104 lines
3.7 KiB
Python
104 lines
3.7 KiB
Python
# -*- coding: utf-8 -*-
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"""
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@file reaction_wheels.py
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@brief Tests for the reaction wheel handler
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@author J. Meier
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@date 20.06.2021
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"""
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import struct
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from tmtccmd.config.definitions import QueueCommands
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from tmtccmd.tc.packer import TcQueueT
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from spacepackets.ecss.tc import PusTelecommand
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from pus_tc.service_200_mode import pack_mode_data
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class RwSetIds:
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STATUS_SET_ID = 4
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TEMPERATURE_SET_ID = 8
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class RwCommandIds:
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RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
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# Reads status information from reaction wheel into dataset with id 4
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GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
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INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
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SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
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# Reads temperature from reaction wheel into dataset with id 8
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GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
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GET_TM = bytearray([0x0, 0x0, 0x0, 0x09])
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class SpeedDefinitions:
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RPM_100 = 1000
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RPM_5000 = 5000
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class RampTime:
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MS_1000 = 1000
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def pack_single_rw_test_into(
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object_id: bytearray, tc_queue: TcQueueT, op_code: str
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) -> TcQueueT:
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tc_queue.appendleft(
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(
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QueueCommands.PRINT,
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"Testing reaction wheel handler with object id: 0x" + object_id.hex(),
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)
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)
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if op_code == "0" or op_code == "1":
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speed = int(input("Specify speed [0.1 RPM]: "))
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ramp_time = int(input("Specify ramp time [ms]: "))
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tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Set speed"))
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command = pack_set_speed_command(object_id, speed, ramp_time)
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command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
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tc_queue.appendleft(command.pack_command_tuple())
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if op_code == "2":
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tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Switch to mode on"))
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mode_data = pack_mode_data(object_id, 1, 0)
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command = PusTelecommand(service=200, subservice=1, ssc=41, app_data=mode_data)
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tc_queue.appendleft(command.pack_command_tuple())
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if op_code == "3":
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tc_queue.appendleft(
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(QueueCommands.PRINT, "Reaction Wheel: Switch to mode normal")
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)
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mode_data = pack_mode_data(object_id, 2, 0)
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command = PusTelecommand(service=200, subservice=1, ssc=42, app_data=mode_data)
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tc_queue.appendleft(command.pack_command_tuple())
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if op_code == "4":
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tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Switch to mode off"))
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mode_data = pack_mode_data(object_id, 0, 0)
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command = PusTelecommand(service=200, subservice=1, ssc=43, app_data=mode_data)
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tc_queue.appendleft(command.pack_command_tuple())
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if op_code == "5":
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tc_queue.appendleft(
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(QueueCommands.PRINT, "Reaction Wheel: Send get-telemetry-command")
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)
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command = object_id + RwCommandIds.GET_TM
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command = PusTelecommand(service=8, subservice=128, ssc=44, app_data=command)
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tc_queue.appendleft(command.pack_command_tuple())
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return tc_queue
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def pack_set_speed_command(
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object_id: bytearray, speed: int, ramp_time: int
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) -> bytearray:
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"""With this function a command is packed to set the speed of a reaction wheel
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@param object_id The object id of the reaction wheel handler.
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@param speed Valid speeds are [-65000, -1000] and [1000, 65000]. Values are specified in 0.1 * RPM
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@param ramp_time The time after which the reaction wheel will reached the commanded speed. Valid times are
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10 - 10000 ms
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"""
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command_id = RwCommandIds.SET_SPEED
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command = bytearray()
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command = object_id + command_id
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command = command + struct.pack("!i", speed)
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command = command + ramp_time.to_bytes(length=2, byteorder="big")
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return command
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