230 lines
7.5 KiB
Python
230 lines
7.5 KiB
Python
# -*- coding: utf-8 -*-
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"""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.tc import QueueHelper
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from tmtccmd.tc.pus_3_fsfw_hk import (
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generate_one_hk_command,
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generate_one_diag_command,
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make_sid,
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)
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from spacepackets.ecss.tc import PusTelecommand
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from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
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from config.definitions import CustomServiceList
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class OpCodesDevs:
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SPEED = ["0", "speed"]
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ON = ["1", "on"]
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NML = ["2", "nml"]
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OFF = ["3", "off"]
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GET_STATUS = ["4", "status"]
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GET_TM = ["5", "tm"]
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class InfoDevs:
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SPEED = "Set speed"
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ON = "Set On"
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NML = "Set Normal"
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OFF = "Set Off"
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GET_STATUS = "Get Status HK"
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GET_TM = "Get TM HK"
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class OpCodesAss:
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ON = ["0", "on"]
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NML = ["1", "nml"]
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OFF = ["2", "off"]
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class InfoAss:
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ON = "Mode On: 3/4 RWs min. on"
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NML = "Mode Normal: 3/4 RWs min. normal"
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OFF = "Mode Off: All RWs off"
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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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LAST_RESET = 2
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TM_SET = 9
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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 add_rw_cmds(cmd_dict: ServiceOpCodeDictT):
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op_code_dict = dict()
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add_op_code_entry(
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op_code_dict=op_code_dict, info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED
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)
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add_op_code_entry(op_code_dict=op_code_dict, info=InfoDevs.ON, keys=OpCodesDevs.ON)
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add_op_code_entry(
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op_code_dict=op_code_dict, info=InfoDevs.OFF, keys=OpCodesDevs.OFF
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)
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add_op_code_entry(
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op_code_dict=op_code_dict, info=InfoDevs.NML, keys=OpCodesDevs.NML
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)
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add_op_code_entry(
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op_code_dict=op_code_dict, info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS
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)
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add_op_code_entry(
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op_code_dict=op_code_dict, info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM
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)
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add_service_op_code_entry(
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srv_op_code_dict=cmd_dict,
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name=CustomServiceList.REACTION_WHEEL_1.value,
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op_code_entry=op_code_dict,
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info="Reaction Wheel 1",
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)
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add_service_op_code_entry(
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srv_op_code_dict=cmd_dict,
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name=CustomServiceList.REACTION_WHEEL_2.value,
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op_code_entry=op_code_dict,
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info="Reaction Wheel 2",
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)
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add_service_op_code_entry(
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srv_op_code_dict=cmd_dict,
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name=CustomServiceList.REACTION_WHEEL_3.value,
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op_code_entry=op_code_dict,
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info="Reaction Wheel 3",
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)
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add_service_op_code_entry(
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srv_op_code_dict=cmd_dict,
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name=CustomServiceList.REACTION_WHEEL_4.value,
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op_code_entry=op_code_dict,
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info="Reaction Wheel 4",
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)
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op_code_dict = dict()
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add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.ON, keys=OpCodesAss.ON)
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add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.NML, keys=OpCodesAss.NML)
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add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.OFF, keys=OpCodesAss.OFF)
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add_service_op_code_entry(
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srv_op_code_dict=cmd_dict,
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name=CustomServiceList.RW_ASSEMBLY.value,
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op_code_entry=op_code_dict,
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info="Reaction Wheel Assembly",
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)
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def pack_single_rw_test_into(
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object_id: bytes, rw_idx: int, q: QueueHelper, op_code: str
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) -> TcQueueT:
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if op_code in OpCodesDevs.SPEED:
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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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q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.SPEED}")
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q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
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if op_code in OpCodesDevs.ON:
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q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
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mode_data = pack_mode_data(object_id, Modes.ON, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
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if op_code in OpCodesDevs.NML:
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q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
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mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
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if op_code in OpCodesDevs.OFF:
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q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
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mode_data = pack_mode_data(object_id, Modes.OFF, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
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if op_code in OpCodesDevs.GET_TM:
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q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
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q.add_pus_tc(
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generate_one_hk_command(
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sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
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)
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)
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if op_code in OpCodesDevs.GET_STATUS:
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q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
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q.add_pus_tc(
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generate_one_diag_command(
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sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
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)
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)
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return q
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def pack_rw_ass_cmds(tc_queue: TcQueueT, object_id: bytes, op_code: str):
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if op_code in OpCodesAss.OFF:
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data = pack_mode_data(object_id=object_id, mode=Modes.OFF, submode=0)
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cmd = PusTelecommand(
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service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
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)
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tc_queue.appendleft(cmd.pack_command_tuple())
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if op_code in OpCodesAss.ON:
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data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
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cmd = PusTelecommand(
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service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
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)
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tc_queue.appendleft(cmd.pack_command_tuple())
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if op_code in OpCodesAss.NML:
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data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
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cmd = PusTelecommand(
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service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
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)
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tc_queue.appendleft(cmd.pack_command_tuple())
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def pack_set_speed_command(
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object_id: bytes, speed: int, ramp_time_ms: int
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) -> PusTelecommand:
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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
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specified in 0.1 * RPM
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:param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
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Valid times are 10 - 10000 ms
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"""
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if speed > 0:
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if speed < 1000 or speed > 65000:
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raise ValueError(
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"Invalid RW speed specified. "
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"Allowed range is [1000, 65000] 0.1 * RPM"
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)
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elif speed < 0:
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if speed < -65000 or speed > -1000:
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raise ValueError(
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"Invalid RW speed specified. "
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"Allowed range is [-65000, -1000] 0.1 * RPM"
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)
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else:
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# Speed is 0
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pass
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if ramp_time_ms < 0 or (
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ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
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):
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raise ValueError("Invalid Ramp Speed time. Allowed range is [10-10000] ms")
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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_ms.to_bytes(length=2, byteorder="big")
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command = PusTelecommand(service=8, subservice=128, app_data=command)
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return command
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