Merge pull request 'prep v5.3.0' (#222) from prep-v5.3.0 into main

Reviewed-on: #222

CHANGELOG.md

@@ -10,6 +10,12 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+# [v5.3.0] 2023-07-26
+
+## Added
+
+- Dataset handling for new ACS fused rot rate dataset.
+
 # [v5.2.0] 2023-07-13
 
 - `tmtccmd` v5.0.0

eive_tmtc/__init__.py

@@ -1,11 +1,11 @@
-__version__ = "5.2.0"
+__version__ = "5.3.0"
 
 import logging
 from pathlib import Path
 
 SW_NAME = "eive-tmtc"
 VERSION_MAJOR = 5
-VERSION_MINOR = 2
+VERSION_MINOR = 3
 VERSION_REVISION = 0
 
 EIVE_TMTC_ROOT = Path(__file__).parent

eive_tmtc/config/events.csv

@@ -133,6 +133,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11802;0x2e1a;RESET_OCCURED;LOW;No description;mission/acs/rwHelpers.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED_EVENT;LOW;Failed to boot firmware;mission/acs/str/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED_EVENT;LOW;Failed to boot star tracker into bootloader mode;mission/acs/str/StarTrackerHandler.h
+11903;0x2e7f;COM_ERROR_REPLY_RECEIVED;LOW;Received COM error. P1:  Communication Error ID (datasheet p32);mission/acs/str/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/payload/PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/payload/PlocSupervisorHandler.h
 12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;No description;linux/payload/PlocSupervisorHandler.h
@@ -272,6 +273,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
 14013;0x36bd;FIRMWARE_INFO;INFO;Version information of the firmware (not OBSW). P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;mission/sysDefs.h
+14014;0x36be;ACTIVE_SD_INFO;INFO;Active SD card info. SD States: 0: OFF, 1: ON, 2: MOUNTED. P1: Active SD Card Index, 0 if none is active P2: First two bytes: SD state of SD card 0, last two bytes SD state of SD card 1;mission/sysDefs.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h

eive_tmtc/pus_tm/event_handler.py

@@ -7,6 +7,7 @@ from eive_tmtc.config.object_ids import get_object_ids
 from eive_tmtc.pus_tm.defs import PrintWrapper
 from eive_tmtc.pus_tm.verification_handler import generic_retval_printout
 from eive_tmtc.tmtc.acs.subsystem import AcsMode
+from eive_tmtc.tmtc.core import SdState, SdCardSelect
 from tmtccmd.tc.pus_200_fsfw_mode import Mode
 from tmtccmd.tc.pus_201_fsfw_health import FsfwHealth
 
@@ -126,6 +127,21 @@ def handle_event_packet(  # noqa C901: Complexity okay here
         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 == "ACTIVE_SD_INFO":
+        sd_0_state = (event_def.param2 >> 16) & 0xFFFF
+        sd_1_state = event_def.param2 & 0xFFFF
+        active_sd = event_def.param1
+        try:
+            active_sd = SdCardSelect(event_def.param1)
+            sd_0_state = SdState((event_def.param2 >> 16) & 0xFFFF)
+            sd_1_state = SdState(event_def.param2 & 0xFFFF)
+        except IndexError:
+            _LOGGER.error(f"Received invalid event fields for event {event_def}")
+        finally:
+            pw.dlog(
+                f"Active SD card {active_sd!r} | SD 0 State {sd_0_state!r} | SD 1 "
+                f"State {sd_1_state!r}"
+            )
     if info.name == "HEALTH_INFO":
         specific_handler = True
         health = FsfwHealth(event_def.param1)

eive_tmtc/pus_tm/hk_handler.py

@@ -1,7 +1,6 @@
 """HK Handling for EIVE OBSW"""
 import logging
 
-# from pus_tm.tcp_server_objects import TCP_SEVER_SENSOR_TEMPERATURES
 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
 from eive_tmtc.tmtc.payload.ploc_mpsoc import handle_ploc_mpsoc_hk_data
@@ -56,18 +55,14 @@ def handle_hk_packet(
         named_obj_id = tm_packet.object_id
     if tm_packet.subservice == 25 or tm_packet.subservice == 26:
         hk_data = tm_packet.tm_data[8:]
-        if FORWARD_SENSOR_TEMPS:
-            # TODO: Maybe use singleton?
-            # TCP_SEVER_SENSOR_TEMPERATURES.report_raw_hk_data(
-            #     object_id=named_obj_id, set_id=tm_packet.set_id, hk_data=hk_data
-            # )
-            pass
+
         printer.generic_hk_tm_print(
             content_type=HkContentType.HK,
             object_id=named_obj_id,
             set_id=tm_packet.set_id,
             hk_data=hk_data,
         )
+
         try:
             if hk_level == 1:
                 pass

eive_tmtc/pus_tm/pus_demux.py

@@ -18,7 +18,7 @@ from .defs import PrintWrapper
 
 from .event_handler import handle_event_packet
 from .verification_handler import handle_service_1_fsfw_packet, generic_retval_printout
-from .hk_handling import handle_hk_packet
+from .hk_handler import handle_hk_packet
 from .action_reply_handler import handle_action_reply
 
