# -*- coding: utf-8 -*-
"""
@file imtq.py
@brief Tests for the ISIS IMTQ (Magnettorquer) device handler
@author J. Meier
@date 25.03.2021
"""
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_200_fsfw_modes import pack_mode_data, Modes
class ImtqSetIds:
ENG_HK_SET = 1
CAL_MTM_SET = 2
RAW_MTM_SET = 3
POSITIVE_X_TEST = 4
NEGATIVE_X_TEST = 5
POSITIVE_Y_TEST = 6
NEGATIVE_Y_TEST = 7
POSITIVE_Z_TEST = 8
NEGATIVE_Z_TEST = 9
class ImtqActionIds:
start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
# Initiates the reading of the last performed self test. After sending this command the results can be downlinked
# via the housekeeping service by using the appropriate set ids listed above.
read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
def pack_imtq_test_into(
object_id: bytearray, tc_queue: TcQueueT, op_code: str
) -> TcQueueT:
tc_queue.appendleft(
(
QueueCommands.PRINT,
"Testing ISIS IMTQ handler with object id: 0x" + object_id.hex(),
)
)
if op_code == "0":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Set mode off"))
command = pack_mode_data(object_id, Modes.OFF, 0)
command = PusTelecommand(service=200, subservice=1, ssc=9, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "1":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Set mode on"))
command = pack_mode_data(object_id, Modes.ON, 0)
command = PusTelecommand(service=200, subservice=1, ssc=10, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "2":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Mode Normal"))
command = pack_mode_data(object_id, Modes.NORMAL, 0)
command = PusTelecommand(service=200, subservice=1, ssc=11, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "3":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform positive x self test"))
command = object_id + ImtqActionIds.perform_positive_x_test
command = PusTelecommand(service=8, subservice=128, ssc=22, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Initiate reading of positive x self test results",
)
)
command = object_id + ImtqActionIds.read_self_test_results
command = PusTelecommand(service=8, subservice=128, ssc=23, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Request dataset with positive x self test results",
)
)
sid = make_sid(object_id, ImtqSetIds.POSITIVE_X_TEST)
command = generate_one_hk_command(sid, 24)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "4":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform negative x self test"))
command = object_id + ImtqActionIds.perform_negative_x_test
command = PusTelecommand(service=8, subservice=128, ssc=25, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Initiate reading of negative x self test results",
)
)
command = object_id + ImtqActionIds.read_self_test_results
command = PusTelecommand(service=8, subservice=128, ssc=26, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Request dataset with negative x self test results",
)
)
sid = make_sid(object_id, ImtqSetIds.NEGATIVE_X_TEST)
command = generate_one_hk_command(sid, 27)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "5":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform positive y self test"))
command = object_id + ImtqActionIds.perform_positive_y_test
command = PusTelecommand(service=8, subservice=128, ssc=28, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Initiate reading of positive y self test results",
)
)
command = object_id + ImtqActionIds.read_self_test_results
command = PusTelecommand(service=8, subservice=128, ssc=29, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Request dataset with positive y self test results",
)
)
sid = make_sid(object_id, ImtqSetIds.POSITIVE_Y_TEST)
command = generate_one_hk_command(sid, 30)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "6":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform negative y self test"))
command = object_id + ImtqActionIds.perform_negative_y_test
command = PusTelecommand(service=8, subservice=128, ssc=31, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Initiate reading of negative y self test results",
)
)
command = object_id + ImtqActionIds.read_self_test_results
command = PusTelecommand(service=8, subservice=128, ssc=32, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Request dataset with negative y self test results",
)
)
sid = make_sid(object_id, ImtqSetIds.NEGATIVE_Y_TEST)
command = generate_one_hk_command(sid, 33)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "7":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform positive z self test"))
command = object_id + ImtqActionIds.perform_positive_z_test
command = PusTelecommand(service=8, subservice=128, ssc=34, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Initiate reading of positive z self test results",
)
)
command = object_id + ImtqActionIds.read_self_test_results
command = PusTelecommand(service=8, subservice=128, ssc=35, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Request dataset with positive z self test results",
)
)
sid = make_sid(object_id, ImtqSetIds.POSITIVE_Y_TEST)
command = generate_one_hk_command(sid, 36)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "8":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Perform negative z self test"))
command = object_id + ImtqActionIds.perform_negative_z_test
command = PusTelecommand(service=8, subservice=128, ssc=35, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Initiate reading of negative z self test results",
)
)
command = object_id + ImtqActionIds.read_self_test_results
command = PusTelecommand(service=8, subservice=128, ssc=36, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
tc_queue.appendleft(
(
QueueCommands.PRINT,
"IMTQ: Request dataset with negative z self test results",
)
)
sid = make_sid(object_id, ImtqSetIds.NEGATIVE_Z_TEST)
command = generate_one_hk_command(sid, 37)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "9":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Commanding dipole"))
x_dipole = 0
y_dipole = 0
z_dipole = 0
duration = 0 # ms
command = pack_dipole_command(object_id, x_dipole, y_dipole, z_dipole, duration)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "10":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get commanded dipole"))
command = object_id + ImtqActionIds.get_commanded_dipole
command = PusTelecommand(service=8, subservice=128, ssc=21, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "11":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get engineering hk set"))
command = generate_one_diag_command(
sid=make_sid(object_id=object_id, set_id=ImtqSetIds.ENG_HK_SET), ssc=0
)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "12":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get calibrated MTM hk set"))
command = generate_one_diag_command(
sid=make_sid(object_id=object_id, set_id=ImtqSetIds.CAL_MTM_SET), ssc=0
)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "13":
tc_queue.appendleft((QueueCommands.PRINT, "IMTQ: Get raw MTM hk set"))
command = generate_one_diag_command(
sid=make_sid(object_id=object_id, set_id=ImtqSetIds.RAW_MTM_SET), ssc=0
)
tc_queue.appendleft(command.pack_command_tuple())
return tc_queue
def pack_dipole_command(
object_id: bytearray, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
) -> 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)
@param y_dipole The dipole of the y coil in 10^-4*Am^2 (max. 2000)
@param z_dipole The dipole of the z coil in 10^-4*Am^2 (max. 2000)
@param duration The duration in milliseconds the dipole will be generated by the coils.
When set to 0, the dipole will be generated until a new dipole actuation
command is sent.
"""
action_id = ImtqActionIds.start_actuation_dipole
command = bytearray()
command = object_id + action_id
command.extend(x_dipole.to_bytes(length=2, byteorder="big"))
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