config/object_ids.py

@@ -95,6 +95,33 @@ RTD_13_PLPCDU_HSPD = bytes([0x44, 0x42, 0x00, 0x29])
 RTD_14_TCS_BRD = bytes([0x44, 0x42, 0x00, 0x30])
 RTD_15_IMTQ = bytes([0x44, 0x42, 0x00, 0x31])
 
+# SUS
+"""
+Name convention for SUS devices
+SUS_<IDX>_<N/R>_LOC_X<F/M/B>Y<F/M/B>Z<F/M/B>_PT_<DIR><F/B>
+LOC: Location
+PT: Pointing
+N/R: Nominal/Redundant
+F/M/B: Forward/Middle/Backwards
+"""
+SUS_0_N_LOC_XFYFZM_PT_XF = bytes([0x44, 0x12, 0x00, 0x32])
+SUS_6_R_LOC_XFYBZM_PT_XF = bytes([0x44, 0x12, 0x00, 0x38])
+
+SUS_1_N_LOC_XBYFZM_PT_XB = bytes([0x44, 0x12, 0x00, 0x33])
+SUS_7_R_LOC_XBYBZM_PT_XB = bytes([0x44, 0x12, 0x00, 0x39])
+
+SUS_2_N_LOC_XFYBZB_PT_YB = bytes([0x44, 0x12, 0x00, 0x34])
+SUS_8_R_LOC_XBYBZB_PT_YB = bytes([0x44, 0x12, 0x00, 0x40])
+
+SUS_3_N_LOC_XFYBZF_PT_YF = bytes([0x44, 0x12, 0x00, 0x35])
+SUS_9_R_LOC_XBYBZB_PT_YF = bytes([0x44, 0x12, 0x00, 0x41])
+
+SUS_4_N_LOC_XMYFZF_PT_ZF = bytes([0x44, 0x12, 0x00, 0x36])
+SUS_10_N_LOC_XMYBZF_PT_ZF = bytes([0x44, 0x12, 0x00, 0x42])
+
+SUS_5_N_LOC_XFYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x37])
+SUS_11_R_LOC_XBYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x43])
+
 # System and Assembly Objects
 ACS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x01])
 SUS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x02])

pus_tc/cmd_definitions.py

@@ -324,6 +324,7 @@ def add_bpx_cmd_definitions(cmd_dict: ServiceOpCodeDictT):
 
 def add_pl_pcdu_cmds(cmd_dict: ServiceOpCodeDictT):
     from pus_tc.devs.plpcdu import OpCodes, Info
+
     op_code_dict = dict()
     add_op_code_entry(
         op_code_dict=op_code_dict, keys=OpCodes.SWITCH_ON, info=Info.SWITCH_ON

pus_tc/devs/imtq.py

@@ -227,7 +227,6 @@ def pack_imtq_test_into(
         z_dipole = 0
         duration = 0  # ms
         command = pack_dipole_command(object_id, x_dipole, y_dipole, z_dipole, duration)
-        command = PusTelecommand(service=8, subservice=128, ssc=20, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 
     if op_code == "10":
@@ -262,7 +261,7 @@ def pack_imtq_test_into(
 
 def pack_dipole_command(
     object_id: bytearray, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
-) -> bytearray:
+) -> PusTelecommand:
     """This function packs the command causing the ISIS IMTQ to generate a dipole.
     @param object_id    The object id of the IMTQ handler.
     @param x_dipole   The dipole of the x coil in 10^-4*Am^2 (max. 2000)
@@ -279,4 +278,5 @@ def pack_dipole_command(
     command.extend(y_dipole.to_bytes(length=2, byteorder="big"))
     command.extend(z_dipole.to_bytes(length=2, byteorder="big"))
     command.extend(duration.to_bytes(length=2, byteorder="big"))
+    command = PusTelecommand(service=8, subservice=128, ssc=22, app_data=command)
     return command

pus_tc/system/core.py

@@ -133,7 +133,9 @@ def pack_core_commands(tc_queue: TcQueueT, op_code: str):
         )
     if op_code in OpCodes.REBOOT_FULL:
         tc_queue.appendleft((QueueCommands.PRINT, f"Core Command: {Info.REBOOT_FULL}"))
-        cmd = generate_action_command(object_id=CORE_CONTROLLER_ID, action_id=ActionIds.FULL_REBOOT)
+        cmd = generate_action_command(
+            object_id=CORE_CONTROLLER_ID, action_id=ActionIds.FULL_REBOOT
+        )
         tc_queue.appendleft(cmd.pack_command_tuple())
     if op_code in OpCodes.XSC_REBOOT_SELF:
         perform_reboot_cmd(tc_queue=tc_queue, reboot_self=True)

