import datetime import enum import logging import socket import struct import math from socket import AF_INET from typing import Tuple from eive_tmtc.config.definitions import CustomServiceList from eive_tmtc.config.object_ids import ACS_CONTROLLER from eive_tmtc.pus_tm.defs import PrintWrapper from eive_tmtc.tmtc.acs.defs import AcsMode, SafeSubmode from tmtccmd.config.tmtc import ( tmtc_definitions_provider, TmtcDefinitionWrapper, OpCodeEntry, ) from tmtccmd.tc import service_provider from tmtccmd.tc.queue import DefaultPusQueueHelper from tmtccmd.tc.pus_200_fsfw_mode import Mode, pack_mode_command from tmtccmd.tc.decorator import ServiceProviderParams from tmtccmd.tc.pus_3_fsfw_hk import ( generate_one_hk_command, make_sid, enable_periodic_hk_command_with_interval, disable_periodic_hk_command, create_request_one_diag_command, ) from tmtccmd.pus.s8_fsfw_funccmd import create_action_cmd from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter from tmtccmd.tc.pus_20_fsfw_param import create_load_param_cmd from tmtccmd.pus.s20_fsfw_param_defs import ( create_scalar_u8_parameter, create_scalar_u16_parameter, create_scalar_i32_parameter, create_scalar_float_parameter, create_scalar_double_parameter, create_vector_float_parameter, create_vector_double_parameter, create_matrix_float_parameter, create_matrix_double_parameter, ) _LOGGER = logging.getLogger(__name__) class SetId(enum.IntEnum): MGM_RAW_SET = 0 MGM_PROC_SET = 1 SUS_RAW_SET = 2 SUS_PROC_SET = 3 GYR_RAW_SET = 4 GYR_PROC_SET = 5 GPS_PROC_SET = 6 MEKF_DATA = 7 CTRL_VAL_DATA = 8 ACTUATOR_CMD_DATA = 9 class ActionId(enum.IntEnum): SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0 RESET_MEKF = 1 RESTORE_MEKF_NONFINITE_RECOVERY = 2 class OpCodes: OFF = ["off"] SAFE = ["safe"] DTBL = ["safe_detumble"] IDLE = ["ptg_idle"] NADIR = ["ptg_nadir"] TARGET = ["ptg_target"] GS = ["ptg_target_gs"] INERTIAL = ["ptg_inertial"] SAFE_PTG = ["confirm_deployment"] RESET_MEKF = ["reset_mekf"] RESTORE_MEKF_NONFINITE_RECOVERY = ["restore_mekf_nonfinite_recovery"] SET_PARAMETER_SCALAR = ["set_scalar_param"] SET_PARAMETER_VECTOR = ["set_vector_param"] SET_PARAMETER_MATRIX = ["set_matrix_param"] REQUEST_RAW_MGM_HK = ["mgm_raw_hk"] ENABLE_RAW_MGM_HK = ["mgm_raw_enable_hk"] DISABLE_RAW_MGM_HK = ["mgm_raw_disable_hk"] REQUEST_PROC_MGM_HK = ["mgm_proc_hk"] ENABLE_PROC_MGM_HK = ["mgm_proc_enable_hk"] DISABLE_PROC_MGM_HK = ["mgm_proc_disable_hk"] REQUEST_RAW_SUS_HK = ["sus_raw_hk"] ENABLE_RAW_SUS_HK = ["sus_raw_enable_hk"] DISABLE_RAW_SUS_HK = ["sus_raw_disable_hk"] REQUEST_PROC_SUS_HK = ["sus_proc_hk"] ENABLE_PROC_SUS_HK = ["sus_proc_enable_hk"] DISABLE_PROC_SUS_HK = ["sus_proc_disable_hk"] REQUEST_RAW_GYR_HK = ["gyr_raw_hk"] ENABLE_RAW_GYR_HK = ["gyr_raw_enable_hk"] DISABLE_RAW_GYR_HK = ["gyr_raw_disable_hk"] REQUEST_PROC_GYR_HK = ["gyr_proc_hk"] ENABLE_PROC_GYR_HK = ["gyr_proc_enable_hk"] DISABLE_PROC_GYR_HK = ["gyr_proc_disable_hk"] REQUEST_PROC_GPS_HK = ["gps_proc_hk"] ENABLE_PROC_GPS_HK = ["gps_proc_enable_hk"] DISABLE_PROC_GPS_HK = ["gps_proc_disable_hk"] REQUEST_MEKF_HK = ["mekf_hk"] ENABLE_MEKF_HK = ["mekf_enable_hk"] DISABLE_MEKF_HK = ["mekf_disable_hk"] REQUEST_CTRL_VAL_HK = ["ctrl_val_hk"] ENABLE_CTRL_VAL_HK = ["ctrl_val_enable_hk"] DISABLE_CTRL_VAL_HK = ["ctrl_val_disable_hk"] REQUEST_ACT_CMD_HK = ["act_cmd_hk"] ENABLE_ACT_CMD_HK = ["act_cmd_enable_hk"] DISABLE_ACT_CMD_HK = ["act_cmd_disable_hk"] class Info: OFF = "Switch ACS CTRL off" SAFE = "Switch ACS CTRL - safe" DTBL = "Switch ACS CTRL - safe with detumble submode" IDLE = "Switch ACS CTRL - pointing idle" NADIR = "Switch ACS CTRL normal - pointing nadir" TARGET = "Switch ACS CTRL normal - pointing target" GS = "Switch ACS CTRL normal - pointing target groundstation" INERTIAL = "Switch ACS CTRL normal - pointing inertial" SAFE_PTG = "Confirm deployment of both solar arrays" RESET_MEKF = "Reset the MEKF" RESTORE_MEKF_NONFINITE_RECOVERY = "Restore MEKF non-finite recovery" SET_PARAMETER_SCALAR = "Set Scalar Parameter" SET_PARAMETER_VECTOR = "Set Vector Parameter" SET_PARAMETER_MATRIX = "Set Matrix Parameter" REQUEST_RAW_MGM_HK = "Request Raw MGM HK once" ENABLE_RAW_MGM_HK = "Enable Raw MGM HK data generation" DISABLE_RAW_MGM_HK = "Disable Raw MGM HK data generation" REQUEST_PROC_MGM_HK = "Request Processed MGM HK" ENABLE_PROC_MGM_HK = "Enable Processed MGM HK data