include replacement

Reviewed-on: #291
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -10,6 +10,27 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+## 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

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

@@ -15,6 +15,10 @@ 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_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
@@ -233,8 +236,9 @@ 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/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/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

@@ -1,9 +1,10 @@
 """Hook function which packs telecommands based on service and operation code string
 """
+
 import logging
 from typing import List, cast
 
-from tmtccmd import DefaultProcedureInfo
+from tmtccmd import TreeCommandingProcedure
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.util import ObjectIdU32
 
@@ -51,6 +52,7 @@ 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
@@ -76,7 +78,7 @@ from eive_tmtc.utility.input_helper import InputHelper
 
 
 def handle_pus_procedure(
-    info: DefaultProcedureInfo,
+    info: TreeCommandingProcedure,
     queue_helper: DefaultPusQueueHelper,
 ):
     cmd_path = info.cmd_path
@@ -116,9 +118,9 @@ def handle_pus_procedure(
 
 def handle_eps_procedure(queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]):
     obj_id_man = get_object_ids()
-    if len(cmd_path_list) == 1:
-        return pack_power_commands(queue_helper, cmd_path_list[0])
-    assert len(cmd_path_list) >= 2
+    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":
@@ -251,7 +253,8 @@ def handle_payload_procedure(
     queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]
 ):
     obj_id_man = get_object_ids()
-    assert len(cmd_path_list) >= 2
+    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":
@@ -263,7 +266,6 @@ def handle_payload_procedure(
             object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
         )
     if cmd_path_list[0] == "pl_pcdu":
-        assert len(cmd_path_list) >= 3
         return pack_pl_pcdu_commands(q=queue_helper, cmd_str=cmd_path_list[1])
     if cmd_path_list[0] == "scex":
         return pack_scex_cmds(

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
@@ -21,6 +23,8 @@ _LOGGER = logging.getLogger(__name__)
 def handle_event_packet(  # noqa C901: Complexity okay here
     raw_tm: bytes, pw: PrintWrapper
 ):  # noqa C901: Complexity okay here
+    if PRINT_RAW_EVENTS_B64_STR:
+        print(f"PUS Event TM Base64: {base64.b64encode(raw_tm)}")
     tm = Service5Tm.unpack(data=raw_tm, time_reader=CdsShortTimestamp.empty())
     event_dict = get_event_dict()
     event_def = tm.event_definition
@@ -36,6 +40,7 @@ def handle_event_packet(  # noqa C901: Complexity okay here
         obj_name = event_def.reporter_id.hex(sep=",")
     else:
         obj_name = obj_id_obj.name
+    assert tm.time_provider is not None
     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()}"
@@ -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_handler.py

@@ -1,10 +1,12 @@
 """HK Handling for EIVE OBSW"""
+
 import dataclasses
 import logging
 import base64  # noqa
 import sqlite3
 from typing import List, cast
 from uuid import UUID
+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
@@ -73,7 +75,8 @@ def handle_hk_packet(
     if tm_packet.subservice == 25 or tm_packet.subservice == 26:
         hk_data = tm_packet.tm_data[8:]
         if named_obj_id.as_bytes in hk_filter.object_ids:
-            # print(f"PUS TM Base64: {base64.b64encode(raw_tm)}")
+            if PRINT_RAW_HK_B64_STR:
+                print(f"PUS TM Base64: {base64.b64encode(raw_tm)}")
             handle_regular_hk_print(
                 printer=printer,
                 packet_uuid=packet_uuid,

eive_tmtc/pus_tm/pus_handler.py

@@ -1,5 +1,6 @@
 """Core EIVE TM handler module
 """
+
 import logging
 import sqlite3
 import uuid

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 CmdTreeNode, 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 (
@@ -15,6 +13,7 @@ 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.pus.tc.s8_fsfw_action import create_action_cmd
 from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
 
 _LOGGER = logging.getLogger(__name__)
@@ -24,6 +23,11 @@ class GpsInfo:
     MAX_SATELLITES = 30
 
 
+class GnssChip(enum.IntEnum):
+    A_SIDE = 0
+    B_SIDE = 1
+
+
 class OpCode:
     OFF = "off"
     ON = "on"
@@ -59,36 +63,25 @@ def create_gnss_node() -> CmdTreeNode:
     ]
     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", "GNSS device", hide_children_for_print=True)
+    node = CmdTreeNode("gnss_devs", "GNSS Controller", 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_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 pack_gps_command(  # noqa: C901
     object_id: bytes, q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa: C901:
     if cmd_str == OpCode.RESET_GNSS:
-        # TODO: This needs to be re-implemented
+        for val in GnssChip:
+            print("{:<2}: {:<20}".format(val, val.name))
+        chip: str = ""
+        while chip not in ["0", "1"]:
+            chip = input("Please specify which chip to reset: ")
+        q.add_log_cmd(f"gps: {Info.DISABLE_CORE_HK}")
+        q.add_pus_tc(
+            create_action_cmd(object_id=object_id, action_id=5, user_data=chip.encode())
+        )
         _LOGGER.warning("Reset pin handling needs to be re-implemented")
     if cmd_str == OpCode.ENABLE_CORE_HK:
         interval = float(input("Please specify interval in floating point seconds: "))

