_APID, None)
-        self.printer = printer
-        self.verif_wrapper = wrapper
-        self.raw_logger = raw_logger
-        self.hk_level = hk_level
-        self.these_objs_hk_only = []
-        self.hk_filter = HkFilter(object_ids=self.these_objs_hk_only, set_ids=[])
-
-    def handle_tm(self, packet: bytes, _user_args: any):
-        # with open("tc.bin", "wb") as of:
-        #    of.write(packet)
-        pus_factory_hook(
-            packet,
-            self.verif_wrapper,
-            self.printer,
-            self.raw_logger,
-            self.hk_level,
-            self.hk_filter,
-        )
-
-
-class UnknownApidHandler(GenericApidHandlerBase):
-    def handle_tm(self, apid: int, packet: bytes, _user_args: any):
-        _LOGGER.warning(
-            f"Packet with unknown APID {apid} detected: {packet.hex(sep=',')}"
-        )
-
-
 class CustomCcsdsTmHandler(CcsdsTmHandler):
     def user_hook(self, apid: int, packet: bytes):
         _LOGGER.debug(f"Received packet {packet.hex(sep=',')} with APID {apid}")
@@ -133,6 +97,9 @@ def setup_params() -> Tuple[SetupWrapper, int]:
         hk_level = int(post_arg_parsing_wrapper.args_raw.hk)
     else:
         hk_level = 0
+    if params.cmd_params.print_tree:
+        perform_tree_printout(params.cmd_params, hook_obj.get_command_definitions())
+        sys.exit(0)
     params.apid = PUS_APID
     if params.com_if is None:
         raise ValueError("could not determine a COM interface.")
@@ -205,6 +172,7 @@ def setup_tmtc_handlers(
     ccsds_handler.add_apid_handler(pus_handler)
     ccsds_handler.add_apid_handler(cfdp_in_ccsds_wrapper)
     seq_count_provider = PusFileSeqCountProvider()
+    assert printer.file_logger is not None
     tc_handler = TcHandler(
         seq_count_provider=seq_count_provider,
         pus_verificator=verificator,