eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -41,45 +41,54 @@ class SetId(enum.IntEnum):
     CTRL_VAL_DATA = 8
     ACTUATOR_CMD_DATA = 9
 
+class Submode(enum.IntEnum):
+    SAFE = 2
+    DETUMBLE = 3
+    IDLE = 4
+
 
 class OpCodes:
     OFF = ["off"]
-    NML = ["normal"]
+    SAFE = ["normal_safe"]
+    DTBL = ["normal_detumble"]
+    IDLE = ["normal_idle"]
     REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"]
-    ENABLE_RAW_MGM_HK = ["1", "enable_mgm_raw_hk"]
-    DISABLE_RAW_MGM_HK = ["2", "disable_mgm_raw_hk"]
+    ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"]
+    DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"]
     REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"]
-    ENABLE_PROC_MGM_HK = ["4", "enable_mgm_proc_hk"]
-    DISABLE_PROC_MGM_HK = ["5", "disable_mgm_proc_hk"]
+    ENABLE_PROC_MGM_HK = ["4", "mgm_proc_enable_hk"]
+    DISABLE_PROC_MGM_HK = ["5", "mgm_proc_disable_hk"]
     REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"]
-    ENABLE_RAW_SUS_HK = ["7", "enable_sus_raw_hk"]
-    DISABLE_RAW_SUS_HK = ["8", "disable_sus_raw_hk"]
+    ENABLE_RAW_SUS_HK = ["7", "sus_raw_enable_hk"]
+    DISABLE_RAW_SUS_HK = ["8", "sus_raw_disable_hk"]
     REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"]
-    ENABLE_PROC_SUS_HK = ["10", "enable_sus_proc_hk"]
-    DISABLE_PROC_SUS_HK = ["11", "disable_sus_proc_hk"]
+    ENABLE_PROC_SUS_HK = ["10", "sus_proc_enable_hk"]
+    DISABLE_PROC_SUS_HK = ["11", "sus_proc_disable_hk"]
     REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"]
-    ENABLE_RAW_GYR_HK = ["13", "enable_gyr_raw_hk"]
-    DISABLE_RAW_GYR_HK = ["14", "disable_gyr_raw_hk"]
+    ENABLE_RAW_GYR_HK = ["13", "gyr_raw_enable_hk"]
+    DISABLE_RAW_GYR_HK = ["14", "gyr_raw_disable_hk"]
     REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"]
-    ENABLE_PROC_GYR_HK = ["16", "enable_gyr_proc_hk"]
-    DISABLE_PROC_GYR_HK = ["17", "disable_gyr_proc_hk"]
+    ENABLE_PROC_GYR_HK = ["16", "gyr_proc_enable_hk"]
+    DISABLE_PROC_GYR_HK = ["17", "gyr_proc_disable_hk"]
     REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"]
-    ENABLE_PROC_GPS_HK = ["19", "enable_gps_proc_hk"]
-    DISABLE_PROC_GPS_HK = ["20", "disable_gps_proc_hk"]
+    ENABLE_PROC_GPS_HK = ["19", "gps_proc_enable_hk"]
+    DISABLE_PROC_GPS_HK = ["20", "gps_proc_disable_hk"]
     REQUEST_MEKF_HK = ["21", "mekf_hk"]
-    ENABLE_MEKF_HK = ["22", "enable_mekf_hk"]
-    DISABLE_MEKF_HK = ["23", "disable_mekf_hk"]
+    ENABLE_MEKF_HK = ["22", "mekf_enable_hk"]
+    DISABLE_MEKF_HK = ["23", "mekf_disable_hk"]
     REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"]
-    ENABLE_CTRL_VAL_HK = ["25", "enable_ctrl_val_hk"]
-    DISABLE_CTRL_VAL_HK = ["26", "disable_ctrl_val_hk"]
+    ENABLE_CTRL_VAL_HK = ["25", "ctrl_val_enable_hk"]
+    DISABLE_CTRL_VAL_HK = ["26", "ctrl_val_disable_hk"]
     REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"]
-    ENABLE_ACT_CMD_HK = ["28", "enable act_cmd_hk"]
-    DISABLE_ACT_CMD_HK = ["29", "disable act_cmd_hk"]
+    ENABLE_ACT_CMD_HK = ["28", "act_cmd_enable_hk"]
+    DISABLE_ACT_CMD_HK = ["29", "act_cmd_disable_hk"]
 
 
 class Info:
     OFF = "Switch ACS CTRL off"
-    NML = "Switch ACS CTRL normal"
+    SAFE = "Switch ACS CTRL normal safe"
+    DTBL = "Switch ACS CTRL normal detumble"
+    IDLE = "Switch ACS CTRL normal idle"
     REQUEST_RAW_MGM_HK = "Request Raw MGM HK once"
     ENABLE_RAW_MGM_HK = "Enable Raw MGM HK data generation"
     DISABLE_RAW_MGM_HK = "Disable Raw MGM HK data generation"
@@ -128,7 +137,9 @@ if PERFORM_MGM_CALIBRATION:
 def acs_cmd_defs(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     oce.add(keys=OpCodes.OFF, info=Info.OFF)
-    oce.add(keys=OpCodes.NML, info=Info.NML)
+    oce.add(keys=OpCodes.SAFE, info=Info.SAFE)
+    oce.add(keys=OpCodes.DTBL, info=Info.DTBL)
+    oce.add(keys=OpCodes.IDLE, info=Info.IDLE)
     oce.add(keys=OpCodes.REQUEST_RAW_MGM_HK, info=Info.REQUEST_RAW_MGM_HK)
     oce.add(keys=OpCodes.ENABLE_RAW_MGM_HK, info=Info.ENABLE_RAW_MGM_HK)
     oce.add(keys=OpCodes.DISABLE_RAW_MGM_HK, info=Info.DISABLE_RAW_MGM_HK)
@@ -171,10 +182,16 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
     if op_code in OpCodes.OFF:
         q.add_log_cmd(f"{Info.OFF}")
         q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0))
-    if op_code in OpCodes.NML:
-        q.add_log_cmd(f"{Info.NML}")
-        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, 0))
-    if op_code in OpCodes.REQUEST_RAW_MGM_HK:
+    elif op_code in OpCodes.SAFE:
+        q.add_log_cmd(f"{Info.SAFE}")
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.SAFE))
+    elif op_code in OpCodes.DTBL:
+        q.add_log_cmd(f"{Info.DTBL}")
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.DTBL))
+    elif op_code in OpCodes.IDLE:
+        q.add_log_cmd(f"{Info.IDLE}")
+        q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.NORMAL, Submode.IDLE))
+    elif op_code in OpCodes.REQUEST_RAW_MGM_HK:
         q.add_log_cmd(Info.REQUEST_RAW_MGM_HK)
         q.add_pus_tc(
             generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET))
@@ -430,10 +447,9 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
     fmt_str = "!ddd"
     inc_len = struct.calcsize(fmt_str)
-    sus_vec_tot = list(
-        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
-    )
-    sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}]
+    sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+
+    sus_vec_tot = [f"{val:8.3f}" for val in sus_vec_tot]
     current_idx += inc_len
     pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
     sus_vec_tot_deriv = struct.unpack(
@@ -442,10 +458,8 @@ def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
     sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
     current_idx += inc_len
     pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
-    sun_ijk_model = list(
-        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
-    )
-    sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}]
+    sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+    sun_ijk_model = [f"{val:8.3f}" for val in sun_ijk_model]
     current_idx += inc_len
     pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
     pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=15)