eive_tmtc/tmtc/acs/star_tracker.py

@@ -140,9 +140,15 @@ class OpCode:
     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"
@@ -163,6 +169,7 @@ class Info:
     SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT = (
         "Select backup firmware slot persistently"
     )
+    REQUEST_VERSION = "Request the active Firmware Version"
 
 
 class SetId(enum.IntEnum):
@@ -316,10 +323,6 @@ def pack_star_tracker_commands(  # noqa C901
         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 cmd_str == "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 cmd_str == "9":
         q.add_log_cmd("Star tracker: Request interface")
         data = obyt + struct.pack("!I", StarTrackerActionId.REQ_INTERFACE)
@@ -730,6 +733,13 @@ def pack_star_tracker_commands(  # noqa C901
     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(
@@ -880,6 +890,8 @@ def handle_str_hk_data(set_id: int, hk_data: bytes, pw: PrintWrapper):
         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")
 
@@ -902,6 +914,25 @@ 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(FsfwTmTcPrinter.get_validity_buffer(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:
@@ -1208,7 +1239,7 @@ def handle_blob_stats_set(hk_data: bytes, pw: PrintWrapper):
                 i, noise_list[i], threshold_list[i], lvalid_list[i], oflow_list[i]
             )
         )
-    pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=4))
+    pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6))
 
 
 def handle_star_tracker_action_replies(
@@ -1251,60 +1282,15 @@ def handle_read_secondary_tm_set(pw: PrintWrapper, custom_data: bytes):
 
 
 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
     )
-    node.add_child(CmdTreeNode(OpCode.ON_BOOTLOADER, "Mode On, Submode Bootloader"))
-    node.add_child(CmdTreeNode(OpCode.ON_FIRMWARE, "Mode On, Submode Firmware"))
-    node.add_child(CmdTreeNode(OpCode.NORMAL, "Mode Normal"))
-    node.add_child(CmdTreeNode(OpCode.OFF, "Mode Off"))
-    node.add_child(CmdTreeNode(OpCode.PING, "Star Tracker: Ping"))
-    node.add_child(CmdTreeNode(OpCode.TAKE_IMAGE, "Take Image"))
-    node.add_child(CmdTreeNode(OpCode.UPLOAD_IMAGE, Info.UPLOAD_IMAGE))
-    node.add_child(CmdTreeNode(OpCode.DOWNLOAD_IMAGE, Info.DOWNLOAD_IMAGE))
-    node.add_child(CmdTreeNode(OpCode.ONE_SHOOT_HK, Info.ONE_SHOOT_HK))
-    node.add_child(CmdTreeNode(OpCode.ENABLE_HK, Info.ENABLE_HK))
-    node.add_child(CmdTreeNode(OpCode.DISABLE_HK, Info.DISABLE_HK))
-    node.add_child(
-        CmdTreeNode(OpCode.SET_IMG_PROCESSOR_MODE, Info.SET_IMG_PROCESSOR_MODE)
-    )
-    node.add_child(
-        CmdTreeNode(
-            OpCode.ADD_SECONDARY_TM_TO_NORMAL_MODE,
-            Info.ADD_SECONDARY_TM_TO_NORMAL_MODE,
-        )
-    )
-    node.add_child(
-        CmdTreeNode(OpCode.READ_SECONDARY_TM_SET, Info.READ_SECONDARY_TM_SET)
-    )
-    node.add_child(
-        CmdTreeNode(OpCode.RESET_SECONDARY_TM_SET, Info.RESET_SECONDARY_TM_SET)
-    )
-    node.add_child(CmdTreeNode(OpCode.FW_UPDATE_MAIN, Info.FW_UPDATE_MAIN))
-    node.add_child(CmdTreeNode(OpCode.FW_UPDATE_BACKUP, Info.FW_UPDATE_BACKUP))
-    node.add_child(
-        CmdTreeNode(
-            OpCode.SELECT_TARGET_FIRMWARE_MAIN, Info.SELECT_TARGET_FIRMWARE_MAIN
-        )
-    )
-    node.add_child(
-        CmdTreeNode(
-            OpCode.SELECT_TARGET_FIRMWARE_BACKUP, Info.SELECT_TARGET_FIRMWARE_BACKUP
-        )
-    )
-    node.add_child(
-        CmdTreeNode(
-            OpCode.SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT,
-            Info.SELECT_TARGET_FIRMWARE_MAIN_PERSISTENT,
-        )
-    )
-    node.add_child(
-        CmdTreeNode(
-            OpCode.SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT,
-            Info.SELECT_TARGET_FIRMWARE_BACKUP_PERSISTENT,
-        )
-    )
-    node.add_child(
-        CmdTreeNode(OpCode.SET_TIME_FROM_SYS_TIME, Info.SET_TIME_FROM_SYS_TIME)
-    )
+    for op_code, info in combined_dict.items():
+        node.add_child(CmdTreeNode(op_code, info))
     return node