generation" DISABLE_PROC_MGM_HK = "Disable Processed MGM HK data generation" REQUEST_RAW_SUS_HK = "Request Raw SUS HK" ENABLE_RAW_SUS_HK = "Enable Raw SUS HK data generation" DISABLE_RAW_SUS_HK = "Disable Raw SUS HK data generation" REQUEST_PROC_SUS_HK = "Request Processed SUS HK" ENABLE_PROC_SUS_HK = "Enable Processed SUS HK data generation" DISABLE_PROC_SUS_HK = "Disable Processed MGM HK data generation" REQUEST_RAW_GYR_HK = "Request Raw GYR HK" ENABLE_RAW_GYR_HK = "Enable Raw GYR HK data generation" DISABLE_RAW_GYR_HK = "Disable Raw GYR HK data generation" REQUEST_PROC_GYR_HK = "Request Processed GYR HK" ENABLE_PROC_GYR_HK = "Enable Processed GYR HK data generation" DISABLE_PROC_GYR_HK = "Disable Processed GYR HK data generation" REQUEST_PROC_GPS_HK = "Request Processed GPS HK" ENABLE_PROC_GPS_HK = "Enable Processed GPS HK data generation" DISABLE_PROC_GPS_HK = "Disable Processed GPS HK data generation" REQUEST_MEKF_HK = "Request MEKF HK" ENABLE_MEKF_HK = "Enable MEKF HK data generation" DISABLE_MEKF_HK = "Disable MEKF HK data generation" REQUEST_CTRL_VAL_HK = "Request Control Values HK" ENABLE_CTRL_VAL_HK = "Enable Control Values HK data generation" DISABLE_CTRL_VAL_HK = "Disable Control Values HK data generation" REQUEST_ACT_CMD_HK = "Request Actuator Commands HK" ENABLE_ACT_CMD_HK = "Enable Actuator Commands HK data generation" DISABLE_ACT_CMD_HK = "Disable Actuator Commands HK data generation" PERFORM_MGM_CALIBRATION = False CALIBRATION_SOCKET_HOST = "localhost" CALIBRATION_SOCKET_PORT = 6677 CALIBRATION_ADDR = (CALIBRATION_SOCKET_HOST, CALIBRATION_SOCKET_PORT) if PERFORM_MGM_CALIBRATION: CALIBR_SOCKET = socket.socket(AF_INET, socket.SOCK_STREAM) CALIBR_SOCKET.setblocking(False) CALIBR_SOCKET.settimeout(0.2) CALIBR_SOCKET.connect(CALIBRATION_ADDR) @tmtc_definitions_provider def acs_cmd_defs(defs: TmtcDefinitionWrapper): oce = OpCodeEntry() oce.add(keys=OpCodes.OFF, info=Info.OFF) oce.add(keys=OpCodes.SAFE, info=Info.SAFE) oce.add(keys=OpCodes.DTBL, info=Info.DTBL) oce.add(keys=OpCodes.IDLE, info=Info.IDLE) oce.add(keys=OpCodes.NADIR, info=Info.NADIR) oce.add(keys=OpCodes.TARGET, info=Info.TARGET) oce.add(keys=OpCodes.GS, info=Info.GS) oce.add(keys=OpCodes.INERTIAL, info=Info.INERTIAL) oce.add(keys=OpCodes.SAFE_PTG, info=Info.SAFE_PTG) oce.add(keys=OpCodes.RESET_MEKF, info=Info.RESET_MEKF) oce.add( keys=OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY, info=Info.RESTORE_MEKF_NONFINITE_RECOVERY, ) oce.add(keys=OpCodes.SET_PARAMETER_SCALAR, info=Info.SET_PARAMETER_SCALAR) oce.add(keys=OpCodes.SET_PARAMETER_VECTOR, info=Info.SET_PARAMETER_VECTOR) oce.add(keys=OpCodes.SET_PARAMETER_MATRIX, info=Info.SET_PARAMETER_MATRIX) oce.add(keys=OpCodes.REQUEST_RAW_MGM_HK, info=Info.REQUEST_RAW_MGM_HK) oce.add(keys=OpCodes.ENABLE_RAW_MGM_HK, info=Info.ENABLE_RAW_MGM_HK) oce.add(keys=OpCodes.DISABLE_RAW_MGM_HK, info=Info.DISABLE_RAW_MGM_HK) oce.add(keys=OpCodes.REQUEST_PROC_MGM_HK, info=Info.REQUEST_PROC_MGM_HK) oce.add(keys=OpCodes.ENABLE_PROC_MGM_HK, info=Info.ENABLE_PROC_MGM_HK) oce.add(keys=OpCodes.DISABLE_PROC_MGM_HK, info=Info.DISABLE_PROC_MGM_HK) oce.add(keys=OpCodes.REQUEST_RAW_SUS_HK, info=Info.REQUEST_RAW_SUS_HK) oce.add(keys=OpCodes.ENABLE_RAW_SUS_HK, info=Info.ENABLE_RAW_SUS_HK) oce.add(keys=OpCodes.DISABLE_RAW_SUS_HK, info=Info.DISABLE_RAW_SUS_HK) oce.add(keys=OpCodes.REQUEST_PROC_SUS_HK, info=Info.REQUEST_PROC_SUS_HK) oce.add(keys=OpCodes.ENABLE_PROC_SUS_HK, info=Info.ENABLE_PROC_SUS_HK) oce.add(keys=OpCodes.DISABLE_PROC_SUS_HK, info=Info.DISABLE_PROC_SUS_HK) oce.add(keys=OpCodes.REQUEST_RAW_GYR_HK, info=Info.REQUEST_RAW_GYR_HK) oce.add(keys=OpCodes.ENABLE_RAW_GYR_HK, info=Info.ENABLE_RAW_GYR_HK) oce.add(keys=OpCodes.DISABLE_RAW_GYR_HK, info=Info.DISABLE_RAW_GYR_HK) oce.add(keys=OpCodes.REQUEST_PROC_GYR_HK, info=Info.REQUEST_PROC_GYR_HK) oce.add(keys=OpCodes.ENABLE_PROC_GYR_HK, info=Info.ENABLE_PROC_GYR_HK) oce.add(keys=OpCodes.DISABLE_PROC_GYR_HK, info=Info.DISABLE_PROC_GYR_HK) oce.add(keys=OpCodes.REQUEST_PROC_GPS_HK, info=Info.REQUEST_PROC_GPS_HK) oce.add(keys=OpCodes.ENABLE_PROC_GPS_HK, info=Info.ENABLE_PROC_GPS_HK) oce.add(keys=OpCodes.DISABLE_PROC_GPS_HK, info=Info.DISABLE_PROC_GPS_HK) oce.add(keys=OpCodes.REQUEST_MEKF_HK, info=Info.REQUEST_MEKF_HK) oce.add(keys=OpCodes.ENABLE_MEKF_HK, info=Info.ENABLE_MEKF_HK) oce.add(keys=OpCodes.DISABLE_MEKF_HK, info=Info.DISABLE_MEKF_HK) oce.add(keys=OpCodes.REQUEST_CTRL_VAL_HK, info=Info.REQUEST_CTRL_VAL_HK) oce.add(keys=OpCodes.ENABLE_CTRL_VAL_HK, info=Info.ENABLE_CTRL_VAL_HK) oce.add(keys=OpCodes.DISABLE_CTRL_VAL_HK, info=Info.DISABLE_CTRL_VAL_HK) oce.add(keys=OpCodes.REQUEST_ACT_CMD_HK, info=Info.REQUEST_ACT_CMD_HK) oce.add(keys=OpCodes.ENABLE_ACT_CMD_HK, info=Info.ENABLE_ACT_CMD_HK) oce.add(keys=OpCodes.DISABLE_ACT_CMD_HK, info=Info.DISABLE_ACT_CMD_HK) defs.add_service( name=CustomServiceList.ACS_CTRL.value, info="ACS