acs-ctrl-updates-v2 #164
@ -10,6 +10,10 @@ list yields a list of all related PRs for each release.
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# [unreleased]
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## Added
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- Added GPS Altitude for GPS Processed Data Dataset
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## Changed
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- ACS mode changes: The ACS CTRL submodes are now modes. DETUBMLE is now submode of SAFE mode.
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@ -2,6 +2,7 @@ import enum
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import logging
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import socket
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import struct
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import math
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from socket import AF_INET
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from typing import Tuple
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@ -75,36 +76,36 @@ class OpCodes:
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SET_PARAMETER_SCALAR = ["set_scalar_param"]
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SET_PARAMETER_VECTOR = ["set_vector_param"]
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SET_PARAMETER_MATRIX = ["set_matrix_param"]
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REQUEST_RAW_MGM_HK = ["0", "mgm_raw_hk"]
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ENABLE_RAW_MGM_HK = ["1", "mgm_raw_enable_hk"]
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DISABLE_RAW_MGM_HK = ["2", "mgm_raw_disable_hk"]
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REQUEST_PROC_MGM_HK = ["3", "mgm_proc_hk"]
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ENABLE_PROC_MGM_HK = ["4", "mgm_proc_enable_hk"]
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DISABLE_PROC_MGM_HK = ["5", "mgm_proc_disable_hk"]
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REQUEST_RAW_SUS_HK = ["6", "sus_raw_hk"]
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ENABLE_RAW_SUS_HK = ["7", "sus_raw_enable_hk"]
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DISABLE_RAW_SUS_HK = ["8", "sus_raw_disable_hk"]
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REQUEST_PROC_SUS_HK = ["9", "sus_proc_hk"]
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ENABLE_PROC_SUS_HK = ["10", "sus_proc_enable_hk"]
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DISABLE_PROC_SUS_HK = ["11", "sus_proc_disable_hk"]
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REQUEST_RAW_GYR_HK = ["12", "gyr_raw_hk"]
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ENABLE_RAW_GYR_HK = ["13", "gyr_raw_enable_hk"]
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DISABLE_RAW_GYR_HK = ["14", "gyr_raw_disable_hk"]
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REQUEST_PROC_GYR_HK = ["15", "gyr_proc_hk"]
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ENABLE_PROC_GYR_HK = ["16", "gyr_proc_enable_hk"]
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DISABLE_PROC_GYR_HK = ["17", "gyr_proc_disable_hk"]
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REQUEST_PROC_GPS_HK = ["18", "gps_proc_hk"]
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ENABLE_PROC_GPS_HK = ["19", "gps_proc_enable_hk"]
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DISABLE_PROC_GPS_HK = ["20", "gps_proc_disable_hk"]
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REQUEST_MEKF_HK = ["21", "mekf_hk"]
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ENABLE_MEKF_HK = ["22", "mekf_enable_hk"]
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DISABLE_MEKF_HK = ["23", "mekf_disable_hk"]
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REQUEST_CTRL_VAL_HK = ["24", "ctrl_val_hk"]
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ENABLE_CTRL_VAL_HK = ["25", "ctrl_val_enable_hk"]
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DISABLE_CTRL_VAL_HK = ["26", "ctrl_val_disable_hk"]
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REQUEST_ACT_CMD_HK = ["27", "act_cmd_hk"]
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ENABLE_ACT_CMD_HK = ["28", "act_cmd_enable_hk"]
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DISABLE_ACT_CMD_HK = ["29", "act_cmd_disable_hk"]
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REQUEST_RAW_MGM_HK = ["mgm_raw_hk"]
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ENABLE_RAW_MGM_HK = ["mgm_raw_enable_hk"]
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DISABLE_RAW_MGM_HK = ["mgm_raw_disable_hk"]
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REQUEST_PROC_MGM_HK = ["mgm_proc_hk"]
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ENABLE_PROC_MGM_HK = ["mgm_proc_enable_hk"]
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DISABLE_PROC_MGM_HK = ["mgm_proc_disable_hk"]
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REQUEST_RAW_SUS_HK = ["sus_raw_hk"]
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ENABLE_RAW_SUS_HK = ["sus_raw_enable_hk"]
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DISABLE_RAW_SUS_HK = ["sus_raw_disable_hk"]
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REQUEST_PROC_SUS_HK = ["sus_proc_hk"]
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ENABLE_PROC_SUS_HK = ["sus_proc_enable_hk"]
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DISABLE_PROC_SUS_HK = ["sus_proc_disable_hk"]
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REQUEST_RAW_GYR_HK = ["gyr_raw_hk"]
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ENABLE_RAW_GYR_HK = ["gyr_raw_enable_hk"]
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DISABLE_RAW_GYR_HK = ["gyr_raw_disable_hk"]
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REQUEST_PROC_GYR_HK = ["gyr_proc_hk"]
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ENABLE_PROC_GYR_HK = ["gyr_proc_enable_hk"]
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DISABLE_PROC_GYR_HK = ["gyr_proc_disable_hk"]
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REQUEST_PROC_GPS_HK = ["gps_proc_hk"]
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ENABLE_PROC_GPS_HK = ["gps_proc_enable_hk"]
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DISABLE_PROC_GPS_HK = ["gps_proc_disable_hk"]
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REQUEST_MEKF_HK = ["mekf_hk"]
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ENABLE_MEKF_HK = ["mekf_enable_hk"]
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DISABLE_MEKF_HK = ["mekf_disable_hk"]
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REQUEST_CTRL_VAL_HK = ["ctrl_val_hk"]
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ENABLE_CTRL_VAL_HK = ["ctrl_val_enable_hk"]
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DISABLE_CTRL_VAL_HK = ["ctrl_val_disable_hk"]
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REQUEST_ACT_CMD_HK = ["act_cmd_hk"]
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ENABLE_ACT_CMD_HK = ["act_cmd_enable_hk"]
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DISABLE_ACT_CMD_HK = ["act_cmd_disable_hk"]
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class Info:
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@ -273,9 +274,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET))
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)
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elif op_code in OpCodes.ENABLE_RAW_MGM_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_RAW_MGM_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -292,9 +294,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET))
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)
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elif op_code in OpCodes.ENABLE_PROC_MGM_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_PROC_MGM_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -311,9 +314,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET))
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)
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elif op_code in OpCodes.ENABLE_RAW_SUS_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_RAW_SUS_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -330,9 +334,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET))
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)
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elif op_code in OpCodes.ENABLE_PROC_SUS_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_PROC_SUS_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -349,9 +354,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET))
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)
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elif op_code in OpCodes.ENABLE_RAW_GYR_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_RAW_GYR_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET), 2.0
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True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -370,9 +376,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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)
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)
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elif op_code in OpCodes.ENABLE_PROC_GYR_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_PROC_GYR_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET), 2.0