eive_tmtc/tmtc/obj_prompt.py

@@ -6,6 +6,8 @@ from eive_tmtc.config.object_ids import (
     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,
@@ -28,6 +30,7 @@ SUBSYSTEM_DICT = {
     0: "acs",
     1: "tcs",
     2: "com",
+    3: "payload",
 }
 
 ACS_OBJ_DICT = {
@@ -59,6 +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():
@@ -81,6 +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/subsystem.py

@@ -21,20 +21,27 @@ 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),
 }
 
 
-def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
-    info_prefix = "ACS Subsystem"
+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(
@@ -45,19 +52,28 @@ def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
             )
         )
     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,
     )
 
 
 def create_payload_subsystem_node() -> CmdTreeNode:
     payload_node = CmdTreeNode("payload", "Payload Subsystem")
-    payload_node.add_child(CmdTreeNode(OpCode.OFF, Info.OFF))
-    payload_node.add_child(CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES))
+    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/tcs/heater.py

@@ -59,7 +59,7 @@ CTN = CmdTreeNode
 
 
 def create_heater_node() -> CmdTreeNode:
-    node = CmdTreeNode("heater", "Heater Device", hide_children_which_are_leaves=True)
+    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))

eive_tmtc/tmtc/time.py

@@ -1,6 +1,7 @@
 import enum
+import struct
 import logging
-from datetime import datetime
+import datetime
 
 from spacepackets.ecss import PusTelecommand, PusService
 
@@ -8,28 +9,34 @@ 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 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"
 
 
 def pack_time_management_cmd(q: DefaultPusQueueHelper, cmd_str: str):
     if cmd_str == CmdStr.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}"
+        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(
@@ -38,6 +45,17 @@ def pack_time_management_cmd(q: DefaultPusQueueHelper, cmd_str: str):
                 app_data=current_time_ascii,
             )
         )
+    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(
@@ -51,4 +69,5 @@ 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

pyproject.toml

@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 name = "eive-tmtc"
 description = "TMTC Commander EIVE"
 readme = "README.md"
-version = "6.1.1"
+version = "6.2.0"
 requires-python = ">=3.10"
 license = {text = "Apache-2.0"}
 authors = [
@@ -29,10 +29,10 @@ classifiers = [
     "Topic :: Scientific/Engineering"
 ]
 dependencies = [
-	"tmtccmd ~= 8.0.0rc1",
-  "cfdp-py~=0.1.0",
-	# "tmtccmd @ git+https://github.com/robamu-org/tmtccmd@main",
-	"python-dateutil ~= 2.8",
+  # "tmtccmd~=8.0.0rc2",
+  "cfdp-py~=0.1.1",
+  "tmtccmd @ git+https://github.com/robamu-org/tmtccmd@main",
+  "python-dateutil ~= 2.8",
 ]
 
 [project.urls]

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

@@ -97,8 +97,8 @@ def setup_params() -> Tuple[SetupWrapper, int]:
         hk_level = int(post_arg_parsing_wrapper.args_raw.hk)
     else:
         hk_level = 0
-    if params.app_params.print_tree:
-        perform_tree_printout(params.app_params, hook_obj.get_command_definitions())
+    if params.tc_params.print_tree:
+        perform_tree_printout(params.tc_params, hook_obj.get_command_definitions())
         sys.exit(0)
     params.apid = PUS_APID
     if params.com_if is None:
@@ -232,6 +232,7 @@ def main():  # noqa C901: Complexity okay here.
             state = tmtc_backend.periodic_op(None)
             tc_handler.cfdp_in_ccsds_handler.state_machine()
             if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                tmtc_backend.close_com_if()
                 sys.exit(0)
             elif state.request == BackendRequest.DELAY_IDLE:
                 _LOGGER.info("TMTC Client in IDLE mode")
@@ -252,6 +253,7 @@ def main():  # noqa C901: Complexity okay here.
             elif state.request == BackendRequest.CALL_NEXT:
                 pass
     except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
         sys.exit(0)