eive-tmtc/pus_tc/devs/reaction_wheels.py
2022-03-04 10:41:05 +01:00

104 lines
3.7 KiB
Python

# -*- coding: utf-8 -*-
"""
@file reaction_wheels.py
@brief Tests for the reaction wheel handler
@author J. Meier
@date 20.06.2021
"""
import struct
from tmtccmd.config.definitions import QueueCommands
from tmtccmd.tc.packer import TcQueueT
from spacepackets.ecss.tc import PusTelecommand
from pus_tc.service_200_mode import pack_mode_data
class RwSetIds:
STATUS_SET_ID = 4
TEMPERATURE_SET_ID = 8
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
def pack_single_rw_test_into(
object_id: bytearray, tc_queue: TcQueueT, op_code: str
) -> TcQueueT:
tc_queue.appendleft(
(
QueueCommands.PRINT,
"Testing reaction wheel handler with object id: 0x" + object_id.hex(),
)
)
if op_code == "0" or op_code == "1":
speed = int(input("Specify speed [0.1 RPM]: "))
ramp_time = int(input("Specify ramp time [ms]: "))
tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Set speed"))
command = pack_set_speed_command(object_id, speed, ramp_time)
command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "2":
tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Switch to mode on"))
mode_data = pack_mode_data(object_id, 1, 0)
command = PusTelecommand(service=200, subservice=1, ssc=41, app_data=mode_data)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "3":
tc_queue.appendleft(
(QueueCommands.PRINT, "Reaction Wheel: Switch to mode normal")
)
mode_data = pack_mode_data(object_id, 2, 0)
command = PusTelecommand(service=200, subservice=1, ssc=42, app_data=mode_data)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "4":
tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Switch to mode off"))
mode_data = pack_mode_data(object_id, 0, 0)
command = PusTelecommand(service=200, subservice=1, ssc=43, app_data=mode_data)
tc_queue.appendleft(command.pack_command_tuple())
if op_code == "5":
tc_queue.appendleft(
(QueueCommands.PRINT, "Reaction Wheel: Send get-telemetry-command")
)
command = object_id + RwCommandIds.GET_TM
command = PusTelecommand(service=8, subservice=128, ssc=44, app_data=command)
tc_queue.appendleft(command.pack_command_tuple())
return tc_queue
def pack_set_speed_command(
object_id: bytearray, speed: int, ramp_time: int
) -> bytearray:
"""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 The time after which the reaction wheel will reached the commanded speed. Valid times are
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.to_bytes(length=2, byteorder="big")
return command