Controller", op_code_entry=oce ) @service_provider(CustomServiceList.ACS_CTRL.value) def pack_acs_ctrl_command(p: ServiceProviderParams): op_code = p.op_code q = p.queue_helper if op_code in OpCodes.OFF: q.add_log_cmd(f"{Info.OFF}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, Mode.OFF, 0)) elif op_code in OpCodes.SAFE: q.add_log_cmd(f"{Info.SAFE}") q.add_pus_tc( pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DEFAULT) ) elif op_code in OpCodes.DTBL: q.add_log_cmd(f"{Info.DTBL}") q.add_pus_tc( pack_mode_command(ACS_CONTROLLER, AcsMode.SAFE, SafeSubmode.DETUMBLE) ) elif op_code in OpCodes.IDLE: q.add_log_cmd(f"{Info.IDLE}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.IDLE, 0)) elif op_code in OpCodes.NADIR: q.add_log_cmd(f"{Info.NADIR}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_NADIR, 0)) elif op_code in OpCodes.TARGET: q.add_log_cmd(f"{Info.TARGET}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET, 0)) elif op_code in OpCodes.GS: q.add_log_cmd(f"{Info.GS}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_TARGET_GS, 0)) elif op_code in OpCodes.INERTIAL: q.add_log_cmd(f"{Info.INERTIAL}") q.add_pus_tc(pack_mode_command(ACS_CONTROLLER, AcsMode.PTG_INERTIAL, 0)) elif op_code in OpCodes.SAFE_PTG: q.add_log_cmd(f"{Info.SAFE_PTG}") q.add_pus_tc( create_action_cmd( ACS_CONTROLLER, ActionId.SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL ) ) elif op_code in OpCodes.RESET_MEKF: q.add_log_cmd(f"{Info.RESET_MEKF}") q.add_pus_tc(create_action_cmd(ACS_CONTROLLER, ActionId.RESET_MEKF)) elif op_code in OpCodes.RESTORE_MEKF_NONFINITE_RECOVERY: q.add_log_cmd(f"{Info.RESTORE_MEKF_NONFINITE_RECOVERY}") q.add_pus_tc( create_action_cmd(ACS_CONTROLLER, ActionId.RESTORE_MEKF_NONFINITE_RECOVERY) ) elif op_code in OpCodes.SET_PARAMETER_SCALAR: q.add_log_cmd(f"{Info.SET_PARAMETER_SCALAR}") set_acs_ctrl_param_scalar(q) elif op_code in OpCodes.SET_PARAMETER_VECTOR: q.add_log_cmd(f"{Info.SET_PARAMETER_VECTOR}") set_acs_ctrl_param_vector(q) elif op_code in OpCodes.SET_PARAMETER_MATRIX: q.add_log_cmd(f"{Info.SET_PARAMETER_MATRIX}") set_acs_ctrl_param_matrix(q) elif op_code in OpCodes.REQUEST_RAW_MGM_HK: q.add_log_cmd(Info.REQUEST_RAW_MGM_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET)) ) elif op_code in OpCodes.ENABLE_RAW_MGM_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_RAW_MGM_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_RAW_MGM_HK: q.add_log_cmd(Info.DISABLE_RAW_MGM_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.MGM_RAW_SET) ) ) elif op_code in OpCodes.REQUEST_PROC_MGM_HK: q.add_log_cmd(Info.REQUEST_PROC_MGM_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET)) ) elif op_code in OpCodes.ENABLE_PROC_MGM_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_PROC_MGM_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_PROC_MGM_HK: q.add_log_cmd(Info.DISABLE_PROC_MGM_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.MGM_PROC_SET) ) ) elif op_code in OpCodes.REQUEST_RAW_SUS_HK: q.add_log_cmd(Info.REQUEST_RAW_SUS_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET)) ) elif op_code in OpCodes.ENABLE_RAW_SUS_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_RAW_SUS_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_RAW_SUS_HK: q.add_log_cmd(Info.DISABLE_RAW_SUS_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.SUS_RAW_SET) ) ) elif op_code in OpCodes.REQUEST_PROC_SUS_HK: q.add_log_cmd(Info.REQUEST_PROC_SUS_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET)) ) elif op_code in OpCodes.ENABLE_PROC_SUS_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_PROC_SUS_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_PROC_SUS_HK: q.add_log_cmd(Info.DISABLE_PROC_SUS_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.SUS_PROC_SET) ) ) elif op_code in OpCodes.REQUEST_RAW_GYR_HK: