pus_tc/cmd_definitions.py

@@ -357,7 +357,10 @@ def add_imtq_cmds(cmd_dict: ServiceOpCodeDictT):
         "9": ("IMTQ command dipole", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "10": ("IMTQ get commanded dipole", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "11": ("IMTQ get engineering hk set", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "12": ("IMTQ get calibrated MTM measurement one shot", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "12": (
+            "IMTQ get calibrated MTM measurement one shot",
+            {OpCodeDictKeys.TIMEOUT: 2.0},
+        ),
         "13": ("IMTQ get raw MTM measurement one shot", {OpCodeDictKeys.TIMEOUT: 2.0}),
     }
     service_imtq_tuple = ("IMTQ Device", op_code_dict_srv_imtq)

pus_tc/devs/imtq.py

@@ -9,7 +9,11 @@ from tmtccmd.config.definitions import QueueCommands
 
 from tmtccmd.tc.packer import TcQueueT
 from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tc.pus_3_fsfw_hk import make_sid, generate_one_diag_command, generate_one_hk_command
+from tmtccmd.tc.pus_3_fsfw_hk import (
+    make_sid,
+    generate_one_diag_command,
+    generate_one_hk_command,
+)
 from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
 
 

pus_tc/devs/reaction_wheels.py

@@ -196,20 +196,36 @@ def pack_rw_ass_cmds(tc_queue: TcQueueT, object_id: bytes, op_code: str):
 
 
 def pack_set_speed_command(
-    object_id: bytes, speed: int, ramp_time: int, ssc: int
+    object_id: bytes, speed: int, ramp_time_ms: int, ssc: int
 ) -> PusTelecommand:
     """With this function a command is packed to set the speed of a reaction wheel
     :param object_id: The object id of the reaction wheel handler.
     :param speed: Valid speeds are [-65000, -1000] and [1000, 65000]. Values are
         specified in 0.1 * RPM
-    :param ramp_time: The time after which the reaction wheel will reach the commanded speed.
+    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
         Valid times are 10 - 10000 ms
     :param ssc: Source sequence count
     """
+    if speed > 0:
+        if speed < 1000 or speed > 65000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [1000, 65000] 0.1 * RPM"
+            )
+    else:
+        if speed < -65000 or speed > -1000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [-65000, -1000] 0.1 * RPM"
+            )
+    if ramp_time_ms < 0 or (
+        ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
+    ):
+        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-10000] ms")
     command_id = RwCommandIds.SET_SPEED
     command = bytearray()
     command += object_id + command_id
     command = command + struct.pack("!i", speed)
-    command = command + ramp_time.to_bytes(length=2, byteorder="big")
+    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
     command = PusTelecommand(service=8, subservice=128, ssc=ssc, app_data=command)
     return command

pus_tc/system/proc.py

@@ -1,3 +1,5 @@
+from typing import List
+
 from config.definitions import CustomServiceList
 from tmtccmd.config import (
     QueueCommands,
@@ -8,16 +10,6 @@ from tmtccmd.config import (
 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,
-    PDU_1_HANDLER_ID,
-    PDU_2_HANDLER_ID,
-    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
@@ -146,14 +138,11 @@ def pack_generic_hk_listening_cmds(
         )
 
     elif one_rw is True:
-        activate_one_rw_in_sequence(
-            tc_queue=tc_queue,
+        activate_all_rws_in_sequence(
+            tc_queue=tc_queue, test_speed=20000, test_ramp_time=10000, init_ssc=0
         )
-
     elif two_rws is True:
-        activate_two_rws_in_sequence(
-            tc_queue=tc_queue,
-        )
+        activate_all_rws_two_consecutively(tc_queue=tc_queue, init_ssc=0)
 
     else:
         pass
@@ -221,7 +210,7 @@ def pack_proc_commands(tc_queue: TcQueueT, op_code: str):
 
     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))
+        sid_list.append(make_sid(oids.RAD_SENSOR_ID, RadSetIds.HK))
         pack_generic_hk_listening_cmds(
             tc_queue=tc_queue,
             proc_key=key,
@@ -652,128 +641,89 @@ def activate_mgts_alternately(
     tc_queue.appendleft((QueueCommands.WAIT, 40.0))
 