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True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -389,9 +396,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET))
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)
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elif op_code in OpCodes.ENABLE_PROC_GPS_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_PROC_GPS_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -408,9 +416,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.MEKF_DATA))
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)
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elif op_code in OpCodes.ENABLE_MEKF_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_MEKF_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA), 2.0
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True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -425,9 +434,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA))
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)
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elif op_code in OpCodes.ENABLE_CTRL_VAL_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_CTRL_VAL_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -444,9 +454,10 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
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generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA))
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)
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elif op_code in OpCodes.ENABLE_ACT_CMD_HK:
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interval = float(input("Please specify interval in floating point seconds: "))
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q.add_log_cmd(Info.ENABLE_ACT_CMD_HK)
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cmd_tuple = enable_periodic_hk_command_with_interval(
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False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA), 2.0
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False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA), interval
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)
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q.add_pus_tc(cmd_tuple[0])
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q.add_pus_tc(cmd_tuple[1])
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@ -880,7 +891,7 @@ def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
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current_idx = 0
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for i in range(4):
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gyr_vec = [
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f"{val:8.3f}"
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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@ -888,7 +899,7 @@ def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
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pw.dlog(f"{GYR_NAMES[i]}: {gyr_vec}")
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current_idx += inc_len
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gyr_vec_tot = [
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f"{val:8.3f}"
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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]
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pw.dlog(f"GYR Vec Total: {gyr_vec_tot}")
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@ -907,19 +918,26 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
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return
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current_idx = 0
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lat = [
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f"{val:8.3f}"
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
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)
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]
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current_idx += inc_len_scalar
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long = [
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f"{val:8.3f}"
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
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)
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]
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current_idx += inc_len_scalar
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alt = [
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f"{val:8.3f}"
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for val in struct.unpack(
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fmt_scalar, hk_data[current_idx: current_idx + inc_len_scalar]
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)
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]
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current_idx += inc_len_scalar
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pos = [
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f"{val:8.3f}"
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for val in struct.unpack(
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@ -934,8 +952,9 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
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)
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]
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current_idx += inc_len_vec
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pw.dlog(f"GPS Latitude: {lat} [rad]")
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pw.dlog(f"GPS Longitude: {long} [rad]")
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pw.dlog(f"GPS Latitude: {lat} [deg]")
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pw.dlog(f"GPS Longitude: {long} [deg]")
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pw.dlog(f"GPS Altitude: {alt} [m]")
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pw.dlog(f"GPS Position: {pos} [m]")
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pw.dlog(f"GPS Velocity: {velo} [m/s]")
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pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=4)
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@ -966,7 +985,7 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
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current_idx = 0
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quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])
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current_idx += inc_len_quat
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rate = struct.unpack(fmt_vec, hk_data[current_idx : current_idx + inc_len_vec])
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rate = struct.unpack(fmt_vec, hk_data[current_idx : current_idx + inc_len_vec])*180/math.pi
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current_idx += inc_len_vec
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status = struct.unpack(fmt_sts, hk_data[current_idx : current_idx + inc_len_sts])[0]
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current_idx += inc_len_sts
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@ -1003,14 +1022,14 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
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]
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current_idx += inc_len_quat
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err_ang = [
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f"{val:8.3f}"
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
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)
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]
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current_idx += inc_len_scalar
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tgt_rot = [
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f"{val:8.3f}"
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f"{val*180/math.pi:8.3f}"
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for val in struct.unpack(
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fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
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)
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@ -1018,8 +1037,8 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
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current_idx += inc_len_vec
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pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
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pw.dlog(f"Control Values Error Quaternion: {err_quat}")
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pw.dlog(f"Control Values Error Angle: {err_ang} [rad]")
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pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [rad/s]")
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pw.dlog(f"Control Values Error Angle: {err_ang} [deg]")
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pw.dlog(f"Control Values Target Rotational Rate: {tgt_rot} [deg/s]")
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pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=4)
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|
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