 _LOGGER = logging.getLogger(__name__)

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -59,6 +59,7 @@ class SetId(enum.IntEnum):
     MEKF_DATA = 7
     CTRL_VAL_DATA = 8
     ACTUATOR_CMD_DATA = 9
+    FUSED_ROT_RATE_DATA = 10
 
 
 class ActionId(enum.IntEnum):
@@ -112,6 +113,9 @@ class OpCodes:
     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"]
 
 
 class Info:
@@ -159,6 +163,9 @@ class Info:
     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"
 
 
 PERFORM_MGM_CALIBRATION = False
@@ -223,6 +230,9 @@ def acs_cmd_defs(defs: TmtcDefinitionWrapper):
     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
     )
@@ -484,6 +494,26 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):  # noqa C901
                 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)
+            )
+        )
     else:
         logging.getLogger(__name__).info(f"Unknown op code {op_code}")
 
@@ -699,6 +729,8 @@ def handle_acs_ctrl_hk_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)
 
 
 def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
@@ -1026,16 +1058,20 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
 
 
 def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
-    safe_strat = {
+    ctrl_strat = {
         0: "OFF",
         1: "NO_MAG_FIELD_FOR_CONTROL",
         2: "NO_SENSORS_FOR_CONTROL",
-        10: "ACTIVE_MEKF",
-        11: "WITHOUT_MEKF",
-        12: "ECLIPSE_DAMPING",
-        13: "ECLIPSE_IDELING",
+        10: "SAFE_MEKF",
+        11: "SAFE_GYR",
+        12: "SAFE_SUSMGM",
+        13: "SAFE_ECLIPSE_DAMPING_GYR",
+        14: "SAFE_ECLIPSE_DAMPING_SUSMGM",
+        15: "SAFE_ECLIPSE_IDELING",
         20: "DETUMBLE_FULL",
         21: "DETUMBLE_DETERIORATED",
+        30: "PTG_MEKF",
+        31: "PTG_RAW",
     }
     pw.dlog("Received CTRL Values Set")
     fmt_strat = "!B"
@@ -1082,8 +1118,8 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
         )
     ]
     current_idx += inc_len_vec
-    if safe_strat.get(strat) is not None:
-        pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {safe_strat[strat]}")
+    if ctrl_strat.get(strat) is not None:
+        pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {ctrl_strat[strat]}")
     else:
         pw.dlog(f"{'Safe Ctrl Strategy (key unknown)'.ljust(25)}: {strat}")
     pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
@@ -1132,6 +1168,41 @@ def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
     FsfwTmTcPrinter.get_validity_buffer(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")
+        return
+    current_idx = 0
+    rot_rate_orthogonal = [
+        f"{val*180/math.pi:8.3f}"
+        for val in struct.unpack(
+            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
+        )
+    ]
+    current_idx += inc_len_vec3_double
+    rot_rate_parallel = [
+        f"{val*180/math.pi:8.3f}"
+        for val in struct.unpack(
+            fmt_vec3_double, hk_data[current_idx : current_idx + inc_len_vec3_double]
+        )
+    ]
+    current_idx += inc_len_vec3_double
+    rot_rate_total = [
+        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: {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)
+
+
 def perform_mgm_calibration(  # noqa C901: Complexity okay
     pw: PrintWrapper, mgm_tuple: Tuple
 ):  # noqa C901: Complexity okay

eive_tmtc/tmtc/acs/star_tracker.py

@@ -65,7 +65,6 @@ class StarTrackerActionId(enum.IntEnum):
     CHANGE_DOWNLOAD_IMAGE = 57
     SET_JSON_FILE_NAME = 58
     SET_FLASH_READ_FILENAME = 59
-    SET_TIME = 60
     DOWNLOAD_DBIMAGE = 61
     DOWNLOAD_BLOBPIXEL = 62
     DOWNLOAD_FPGA_IMAGE = 63
@@ -90,6 +89,7 @@ class StarTrackerActionId(enum.IntEnum):
     LOG_SUBSCRIPTION = 82
     DEBUG_CAMERA = 83
     FIRMWARE_UPDATE = 84
+    SET_TIME_FROM_SYS_TIME = 87
 
 
 class OpCodes:
@@ -104,6 +104,7 @@ class OpCodes:
     UPLOAD_IMAGE = "upload_image"
     SET_IMG_PROCESSOR_MODE = "set_img_proc_mode"
     FW_UPDATE = "fw_update"
+    SET_TIME_FROM_SYS_TIME = "set_time"
 
 
 class Info:
@@ -113,6 +114,7 @@ class Info:
     TAKE_IMAGE = "Take Image"
     SET_IMG_PROCESSOR_MODE = "Set Image Processor Mode"
     FW_UPDATE = "Firmware Update"
+    SET_TIME_FROM_SYS_TIME = "Set time from system time"
 