pus_tc/system/proc.py

@@ -1,6 +1,8 @@
 from tmtccmd.config import QueueCommands
 from tmtccmd.tc.definitions import TcQueueT
 from tmtccmd.tc.pus_3_fsfw_hk import *
+
+"""
 from config.object_ids import (
     BPX_HANDLER_ID,
     P60_DOCK_HANDLER,
@@ -9,10 +11,25 @@ from config.object_ids import (
     ACU_HANDLER_ID,
     CORE_CONTROLLER_ID,
 )
+"""
 import config.object_ids as oids
 from pus_tc.devs.bpx_batt import BpxSetIds
 from pus_tc.system.core import SetIds as CoreSetIds
 from gomspace.gomspace_common import SetIds as GsSetIds
+from pus_tc.devs.rad_sensor import SetIds as RadSetIds
+from pus_tc.devs.mgms import MgmLis3SetIds as MgmSetIds_0_2
+from pus_tc.devs.mgms import MgmRm3100SetIds as MgmSetIds_1_3
+from pus_tc.devs.gyros import AdisGyroSetIds as GyroSetIds_0_2
+from pus_tc.devs.gyros import L3gGyroSetIds as GyroSetIds_1_3
+from pus_tc.devs.gps import Gnss0SetIds as GnssSetIds_0
+from pus_tc.devs.gps import Gnss1SetIds as GnssSetIds_1
+from pus_tc.devs.imtq import ImtqSetIds
+
+
+from pus_tc.system.tcs import pack_tcs_sys_commands
+from pus_tc.system.controllers import pack_controller_commands
+from pus_tc.system.acs import pack_acs_command
+from pus_tc.devs.imtq import pack_dipole_command
 
 
 class OpCodes:
@@ -20,68 +37,235 @@ class OpCodes:
     BAT_FT = ["bat-ft"]
     CORE_FT = ["core-ft"]
     PCDU_FT = ["pcdu-ft"]
+    RAD_SEN_FT = ["rad-sen-ft"]
+    TCS_FT_ON = ["tcs-ft-on"]
+    TCS_FT_OFF = ["tcs-ft-off"]
+    ACS_FT = ["acs-ft"]
+    MGT_FT = ["mgt-ft"]
+    MGT_FT_DP = ["mgt-ft-dp"]
 
 
 class KeyAndInfo:
     HEATER = ["Heater", "heater procedure"]
     BAT_FT = ["BPX Battery", "battery functional test"]
-    PCDU_FT = ["PCDU", "PCDU functional test"]
     CORE_FT = ["OBC", "OBC functional test"]
+    PCDU_FT = ["PCDU", "PCDU functional test"]
+    RAD_SEN_FT = ["Radiation Sensor", "Radiation Sensor functional test"]
+    TCS_FT_ON = ["TCS Act.", "TCS functional test activation"]
+    TCS_FT_OFF = ["TCS Deact.", "TCS functional test deactivation"]
+    ACS_FT = ["ACS", "ACS functional test"]
+    MGT_FT = ["MGT", "MGT functional test"]
+    MGT_FT_DP = ["MGT dipole", "MGT functional test with dipole"]
 