q.add_log_cmd(Info.REQUEST_RAW_GYR_HK) q.add_pus_tc( create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET)) ) elif op_code in OpCodes.ENABLE_RAW_GYR_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_RAW_GYR_HK) cmd_tuple = enable_periodic_hk_command_with_interval( True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_RAW_GYR_HK: q.add_log_cmd(Info.DISABLE_RAW_GYR_HK) q.add_pus_tc( disable_periodic_hk_command( True, make_sid(ACS_CONTROLLER, SetId.GYR_RAW_SET) ) ) elif op_code in OpCodes.REQUEST_PROC_GYR_HK: q.add_log_cmd(Info.REQUEST_PROC_GYR_HK) q.add_pus_tc( create_request_one_diag_command( make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET) ) ) elif op_code in OpCodes.ENABLE_PROC_GYR_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_PROC_GYR_HK) cmd_tuple = enable_periodic_hk_command_with_interval( True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_PROC_GYR_HK: q.add_log_cmd(Info.DISABLE_PROC_GYR_HK) q.add_pus_tc( disable_periodic_hk_command( True, make_sid(ACS_CONTROLLER, SetId.GYR_PROC_SET) ) ) elif op_code in OpCodes.REQUEST_PROC_GPS_HK: q.add_log_cmd(Info.REQUEST_PROC_GPS_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET)) ) elif op_code in OpCodes.ENABLE_PROC_GPS_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_PROC_GPS_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_PROC_GPS_HK: q.add_log_cmd(Info.DISABLE_PROC_GPS_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.GPS_PROC_SET) ) ) elif op_code in OpCodes.REQUEST_MEKF_HK: q.add_log_cmd(Info.REQUEST_MEKF_HK) q.add_pus_tc( create_request_one_diag_command(make_sid(ACS_CONTROLLER, SetId.MEKF_DATA)) ) elif op_code in OpCodes.ENABLE_MEKF_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_MEKF_HK) cmd_tuple = enable_periodic_hk_command_with_interval( True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_MEKF_HK: q.add_log_cmd(Info.DISABLE_MEKF_HK) q.add_pus_tc( disable_periodic_hk_command(True, make_sid(ACS_CONTROLLER, SetId.MEKF_DATA)) ) elif op_code in OpCodes.REQUEST_CTRL_VAL_HK: q.add_log_cmd(Info.REQUEST_CTRL_VAL_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA)) ) elif op_code in OpCodes.ENABLE_CTRL_VAL_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_CTRL_VAL_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_CTRL_VAL_HK: q.add_log_cmd(Info.DISABLE_CTRL_VAL_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.CTRL_VAL_DATA) ) ) elif op_code in OpCodes.REQUEST_ACT_CMD_HK: q.add_log_cmd(Info.REQUEST_ACT_CMD_HK) q.add_pus_tc( generate_one_hk_command(make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA)) ) elif op_code in OpCodes.ENABLE_ACT_CMD_HK: interval = float(input("Please specify interval in floating point seconds: ")) q.add_log_cmd(Info.ENABLE_ACT_CMD_HK) cmd_tuple = enable_periodic_hk_command_with_interval( False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA), interval ) q.add_pus_tc(cmd_tuple[0]) q.add_pus_tc(cmd_tuple[1]) elif op_code in OpCodes.DISABLE_ACT_CMD_HK: q.add_log_cmd(Info.DISABLE_ACT_CMD_HK) q.add_pus_tc( disable_periodic_hk_command( False, make_sid(ACS_CONTROLLER, SetId.ACTUATOR_CMD_DATA) ) ) else: logging.getLogger(__name__).info(f"Unknown op code {op_code}") def set_acs_ctrl_param_scalar(q: DefaultPusQueueHelper): pt = int( input( 'Specify parameter type to set {0: "uint8", 1: "uint16", 2: "int32", 3: "float", ' '4: "double"}: ' ) ) sid = int(input("Specify parameter struct ID to set: ")) pid = int(input("Specify parameter ID to set: ")) match pt: case 0: param = int(input("Specify parameter value to set: ")) q.add_pus_tc( create_load_param_cmd( create_scalar_u8_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameter=param, ).pack() ) ) case 1: param = int(input("Specify parameter value to set: ")) q.add_pus_tc( create_load_param_cmd( create_scalar_u16_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameter=param, ).pack() ) ) case 2: param = int(input("Specify parameter value to set: ")) q.add_pus_tc( create_load_param_cmd( create_scalar_i32_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameter=param, ).pack() ) ) case 3: param = float(input("Specify parameter value to set: ")) q.add_pus_tc( create_load_param_cmd( create_scalar_float_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameter=param, ).pack() ) ) case 4: param = float(input("Specify parameter value to set: ")) q.add_pus_tc( create_load_param_cmd( create_scalar_double_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameter=param, ).pack() ) ) def set_acs_ctrl_param_vector(q: DefaultPusQueueHelper): pt = int(input('Specify parameter type to set {0: "float", 1: "double"}: ')) sid = int(input("Specify parameter struct ID to set: ")) pid = int(input("Specify parameter ID to set: ")) match pt: case 0: elms = int(input("Specify number of elements in vector to set: ")) param = [] for _ in range(elms): param.append( float(input("Specify parameter vector entry value to set: ")) ) print(param) if input("Confirm selected parameter values (Y/N): ") == "Y": q.add_pus_tc( create_load_param_cmd( create_vector_float_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameters=param, ).pack() ) ) else: q.add_log_cmd("Aborted by user input") return case 1: elms = int(input("Specify number of elements in vector to set: ")) param = [] for _ in range(elms): param.append( float(input("Specify parameter vector entry value to set: ")) ) print(param) if input("Confirm selected parameter values (Y/N): ") == "Y": q.add_pus_tc( create_load_param_cmd( create_vector_double_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameters=param, ).pack() ) ) else: q.add_log_cmd("Aborted by user input") return def set_acs_ctrl_param_matrix(q: DefaultPusQueueHelper): pt = int(input('Specify parameter type to set {0: "float", 1: "double"}: ')) sid = int(input("Specify parameter struct ID to set: ")) pid = int(input("Specify parameter ID to set: ")) match pt: case 0: rows = int(input("Specify number of rows in matrix to set: ")) cols = int(input("Specify number of columns in matrix to set: ")) row = [] param = [] for _ in range(rows): for _ in range(cols): row.append( float(input("Specify parameter vector entry value to set: ")) ) param.append(row) print(param) if input("Confirm selected parameter values (Y/N): ") == "Y": q.add_pus_tc( create_load_param_cmd( create_matrix_float_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameters=param, ).pack() ) ) else: q.add_log_cmd("Aborted by user input") return case 1: rows = int(input("Specify number of rows in matrix to set: ")) cols = int(input("Specify number of columns in matrix to set: ")) row = [] param = [] for _ in range(rows): for _ in range(cols): row.append( float(input("Specify parameter vector entry value to set: ")) ) param.append(row) row = [] print(param) if input("Confirm selected parameter values (Y/N): ") == "Y": q.add_pus_tc( create_load_param_cmd( create_matrix_double_parameter( object_id=ACS_CONTROLLER, domain_id=sid, unique_id=pid, parameters=param, ).pack() ) ) else: q.add_log_cmd("Aborted by user input") return def handle_acs_ctrl_hk_data( printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes, packet_time: datetime.datetime, ): pw = PrintWrapper(printer) pw.ilog(_LOGGER, f"Received ACS CTRL HK with packet time {packet_time}") match set_id: case SetId.MGM_RAW_SET: handle_raw_mgm_data(pw, hk_data) case SetId.MGM_PROC_SET: handle_mgm_data_processed(pw, hk_data) case SetId.SUS_RAW_SET: handle_acs_ctrl_sus_raw_data(pw, hk_data) case SetId.SUS_PROC_SET: handle_acs_ctrl_sus_processed_data(pw, hk_data) case SetId.GYR_RAW_SET: handle_gyr_data_raw(pw, hk_data) case SetId.GYR_PROC_SET: handle_gyr_data_processed(pw, hk_data) case SetId.GPS_PROC_SET: handle_gps_data_processed(pw, hk_data) case SetId.MEKF_DATA: handle_mekf_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) def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes): if len(hk_data) < 6 * 2 * 12: pw.dlog( f"SUS Raw dataset with size {len(hk_data)} does not have expected size" f" of {6 * 2 * 12} bytes" ) return current_idx = 0 vec_fmt = "[" for _ in range(5): vec_fmt += "{:#06x}, " vec_fmt += "{:#06x}]" for idx in range(12): fmt_str = "!HHHHHH" length = struct.calcsize(fmt_str) sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length]) sus_list_formatted = vec_fmt.format(*sus_list) current_idx += length pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12) def handle_acs_ctrl_sus_processed_data(pw: PrintWrapper, hk_data: bytes): if len(hk_data) < 3 * 4 * 12 + 3 * 8 * 3: pw.dlog( f"SUS Processed dataset with size {len(hk_data)} does not have expected size" f" of {3 * 4 * 12 + 3 * 8 * 3} bytes" ) return current_idx = 0 vec_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]" for