 
-def activate_one_rw_in_sequence(
-    tc_queue: TcQueueT,
-):
+def rw_speed_cmd_single(
+    tc_queue: TcQueueT, oid: bytes, init_ssc: int, speed: int, ramp_time: int
+) -> int:
+    command = pack_set_speed_command(
+        object_id=oid, speed=speed, ramp_time_ms=ramp_time, ssc=init_ssc
+    )
+    init_ssc += 1
+    tc_queue.appendleft(command.pack_command_tuple())
+    tc_queue.appendleft((QueueCommands.WAIT, 70.0))
+    command = pack_set_speed_command(
+        object_id=oids.RW1_ID, speed=0, ramp_time_ms=ramp_time, ssc=init_ssc
+    )
+    tc_queue.appendleft(command.pack_command_tuple())
+    return init_ssc + 1
+
+
+def rw_speed_up_cmd_consec(
+    tc_queue: TcQueueT, obids: List[bytes], init_ssc: int, speed: int, ramp_time: int
+) -> int:
+    for oid in obids:
+        command = pack_set_speed_command(
+            object_id=oid, speed=speed, ramp_time_ms=ramp_time, ssc=init_ssc
+        )
+        tc_queue.appendleft(command.pack_command_tuple())
+        init_ssc += 1
+    return init_ssc
+
+
+def rw_speed_down_cmd_consec(
+    tc_queue: TcQueueT, obids: List[bytes], init_ssc: int, ramp_time: int
+) -> int:
+    for oid in obids:
+        command = pack_set_speed_command(
+            object_id=oid, speed=0, ramp_time_ms=ramp_time, ssc=init_ssc
+        )
+        tc_queue.appendleft(command.pack_command_tuple())
+        init_ssc += 1
+    return init_ssc
+
+
+def activate_all_rws_in_sequence(
+    tc_queue: TcQueueT, init_ssc: int, test_speed: int, test_ramp_time: int
+) -> int:
+    new_ssc = init_ssc
     # RW1 speed cmd
     tc_queue.appendleft((QueueCommands.WAIT, 5.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW1_ID,
-        speed=20000,
-        ramp_time=10000,
+    new_ssc = rw_speed_cmd_single(
+        tc_queue, oids.RW1_ID, new_ssc, test_speed, test_ramp_time
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    tc_queue.appendleft((QueueCommands.WAIT, 70.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW1_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 10.0))
-
-    # RW2 speed cmd
-    command = pack_set_speed_command(
-        object_id=oids.RW2_ID,
-        speed=20000,
-        ramp_time=10000,
+    new_ssc = rw_speed_cmd_single(
+        tc_queue, oids.RW2_ID, new_ssc, test_speed, test_ramp_time
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    tc_queue.appendleft((QueueCommands.WAIT, 70.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW2_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 10.0))
-
-    # RW3 speed cmd
-    command = pack_set_speed_command(
-        object_id=oids.RW3_ID,
-        speed=20000,
-        ramp_time=10000,
+    new_ssc = rw_speed_cmd_single(
+        tc_queue, oids.RW3_ID, new_ssc, test_speed, test_ramp_time
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    tc_queue.appendleft((QueueCommands.WAIT, 70.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW3_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 10.0))
-
-    # RW4 speed cmd
-    command = pack_set_speed_command(
-        object_id=oids.RW4_ID,
-        speed=20000,
-        ramp_time=10000,
+    new_ssc = rw_speed_cmd_single(
+        tc_queue, oids.RW4_ID, new_ssc, test_speed, test_ramp_time
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    tc_queue.appendleft((QueueCommands.WAIT, 70.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW4_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 5.0))
+    return new_ssc
 