 
 KAI = KeyAndInfo
 
 PROC_INFO_DICT = {
     KAI.BAT_FT[0]: [OpCodes.BAT_FT, KAI.BAT_FT[1], 120.0, 10.0],
-    KAI.PCDU_FT[0]: [OpCodes.PCDU_FT, KeyAndInfo.PCDU_FT[1], 120.0, 10.0],
+    KAI.CORE_FT[0]: [OpCodes.CORE_FT, KAI.CORE_FT[1], 120.0, 10.0],
-    KAI.CORE_FT[0]: [OpCodes.CORE_FT, KeyAndInfo.CORE_FT[1], 120.0, 10.0],
+    KAI.PCDU_FT[0]: [OpCodes.PCDU_FT, KAI.PCDU_FT[1], 120.0, 10.0],
+    KAI.RAD_SEN_FT[0]: [OpCodes.RAD_SEN_FT, KAI.RAD_SEN_FT[1], 120.0, 10.0],
+    KAI.TCS_FT_ON[0]: [OpCodes.TCS_FT_ON, KAI.TCS_FT_ON[1], 120.0, 10.0],
+    KAI.TCS_FT_OFF[0]: [OpCodes.TCS_FT_OFF, KAI.TCS_FT_OFF[1], 120.0, 10.0],
+    KAI.ACS_FT[0]: [OpCodes.ACS_FT, KAI.ACS_FT[1], 120.0, 10.0],
+    KAI.MGT_FT[0]: [OpCodes.MGT_FT, KAI.MGT_FT[1], 120.0, 10.0],
+    KAI.MGT_FT_DP[0]: [OpCodes.MGT_FT_DP, KAI.MGT_FT_DP[1], 120.0, 10.0],
+    # collection_time for KAI.MGT_FT_DP maybe be reduced as a full 120seconds is not needed after MGTs are tested
 }
 
 
-def generic_print(tc_queue: TcQueueT, key: str):
+def generic_print(tc_queue: TcQueueT, info: dict):
-    info = PROC_INFO_DICT[key]
     tc_queue.appendleft(
-        (QueueCommands.PRINT, f"Executing {info[0]} Procedure (OpCodes: {info[1]})")
+        (QueueCommands.PRINT, f"Executing {info[1]} Procedure (OpCodes: {info[0]})")
     )
 
 
 def pack_generic_hk_listening_cmds(
-    tc_queue: TcQueueT, proc_key: str, sid: bytes, diag: bool
+    tc_queue: TcQueueT,
+    proc_key: str,
+    sid_list: list[bytearray],
+    diag: bool,
+    mgt: bool,
 ):
-    generic_print(tc_queue=tc_queue, key=proc_key)
+    info = PROC_INFO_DICT[proc_key]
-    listen_to_hk_for_x_seconds(
+    collection_time = info[2]
-        diag=diag,
+    generic_print(tc_queue=tc_queue, info=info)
-        tc_queue=tc_queue,
+
-        device=proc_key,
+    for sid in sid_list:
-        sid=sid,
+        enable_listen_to_hk_for_x_seconds(
-        interval_seconds=10.0,
+            diag=diag,
-        collection_time=120.0,
+            tc_queue=tc_queue,
-    )
+            device=proc_key,
+            sid=sid,
+            interval_seconds=info[3],
+        )
+
+    if mgt is True:
+        activate_mgts_alternately(
+            tc_queue=tc_queue,
+        )
+
+    else:
+        pass
+
+    tc_queue.appendleft((QueueCommands.WAIT, collection_time))
+
+    for sid in sid_list:
+        disable_listen_to_hk_for_x_seconds(
+            diag=diag,
+            tc_queue=tc_queue,
+            device=proc_key,
+            sid=sid,
+        )
+
+    sid_list.clear()
 
 
 def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
+    sid_list = []
     if op_code in OpCodes.BAT_FT:
         key = KAI.BAT_FT[0]
-        sid = make_sid(BPX_HANDLER_ID, BpxSetIds.GET_HK_SET)
+        sid_list.append(make_sid(oids.BPX_HANDLER_ID, BpxSetIds.GET_HK_SET))
         pack_generic_hk_listening_cmds(
-            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
-        )
-
-    if op_code in OpCodes.PCDU_FT:
-        key = KAI.PCDU_FT[0]
-        sid = make_sid(P60_DOCK_HANDLER, GsSetIds.P60_CORE)
-        pack_generic_hk_listening_cmds(
-            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
         )
 
     if op_code in OpCodes.CORE_FT:
         key = KAI.CORE_FT[0]
-        sid = make_sid(oids.CORE_CONTROLLER_ID, CoreSetIds.HK)
+        sid_list.append(make_sid(oids.CORE_CONTROLLER_ID, CoreSetIds.HK))
         pack_generic_hk_listening_cmds(
-            tc_queue=tc_queue, proc_key=key, sid=sid, diag=False
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
         )
 