idx in range(12): fmt_str = "!fff" length = struct.calcsize(fmt_str) sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length]) sus_list_formatted = vec_fmt.format(*sus_list) current_idx += length pw.dlog(f"{f'SUS {idx} CALIB'.ljust(25)}: {sus_list_formatted}") fmt_str = "!ddd" inc_len = struct.calcsize(fmt_str) sus_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) sus_vec_tot = vec_fmt.format(*sus_vec_tot) current_idx += inc_len pw.dlog(f"{'SUS Vector Total'.ljust(25)}: {sus_vec_tot}") sus_vec_tot_deriv = struct.unpack( fmt_str, hk_data[current_idx : current_idx + inc_len] ) sus_vec_tot_deriv = vec_fmt.format(*sus_vec_tot_deriv) current_idx += inc_len pw.dlog(f"{'SUS Vector Derivative'.ljust(25)}: {sus_vec_tot_deriv}") sun_ijk_model = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) sun_ijk_model = vec_fmt.format(*sun_ijk_model) current_idx += inc_len pw.dlog(f"{'SUS ijk Model'.ljust(25)}: {sun_ijk_model}") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=15) def handle_raw_mgm_data(pw: PrintWrapper, hk_data: bytes): current_idx = 0 if len(hk_data) < 61: pw.dlog( f"ACS CTRL HK: MGM HK data with length {len(hk_data)} shorter than expected 61 bytes" ) pw.dlog(f"Raw Data: {hk_data.hex(sep=',')}") return def unpack_float_tuple(idx: int) -> (tuple, int): f_tuple = struct.unpack( float_tuple_fmt_str, hk_data[idx : idx + struct.calcsize(float_tuple_fmt_str)], ) idx += struct.calcsize(float_tuple_fmt_str) return f_tuple, idx float_tuple_fmt_str = "!fff" mgm_0_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx) mgm_1_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx) mgm_2_lis3_floats_ut, current_idx = unpack_float_tuple(current_idx) mgm_3_rm3100_floats_ut, current_idx = unpack_float_tuple(current_idx) isis_floats_nt, current_idx = unpack_float_tuple(current_idx) imtq_mgm_ut = tuple(val / 1000.0 for val in isis_floats_nt) pw.dlog("ACS CTRL HK: MGM values [X,Y,Z] in floating point uT: ") mgm_lists = [ mgm_0_lis3_floats_ut, mgm_1_rm3100_floats_ut, mgm_2_lis3_floats_ut, mgm_3_rm3100_floats_ut, imtq_mgm_ut, ] formatted_list = [] # Reserve 8 decimal digits, use precision 3 float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]" for mgm_entry in mgm_lists[0:4]: formatted_list.append(float_str_fmt.format(*mgm_entry)) formatted_list.append(float_str_fmt.format(*mgm_lists[4])) formatted_list.append(hk_data[current_idx]) print_str_list = [ "ACS Board MGM 0 LIS3MDL", "ACS Board MGM 1 RM3100", "ACS Board MGM 2 LIS3MDL", "ACS Board MGM 3 RM3100", "IMTQ MGM:", "IMTQ Actuation Status:", ] for entry in zip(print_str_list, formatted_list): pw.dlog(f"{entry[0].ljust(28)}: {entry[1]}") current_idx += 1 assert current_idx == 61 pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=6) def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes): pw.dlog("Received Processed MGM Set") fmt_str = "!fffffddd" inc_len = struct.calcsize(fmt_str) if len(hk_data) < inc_len: pw.dlog("Recieved HK set too small") return current_idx = 0 fmt_str = "!fff" vec_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]" inc_len = struct.calcsize(fmt_str) mgm_0 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) mgm_0_str = vec_fmt.format(*mgm_0) pw.dlog(f"{'MGM 0 Vec'.ljust(25)}: {mgm_0_str}") current_idx += inc_len mgm_1 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) mgm_1_str = vec_fmt.format(*mgm_1) pw.dlog(f"{'MGM 1 Vec'.ljust(25)}: {mgm_1_str}") current_idx += inc_len mgm_2 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) mgm_2_str = vec_fmt.format(*mgm_2) pw.dlog(f"{'MGM 2 Vec'.ljust(25)}: {mgm_2_str}") current_idx += inc_len mgm_3 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) mgm_3_str = vec_fmt.format(*mgm_3) pw.dlog(f"{'MGM 3 Vec'.ljust(25)}: {mgm_3_str}") current_idx += inc_len mgm_4 = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) mgm_4_str = vec_fmt.format(*mgm_4) pw.dlog(f"{'MGM 4 Vec'.ljust(25)}: {mgm_4_str}") current_idx += inc_len fmt_str = "!ddd" inc_len = struct.calcsize(fmt_str) mgm_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) mgm_vec_tot = vec_fmt.format(*mgm_vec_tot) current_idx += inc_len pw.dlog(f"{'MGM Total Vec'.ljust(25)}: {mgm_vec_tot}") mgm_vec_tot_deriv = struct.unpack( fmt_str, hk_data[current_idx : current_idx + inc_len] ) mgm_vec_tot_deriv = vec_fmt.format(*mgm_vec_tot_deriv) pw.dlog(f"{'MGM