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New ACS Stuff #263

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meggert merged 7 commits from acs-stuff into main 2023-12-06 17:16:55 +01:00
Conversation 0 Commits 7 Files Changed 4 +119 -25
1 changed files with 119 additions and 25 deletions
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eive_tmtc/tmtc/acs/acs_ctrl.py
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@ -97,13 +97,20 @@ CTRL_STRAT_DICT = {
31: "PTG_RAW",
}
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"
@ -533,13 +540,15 @@ def handle_acs_ctrl_hk_data(
case SetId.GPS_PROC_SET:
handle_gps_data_processed(pw, hk_data)
case SetId.ATTITUDE_ESTIMATION_DATA:
handle_mekf_data(pw, hk_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):
@ -561,7 +570,7 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=12))
def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes):
@ -597,7 +606,7 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=15))
def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes):
@ -653,7 +662,7 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=6))
def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
@ -707,7 +716,7 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=8))
def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
@ -741,7 +750,7 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], 4))
GYR_NAMES = ["GYR 0 ADIS", "GYR 1 L3", "GYR 2 ADIS", "GYR 3 L3"]
@ -767,7 +776,7 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5))
def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
@ -821,8 +830,8 @@ 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]")
@ -830,10 +839,10 @@ 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(FsfwTmTcPrinter.get_validity_buffer(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",
@ -844,7 +853,7 @@ 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}]"
@ -853,11 +862,16 @@ 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
@ -872,9 +886,16 @@ 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]
)
pw.dlog(f"{'QUEST Quaternion'.ljust(25)}: {fmt_str_4.format(*quest_quat)}")
pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=4))
return
pw.dlog(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=3))
def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
@ -924,14 +945,14 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5))
def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
@ -970,15 +991,20 @@ 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(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")
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 = [
@ -1005,7 +1031,75 @@ 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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=4))
return
pw.dlog(FsfwTmTcPrinter.get_validity_buffer(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(FsfwTmTcPrinter.get_validity_buffer(hk_data[current_idx:], num_vars=5))
def handle_acs_ctrl_action_replies(