+    if op_code in OpCodes.PCDU_FT:
+        key = KAI.PCDU_FT[0]
+        sid_list.append(make_sid(oids.P60_DOCK_HANDLER, GsSetIds.P60_CORE))
+        sid_list.append(make_sid(oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_CORE))
+        sid_list.append(make_sid(oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_CORE))
+        sid_list.append(make_sid(oids.ACU_HANDLER_ID, GsSetIds.ACU_CORE))
+        sid_list.append(make_sid(oids.P60_DOCK_HANDLER, GsSetIds.P60_AUX))
+        sid_list.append(make_sid(oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_AUX))
+        sid_list.append(make_sid(oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_AUX))
+        sid_list.append(make_sid(oids.ACU_HANDLER_ID, GsSetIds.ACU_AUX))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
+        )
 
+    if op_code in OpCodes.RAD_SEN_FT:
+        key = KAI.RAD_SEN_FT[0]
+        sid_list.append(make_sid(oids.RAD_SENSOR_ID, RadSetIds.RAD_SEN_CORE))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
+        )
+
+    if op_code in OpCodes.TCS_FT_ON:
+        # check whether tcs_assembly also has to be commanded to NORMAL Mode
+        # pack_tcs_sys_commands(tc_queue=tc_queue, op_code="tcs-normal")
+        pack_controller_commands(tc_queue=tc_queue, op_code="thermal_controller")
+
+    if op_code in OpCodes.TCS_FT_OFF:
+        # check whether tcs_assembly also has to be commanded to OFF Mode
+        # pack_tcs_sys_commands(tc_queue=tc_queue, op_code="tcs-off")
+        pack_controller_commands(tc_queue=tc_queue, op_code="thermal_controller")
+
+    if op_code in OpCodes.ACS_FT:
+        key = KAI.ACS_FT[0]
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-a")
+
+        # MGMs
+        sid_list.append(make_sid(oids.MGM_0_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.MGM_1_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
+        # Gyros
+        sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
+        sid_list.append(make_sid(oids.GYRO_1_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
+        # GNSS0
+        sid_list.append(make_sid(oids.GPS_HANDLER_0_ID, GnssSetIds_0.CORE_HK))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
+        )
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+        tc_queue.appendleft((QueueCommands.WAIT, 5.0))
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-b")
+
+        # MGMs
+        sid_list.append(make_sid(oids.MGM_2_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.MGM_3_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
+        # Gyros
+        sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
+        sid_list.append(make_sid(oids.GYRO_3_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
+        # GNSS1
+        sid_list.append(make_sid(oids.GPS_HANDLER_1_ID, GnssSetIds_1.CORE_HK))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
+        )
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+        tc_queue.appendleft((QueueCommands.WAIT, 5.0))
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
+
+        # MGMs
+        sid_list.append(make_sid(oids.MGM_0_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.MGM_1_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
+        sid_list.append(make_sid(oids.MGM_2_LIS3_HANDLER_ID, MgmSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.MGM_3_RM3100_HANDLER_ID, MgmSetIds_1_3.CORE_HK))
+        # Gyros
+        sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.GYRO_0_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
+        sid_list.append(make_sid(oids.GYRO_1_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
+        sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CORE_HK))
+        sid_list.append(make_sid(oids.GYRO_2_ADIS_HANDLER_ID, GyroSetIds_0_2.CFG_HK))
+        sid_list.append(make_sid(oids.GYRO_3_L3G_HANDLER_ID, GyroSetIds_1_3.CORE_HK))
+        # GNSS0+1
+        sid_list.append(make_sid(oids.GPS_HANDLER_0_ID, GnssSetIds_0.CORE_HK))
+        sid_list.append(make_sid(oids.GPS_HANDLER_1_ID, GnssSetIds_1.CORE_HK))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
+        )
+
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+
+    if op_code in OpCodes.MGT_FT:
+        key = KAI.MGT_FT[0]
+
+        # missing imtq to ON
+        # mgt 1: imtq und hk
+
+        # MISSING: imtq board activation to ON (implementation pending by Jakob)
+
+        sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.ENG_HK_SET))
+        sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.CAL_MTM_SET))
+        sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.RAW_MTM_SET))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=False
+        )
+
+        # MISSING: imtq board deactivation to OFF (implementation pending by Jakob)
+
+    # missing imtq to ON
+    # mgt 2.: imtq + dual side + dipole
+
+    if op_code in OpCodes.MGT_FT_DP:
+        key = KAI.MGT_FT_DP[0]
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-d")
+
+        # MISSING: imtq board activation to ON (implementation pending by Jakob)
+
+        sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.ENG_HK_SET))
+        sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.CAL_MTM_SET))
+        sid_list.append(make_sid(oids.IMTQ_HANDLER_ID, ImtqSetIds.RAW_MTM_SET))
+        pack_generic_hk_listening_cmds(
+            tc_queue=tc_queue, proc_key=key, sid_list=sid_list, diag=False, mgt=True
+        )
+
+        # MISSING: imtq board deactivation to OFF (implementation pending by Jakob)
+        pack_acs_command(tc_queue=tc_queue, op_code="acs-off")
+
+
+"""
 def listen_to_hk_for_x_seconds(
     tc_queue: TcQueueT,
     diag: bool,
@@ -90,20 +274,6 @@ def listen_to_hk_for_x_seconds(
     interval_seconds: float,
     collection_time: float,
 ):
-    """
-    enable_periodic_hk_command_with_interval(
-    diag: bool, sid: bytes, interval_seconds: float, ssc: int
-    """
-    """
-    function with periodic HK generation
-    interval_seconds = at which rate HK is saved
-    collection_time = how long the HK is saved for
-    device = for which device the HK is saved
-    functional_test =
-    diagnostic Hk = yes diagnostic or no diagnostic
-    sid = structural ID for specific device
-    device Hk set ID
-    """
 