Total Vec Deriv'.ljust(25)}: {mgm_vec_tot_deriv}") current_idx += inc_len mag_igrf_model = struct.unpack( fmt_str, hk_data[current_idx : current_idx + inc_len] ) mag_igrf_model = vec_fmt.format(*mag_igrf_model) pw.dlog(f"{'MAG IGRF Model'.ljust(25)}: {mag_igrf_model}") current_idx += inc_len if PERFORM_MGM_CALIBRATION: perform_mgm_calibration(pw, mgm_3) pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=8) def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes): pw.dlog("Received GYR Raw Set with rotation rates in deg per second") float_fmt = "!fff" double_fmt = "!ddd" inc_len_flt = struct.calcsize(float_fmt) inc_len_double = struct.calcsize(double_fmt) if len(hk_data) < 2 * inc_len_double + 2 * inc_len_flt: pw.dlog("HK data too small") return current_idx = 0 float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]" gyr_0_adis = struct.unpack( double_fmt, hk_data[current_idx : current_idx + inc_len_double] ) current_idx += inc_len_double gyr_1_l3 = struct.unpack( float_fmt, hk_data[current_idx : current_idx + inc_len_flt] ) current_idx += inc_len_flt gyr_2_adis = struct.unpack( double_fmt, hk_data[current_idx : current_idx + inc_len_double] ) current_idx += inc_len_double gyr_3_l3 = struct.unpack( float_fmt, hk_data[current_idx : current_idx + inc_len_flt] ) current_idx += inc_len_flt pw.dlog(f"{'GYR 0 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_0_adis)}") 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)}") pw.printer.print_validity_buffer(hk_data[current_idx:], 4) GYR_NAMES = ["GYR 0 ADIS", "GYR 1 L3", "GYR 2 ADIS", "GYR 3 L3"] def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes): pw.dlog("Received GYR Processed Set with rotation rates in deg per second") fmt_str = "!ddd" inc_len = struct.calcsize(fmt_str) current_idx = 0 for i in range(4): gyr_vec = [ f"{val*180/math.pi:8.3f}" for val in struct.unpack( fmt_str, hk_data[current_idx : current_idx + inc_len] ) ] pw.dlog(f"{GYR_NAMES[i]}: {gyr_vec}") current_idx += inc_len gyr_vec_tot = [ f"{val*180/math.pi:8.3f}" for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len]) ] pw.dlog(f"GYR Vec Total: {gyr_vec_tot}") current_idx += inc_len pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=5) def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes): pw.dlog("Received GPS Processed Set") fmt_scalar = "!d" fmt_vec = "!ddd" inc_len_scalar = struct.calcsize(fmt_scalar) inc_len_vec = struct.calcsize(fmt_vec) if len(hk_data) < 2 * inc_len_scalar + 2 * inc_len_vec: pw.dlog("Received HK set too small") return current_idx = 0 lat = [ f"{val*180/math.pi:8.3f}" for val in struct.unpack( fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar] ) ] current_idx += inc_len_scalar long = [ f"{val*180/math.pi:8.3f}" for val in struct.unpack( fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar] ) ] current_idx += inc_len_scalar alt = [ f"{val:8.3f}" for val in struct.unpack( fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar] ) ] current_idx += inc_len_scalar pos = [ f"{val:8.3f}" for val in struct.unpack( fmt_vec, hk_data[current_idx : current_idx + inc_len_vec] ) ] current_idx += inc_len_vec velo = [ f"{val:8.3f}" for val in struct.unpack( fmt_vec, hk_data[current_idx : current_idx + inc_len_vec] ) ] current_idx += inc_len_vec pw.dlog(f"GPS Latitude: {lat} [deg]") pw.dlog(f"GPS Longitude: {long} [deg]") pw.dlog(f"GPS Altitude: {alt} [m]") pw.dlog(f"GPS Position: {pos} [m]") pw.dlog(f"GPS Velocity: {velo} [m/s]") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=4) def handle_mekf_data(pw: PrintWrapper, hk_data: bytes): mekf_status = { 0: "UNINITIALIZED", 1: "NO_GYR_DATA", 2: "NO_MODEL_VECTORS", 3: "NO_SUS_MGM_STR_DATA", 4: "COVARIANCE_INVERSION_FAILED", 5: "NOT_FINITE", 10: "INITIALIZED", 11: "RUNNING", } pw.dlog("Received MEKF Set") fmt_quat = "!dddd" fmt_str_4 = "[{:8.3f}, {:8.3f}, {:8.3f}, {:8.3f}]" fmt_str_3 = "[{:8.3f}, {:8.3f}, {:8.3f}]" fmt_vec = "!ddd" fmt_sts = "!B" 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") return current_idx = 0 quat = struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]) current_idx += inc_len_quat rates = [ rate * 180 / math.pi for rate in struct.unpack( fmt_vec, hk_data[current_idx : current_idx + inc_len_vec] ) ] current_idx += inc_len_vec status = struct.unpack(fmt_sts, hk_data[current_idx : current_idx + inc_len_sts])[0] current_idx += inc_len_sts if mekf_status.get(status) is not None: 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 Rotational Rate'.ljust(25)}: {fmt_str_3.format(*rates)}") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=3) def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes): safe_strat = { 0: "OFF", 1: "NO_MAG_FIELD_FOR_CONTROL", 2: "NO_SENSORS_FOR_CONTROL", 10: "ACTIVE_MEKF", 11: "WITHOUT_MEKF", 12: "ECLIPSE_DAMPING", 13: "ECLIPSE_IDELING", 20: "DETUMBLE_FULL", 21: "DETUMBLE_DETERIORATED", } pw.dlog("Received CTRL Values Set") fmt_strat = "!B" fmt_quat = "!dddd" fmt_scalar = "!d" fmt_vec = "!ddd" inc_len_strat = struct.calcsize(fmt_strat) inc_len_quat = struct.calcsize(fmt_quat) inc_len_scalar = struct.calcsize(fmt_scalar) inc_len_vec = struct.calcsize(fmt_vec) if len(hk_data) < inc_len_strat + 2 * inc_len_quat + inc_len_scalar + inc_len_vec: pw.dlog("Received HK set too small") return current_idx = 0 strat = struct.unpack( fmt_strat, hk_data[current_idx : current_idx + inc_len_strat] )[0] current_idx += inc_len_strat tgt_quat = [ f"{val:8.3f}" for val in struct.unpack( fmt_quat, hk_data[current_idx : current_idx + inc_len_quat] ) ] current_idx += inc_len_quat err_quat = [ f"{val:8.3f}" for val in struct.unpack( fmt_quat, hk_data[current_idx : current_idx + inc_len_quat] ) ] current_idx += inc_len_quat err_ang = [ f"{val*180/math.pi:8.3f}" for val in struct.unpack( fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar] ) ] current_idx += inc_len_scalar tgt_rot = [ f"{val*180/math.pi:8.3f}" for val in struct.unpack( fmt_vec, hk_data[current_idx : current_idx + inc_len_vec] ) ] current_idx += inc_len_vec if safe_strat.get(strat) is not None: pw.dlog(f"{'Safe Ctrl Strategy'.ljust(25)}: {safe_strat[strat]}") else: pw.dlog(f"{'Safe 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]") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=5) def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes): pw.dlog("Received Actuator Command Values Set") fmt_vec4_double = "!dddd" fmt_vec4_int32 = "!iiii" fmt_vec3_int16 = "!hhh" inc_len_vec4_double = struct.calcsize(fmt_vec4_double) inc_len_vec4_int32 = struct.calcsize(fmt_vec4_int32) inc_len_vec3_int16 = struct.calcsize(fmt_vec3_int16) if len(hk_data) < inc_len_vec4_double + inc_len_vec4_int32 + inc_len_vec3_int16: pw.dlog("Received HK set too small") return current_idx = 0 rw_tgt_torque = [ f"{val:8.3f}" for val in struct.unpack( fmt_vec4_double, hk_data[current_idx : current_idx + inc_len_vec4_double] ) ] current_idx += inc_len_vec4_double rw_tgt_speed = [ f"{val:d}" for val in struct.unpack( fmt_vec4_int32, hk_data[current_idx : current_idx + inc_len_vec4_int32] ) ] current_idx += inc_len_vec4_int32 mtq_tgt_dipole = [ f"{val:d}" for val in struct.unpack( fmt_vec3_int16, hk_data[current_idx : current_idx + inc_len_vec3_int16] ) ] current_idx += inc_len_vec3_int16 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}") pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=3) def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple): global CALIBR_SOCKET, CALIBRATION_ADDR try: declare_api_cmd = "declare_api_version 2" CALIBR_SOCKET.sendall(f"{declare_api_cmd}\n".encode()) reply = CALIBR_SOCKET.recv(1024) if len(reply) != 2: pw.dlog( f"MGM calibration: Reply received command {declare_api_cmd} has" f" invalid length {len(reply)}" ) return else: if str(reply[0]) == "0": pw.dlog(f"MGM calibration: API version 2 was not accepted") return if len(mgm_tuple) != 3: pw.dlog(f"MGM tuple has invalid length {len(mgm_tuple)}") mgm_list = [mgm / 1e6 for mgm in mgm_tuple] command = ( f"magnetometer_field {mgm_list[0]} {mgm_list[1]} {mgm_list[2]}\n".encode() ) CALIBR_SOCKET.sendall(command) reply = CALIBR_SOCKET.recv(1024) if len(reply) != 2: pw.dlog( f"MGM calibration: Reply received command magnetometer_field has invalid " f"length {len(reply)}" ) return else: if str(reply[0]) == "0": pw.dlog(f"MGM calibration: magnetmeter field format was not accepted") return pw.dlog(f"Sent data {mgm_list} to Helmholtz Testbench successfully") except socket.timeout: pw.dlog("Socket timeout") except BlockingIOError as e: pw.dlog(f"Error {e}") except ConnectionResetError as e: pw.dlog("Socket was closed") except ConnectionRefusedError or OSError: pw.dlog("Connecting to Calibration Socket on addrss {} failed")