 
 class SetId(enum.IntEnum):
@@ -438,14 +440,9 @@ def pack_star_tracker_commands(  # noqa C901
         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 == "38":
-        q.add_log_cmd("Star tracker: Set time")
-        unix_time = 1640783543
-        data = (
-            obyt
-            + struct.pack("!I", StarTrackerActionId.SET_TIME)
-            + struct.pack("!Q", unix_time)
-        )
+    if op_code == OpCodes.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":
         q.add_log_cmd("Star tracker: Download Centroid")
@@ -485,34 +482,6 @@ 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 == "44":
-        q.add_log_cmd("Star tracker: Download FPGA Image")
-        position = int(input("Start position: "))
-        length = int(input("Size to download: "))
-        data = (
-            obyt
-            + struct.pack("!I", StarTrackerActionId.DOWNLOAD_FPGA_IMAGE)
-            + struct.pack("!I", position)
-            + struct.pack("!I", length)
-            + bytearray(FileDefs.downloadFpgaImagePath, "utf-8")
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "45":
-        q.add_log_cmd("Star tracker: Change donwload FPGA image file name")
-        data = (
-            obyt
-            + struct.pack("!I", StarTrackerActionId.CHANGE_FPGA_DOWNLOAD_FILE)
-            + bytearray(FileDefs.downloadFpgaImageName, "utf-8")
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "46":
-        q.add_log_cmd("Star tracker: Upload FPGA image")
-        data = (
-            obyt
-            + struct.pack("!I", StarTrackerActionId.UPLOAD_FPGA_IMAGE)
-            + bytearray(FileDefs.uploadFpgaImageName, "utf-8")
-        )
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
     if op_code == "47":
         q.add_log_cmd("Star tracker: FPGA action")
         id = 3
@@ -724,7 +693,7 @@ def unpack_time_hk(hk_data: bytes, current_idx: int, pw: PrintWrapper) -> int:
         ticks_time_fmt, hk_data[current_idx : current_idx + fmt_len]
     )
     unix_as_dt = datetime.datetime.fromtimestamp(
-        int(round(unix_time / 10e6)), tz=datetime.timezone.utc
+        int(round(unix_time / 1e6)), tz=datetime.timezone.utc
     )
     pw.dlog(f"Ticks: {ticks} | UNIX time: {unix_time}")
     pw.dlog(f"UNIX as datetime: {unix_as_dt}")
@@ -887,4 +856,5 @@ def add_str_cmds(defs: TmtcDefinitionWrapper):
     oce.add(OpCodes.FW_UPDATE, Info.FW_UPDATE)
     oce.add("70", "Star Tracker: Disable timestamp generation")
     oce.add("71", "Star Tracker: Enable timestamp generation")
+    oce.add(OpCodes.SET_TIME_FROM_SYS_TIME, Info.SET_TIME_FROM_SYS_TIME)
     defs.add_service(CustomServiceList.STAR_TRACKER.value, "Star Tracker", oce)

eive_tmtc/tmtc/core.py

@@ -24,6 +24,19 @@ from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
 _LOGGER = logging.getLogger(__name__)
 
 
+class SdState(enum.IntEnum):
+    OFF = 0
+    ON = 1
+    MOUNTED = 2
+
+
+class SdCardSelect(enum.IntEnum):
+    SD_0 = 0
+    SD_1 = 1
+    BOTH = 2
+    NONE = 3
+
+
 class ActionId(enum.IntEnum):
     ANNOUNCE_VERSION = 1
     ANNOUNCE_CURRENT_IMAGE = 2

eive_tmtc/tmtc/obj_prompt.py

@@ -19,6 +19,8 @@ from eive_tmtc.config.object_ids import (
     TMP1075_HANDLER_PLPCDU_0_ID,
     TMP1075_HANDLER_PLPCDU_1_ID,
     TMP1075_HANDLER_IF_BRD_ID,
+    STR_ASSEMBLY,
+    STAR_TRACKER_ID,
 )
 
 SUBSYSTEM_DICT = {
@@ -32,16 +34,18 @@ ACS_OBJ_DICT = {
     1: ("SUS Assembly", SUS_BOARD_ASS_ID),
     2: ("ACS Board Assembly", ACS_BOARD_ASS_ID),
     3: ("RW Assembly", RW_ASSEMBLY),
-    4: ("iMTQ MGT", IMTQ_HANDLER_ID),
-    5: ("GYR 0 ADIS", GYRO_0_ADIS_HANDLER_ID),
-    6: ("GYR 1 L3G", GYRO_1_L3G_HANDLER_ID),
-    7: ("MGM 0 LIS3", MGM_0_LIS3_HANDLER_ID),
-    8: ("MGM 1 RM3100", MGM_1_RM3100_HANDLER_ID),
-    9: ("GPS 0 Health Device", GPS_0_HEALTH_DEV),
-    10: ("SUS 0", SUS_0_N_LOC_XFYFZM_PT_XF),
-    11: ("SUS 6", SUS_6_R_LOC_XFYBZM_PT_XF),
-    12: ("RW 1", RW1_ID),
-    13: ("RW 2", RW2_ID),
+    4: ("STR Assembly", STR_ASSEMBLY),
+    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),
 }
 
 TCS_OBJ_DICT = {