     tc_queue.appendleft((QueueCommands.PRINT, f"Enabling periodic HK for {device}"))
     cmd_tuple = enable_periodic_hk_command_with_interval(
@@ -118,3 +288,98 @@ def listen_to_hk_for_x_seconds(
     tc_queue.appendleft(
         disable_periodic_hk_command(diag=diag, sid=sid, ssc=0).pack_command_tuple()
     )
+"""
+
+
+def enable_listen_to_hk_for_x_seconds(
+    tc_queue: TcQueueT,
+    diag: bool,
+    device: str,
+    sid: bytes,
+    interval_seconds: float,
+):
+    tc_queue.appendleft((QueueCommands.PRINT, f"Enabling periodic HK for {device}"))
+    cmd_tuple = enable_periodic_hk_command_with_interval(
+        diag=diag, sid=sid, interval_seconds=interval_seconds, ssc=0
+    )
+    for cmd in cmd_tuple:
+        tc_queue.appendleft(cmd.pack_command_tuple())
+
+    tc_queue.appendleft((QueueCommands.WAIT, 2.0))
+
+
+def disable_listen_to_hk_for_x_seconds(
+    tc_queue: TcQueueT,
+    diag: bool,
+    device: str,
+    sid: bytes,
+):
+    tc_queue.appendleft((QueueCommands.PRINT, f"Disabling periodic HK for {device}"))
+    tc_queue.appendleft(
+        disable_periodic_hk_command(diag=diag, sid=sid, ssc=0).pack_command_tuple()
+    )
+
+
+def activate_mgts_alternately(
+    tc_queue: TcQueueT,
+):
+
+    command = pack_dipole_command(
+        object_id=oids.IMTQ_HANDLER_ID,
+        x_dipole=2000,
+        y_dipole=0,
+        z_dipole=0,
+        duration=30000,
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 10.0))
+
+    command = pack_dipole_command(
+        object_id=oids.IMTQ_HANDLER_ID,
+        x_dipole=-2000,
+        y_dipole=0,
+        z_dipole=0,
+        duration=30000,
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 10.0))
+
+    command = pack_dipole_command(
+        object_id=oids.IMTQ_HANDLER_ID,
+        x_dipole=0,
+        y_dipole=2000,
+        z_dipole=0,
+        duration=30000,
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 10.0))
+
+    command = pack_dipole_command(
+        object_id=oids.IMTQ_HANDLER_ID,
+        x_dipole=0,
+        y_dipole=-2000,
+        z_dipole=0,
+        duration=30000,
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 10.0))
+
+    command = pack_dipole_command(
+        object_id=oids.IMTQ_HANDLER_ID,
+        x_dipole=0,
+        y_dipole=0,
+        z_dipole=2000,
+        duration=30000,
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 10.0))
+
+    command = pack_dipole_command(
+        object_id=oids.IMTQ_HANDLER_ID,
+        x_dipole=0,
+        y_dipole=0,
+        z_dipole=-2000,
+        duration=30000,
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 10.0))

tmtccmd

@@ -1 +1 @@
-Subproject commit 4fbbf129e140e593b1cc54a0361fa20cc8726789
+Subproject commit 0adb957c5037721d602d7ab47199f7d4ff42a87e