# -*- 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.service_3_housekeeping import make_sid, generate_one_hk_command 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" or op_code == "1": 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 == "0" or op_code == "2": 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 == "0" or op_code == "3": 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 == "0" or op_code == "4": 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 == "0" or op_code == "5": 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 == "0" or op_code == "6": 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 == "0" or op_code == "7": 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) command = PusTelecommand(service=8, subservice=128, ssc=20, app_data=command) tc_queue.appendleft(command.pack_command_tuple()) if op_code == "0" or op_code == "8": 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()) return tc_queue def pack_dipole_command(object_id: bytearray, x_dipole: int, y_dipole: int, z_dipole: int, duration: int) -> bytearray: """ 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')) return command