 
-def activate_two_rws_in_sequence(tc_queue: TcQueueT):
+def activate_all_rws_two_consecutively(tc_queue: TcQueueT, init_ssc: int) -> int:
+    new_ssc = init_ssc
     # RW1+3 speed cmd
     tc_queue.appendleft((QueueCommands.WAIT, 5.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW1_ID,
-        speed=-20000,
-        ramp_time=10000,
+    new_ssc = rw_speed_up_cmd_consec(
+        tc_queue, [oids.RW1_ID, oids.RW3_ID], new_ssc, -20000, 10000
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    command = pack_set_speed_command(
-        object_id=oids.RW3_ID,
-        speed=-20000,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
-    tc_queue.appendleft((QueueCommands.WAIT, 70.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW1_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
-    command = pack_set_speed_command(
-        object_id=oids.RW3_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 10.0))
     # RW2+4 speed cmd
-    command = pack_set_speed_command(
-        object_id=oids.RW2_ID,
-        speed=-20000,
-        ramp_time=10000,
+    new_ssc = rw_speed_up_cmd_consec(
+        tc_queue, [oids.RW2_ID, oids.RW4_ID], new_ssc, -20000, 10000
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    command = pack_set_speed_command(
-        object_id=oids.RW4_ID,
-        speed=-20000,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 70.0))
-    command = pack_set_speed_command(
-        object_id=oids.RW2_ID,
-        speed=0,
-        ramp_time=10000,
+    new_ssc = rw_speed_down_cmd_consec(
+        tc_queue, [oids.RW1_ID, oids.RW3_ID], new_ssc, 10000
     )
-    tc_queue.appendleft(command.pack_command_tuple())
-    command = pack_set_speed_command(
-        object_id=oids.RW4_ID,
-        speed=0,
-        ramp_time=10000,
-    )
-    tc_queue.appendleft(command.pack_command_tuple())
     tc_queue.appendleft((QueueCommands.WAIT, 5.0))
+    new_ssc = rw_speed_down_cmd_consec(
+        tc_queue, [oids.RW2_ID, oids.RW4_ID], new_ssc, 10000
+    )
+    return new_ssc

pus_tm/devs/imtq_mgt.py

@@ -44,7 +44,7 @@ def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
         coil_x_temperature,
         coil_y_temperature,
         coil_z_temperature,
-        mcu_temperature
+        mcu_temperature,
     ]
     num_of_vars = len(header_list)
     pw.dlog(str(header_list))
@@ -58,19 +58,14 @@ def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
         "Calibrated MTM X [nT]",
         "Calibrated MTM Y [nT]",
         "Calibrated MTM Z [nT]",
-        "Coild actuation status"
+        "Coild actuation status",
     ]
     mtm_x = struct.unpack("!I", hk_data[0:4])[0]
     mtm_y = struct.unpack("!I", hk_data[4:8])[0]
     mtm_z = struct.unpack("!I", hk_data[8:12])[0]
     coil_actuation_status = hk_data[12]
     validity_buffer = hk_data[12:]
-    content_list = [
-        mtm_x,
-        mtm_y,
-        mtm_z,
-        coil_actuation_status
-    ]
+    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
     num_of_vars = len(header_list)
     pw.dlog(str(header_list))
     pw.dlog(str(content_list))
@@ -83,19 +78,14 @@ def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
         "Raw MTM X [nT]",
         "Raw MTM Y [nT]",
         "Raw MTM Z [nT]",
-        "Coild actuation status"
+        "Coild actuation status",
     ]
     mtm_x = struct.unpack("!f", hk_data[0:4])[0]
     mtm_y = struct.unpack("!f", hk_data[4:8])[0]
     mtm_z = struct.unpack("!f", hk_data[8:12])[0]
     coil_actuation_status = hk_data[12]
     validity_buffer = hk_data[12:]
-    content_list = [
-        mtm_x,
-        mtm_y,
-        mtm_z,
-        coil_actuation_status
-    ]
+    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
     num_of_vars = len(header_list)
     pw.dlog(str(header_list))
     pw.dlog(str(content_list))

pus_tm/hk_handling.py

@@ -15,8 +15,12 @@ from tmtccmd.logging import get_console_logger
 from pus_tm.devs.bpx_bat import handle_bpx_hk_data
 from pus_tm.devs.gps import handle_gps_data
 from pus_tm.devs.gyros import handle_gyros_hk_data
-from pus_tm.devs.imtq_mgt import handle_self_test_data, handle_eng_set, handle_calibrated_mtm_measurement, \
-    handle_raw_mtm_measurement
+from pus_tm.devs.imtq_mgt import (
+    handle_self_test_data,
+    handle_eng_set,
+    handle_calibrated_mtm_measurement,
+    handle_raw_mtm_measurement,
+)
 from pus_tm.devs.pcdu import handle_pdu_data, handle_p60_hk_data, handle_acu_hk_data
 from pus_tm.devs.syrlinks import handle_syrlinks_hk_data
 from pus_tc.devs.imtq import ImtqSetIds