# -*- coding: utf-8 -*-
"""reaction_wheels.py
@brief Tests for the reaction wheel handler
@author J. Meier
@date 20.06.2021
"""
import struct
from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
from tmtccmd.config.tmtc import tmtc_definitions_provider
from tmtccmd.tc import DefaultPusQueueHelper
from tmtccmd.tc.pus_3_fsfw_hk import (
generate_one_hk_command,
generate_one_diag_command,
make_sid,
)
from spacepackets.ecss.tc import PusTelecommand
from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
from config.definitions import CustomServiceList
class OpCodesDevs:
SPEED = ["0", "speed"]
ON = ["1", "on"]
NML = ["2", "nml"]
OFF = ["3", "off"]
GET_STATUS = ["4", "status"]
GET_TM = ["5", "tm"]
class InfoDevs:
SPEED = "Set speed"
ON = "Set On"
NML = "Set Normal"
OFF = "Set Off"
GET_STATUS = "Get Status HK"
GET_TM = "Get TM HK"
class OpCodesAss:
ON = ["0", "on"]
NML = ["1", "nml"]
OFF = ["2", "off"]
class InfoAss:
ON = "Mode On: 3/4 RWs min. on"
NML = "Mode Normal: 3/4 RWs min. normal"
OFF = "Mode Off: All RWs off"
class RwSetIds:
STATUS_SET_ID = 4
TEMPERATURE_SET_ID = 8
LAST_RESET = 2
TM_SET = 9
class RwCommandIds:
RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
# Reads status information from reaction wheel into dataset with id 4
GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
# Reads temperature from reaction wheel into dataset with id 8
GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
GET_TM = bytearray([0x0, 0x0, 0x0, 0x09])
class SpeedDefinitions:
RPM_100 = 1000
RPM_5000 = 5000
class RampTime:
MS_1000 = 1000
@tmtc_definitions_provider
def add_rw_cmds(defs: TmtcDefinitionWrapper):
oce = OpCodeEntry()
oce.add(info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED)
oce.add(info=InfoDevs.ON, keys=OpCodesDevs.ON)
oce.add(info=InfoDevs.OFF, keys=OpCodesDevs.OFF)
oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
defs.add_service(
name=CustomServiceList.REACTION_WHEEL_1.value,
info="Reaction Wheel 1",
op_code_entry=oce,
)
defs.add_service(
name=CustomServiceList.REACTION_WHEEL_2.value,
info="Reaction Wheel 2",
op_code_entry=oce,
)
defs.add_service(
name=CustomServiceList.REACTION_WHEEL_3.value,
info="Reaction Wheel 3",
op_code_entry=oce,
)
defs.add_service(
name=CustomServiceList.REACTION_WHEEL_4.value,
info="Reaction Wheel 4",
op_code_entry=oce,
)
oce = OpCodeEntry()
oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
defs.add_service(
name=CustomServiceList.RW_ASSEMBLY.value,
info="Reaction Wheel Assembly",
op_code_entry=oce,
)
def pack_single_rw_test_into(
object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
):
if op_code in OpCodesDevs.SPEED:
speed = int(input("Specify speed [0.1 RPM]: "))
ramp_time = int(input("Specify ramp time [ms]: "))
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.SPEED}")
q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
if op_code in OpCodesDevs.ON:
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
mode_data = pack_mode_data(object_id, Modes.ON, 0)
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
if op_code in OpCodesDevs.NML:
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
if op_code in OpCodesDevs.OFF:
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
mode_data = pack_mode_data(object_id, Modes.OFF, 0)
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
if op_code in OpCodesDevs.GET_TM:
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
q.add_pus_tc(
generate_one_hk_command(
sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
)
)
if op_code in OpCodesDevs.GET_STATUS:
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
q.add_pus_tc(
generate_one_diag_command(
sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
)
)
def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
if op_code in OpCodesAss.OFF:
data = pack_mode_data(object_id=object_id, mode=Modes.OFF, submode=0)
q.add_pus_tc(
PusTelecommand(
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
)
)
if op_code in OpCodesAss.ON:
data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
q.add_pus_tc(
PusTelecommand(
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
)
)
if op_code in OpCodesAss.NML:
data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
q.add_pus_tc(
PusTelecommand(
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
)
)
def pack_set_speed_command(
object_id: bytes, speed: int, ramp_time_ms: 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_ms: The time after which the reaction wheel will reach the commanded speed.
Valid times are 10 - 10000 ms
"""
if speed > 0:
if speed < 1000 or speed > 65000:
raise ValueError(
"Invalid RW speed specified. "
"Allowed range is [1000, 65000] 0.1 * RPM"
)
elif speed < 0:
if speed < -65000 or speed > -1000:
raise ValueError(
"Invalid RW speed specified. "
"Allowed range is [-65000, -1000] 0.1 * RPM"
)
else:
# Speed is 0
pass
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_ms.to_bytes(length=2, byteorder="big")
command = PusTelecommand(service=8, subservice=128, app_data=command)
return command