425 lines
15 KiB
Python
425 lines
15 KiB
Python
# -*- coding: utf-8 -*-
|
|
"""reaction_wheels.py
|
|
@brief Tests for the reaction wheel handler
|
|
@author J. Meier
|
|
@date 20.06.2021
|
|
"""
|
|
import enum
|
|
import struct
|
|
from typing import List
|
|
|
|
from eive_tmtc.pus_tm.defs import PrintWrapper
|
|
from eive_tmtc.config.object_ids import RW1_ID, RW2_ID, RW3_ID, RW4_ID
|
|
from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
|
|
from tmtccmd.config.tmtc import tmtc_definitions_provider
|
|
from tmtccmd.tc import DefaultPusQueueHelper
|
|
from tmtccmd.tc.pus_3_fsfw_hk import (
|
|
generate_one_hk_command,
|
|
generate_one_diag_command,
|
|
make_sid,
|
|
enable_periodic_hk_command_with_interval,
|
|
disable_periodic_hk_command,
|
|
)
|
|
from tmtccmd.tc.pus_8_fsfw_funccmd import create_action_cmd
|
|
from spacepackets.ecss.tc import PusTelecommand
|
|
from tmtccmd.tc.pus_200_fsfw_mode import pack_mode_data, Mode, Subservice
|
|
from eive_tmtc.config.definitions import CustomServiceList
|
|
from tmtccmd.util import ObjectIdU32
|
|
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
|
|
|
|
|
class OpCodesDev:
|
|
SPEED = "speed"
|
|
ON = "on"
|
|
NML = "nml"
|
|
OFF = "off"
|
|
GET_STATUS = "status"
|
|
GET_TM = "get_tm_set"
|
|
REQ_TM = "req_tm_set"
|
|
ENABLE_STATUS_HK = "enable_status_hk"
|
|
DISABLE_STATUS_HK = "disable_status_hk"
|
|
|
|
|
|
class InfoDev:
|
|
SPEED = "Set speed"
|
|
ON = "Set On"
|
|
NML = "Set Normal"
|
|
OFF = "Set Off"
|
|
GET_STATUS = "Get Status HK"
|
|
GET_TM = "Get TM HK"
|
|
REQ_TM = "Request TM HK"
|
|
ENABLE_STATUS_HK = "Enable Status HK"
|
|
DISABLE_STATUS_HK = "Disable Status HK"
|
|
|
|
|
|
class OpCodesAss:
|
|
ON = ["0", "on"]
|
|
NML = ["1", "nml"]
|
|
OFF = ["2", "off"]
|
|
ALL_SPEED_UP = ["3", "speed_up"]
|
|
ALL_SPEED_OFF = ["4", "speed_off"]
|
|
|
|
|
|
class ActionId:
|
|
REQUEST_TM = 9
|
|
|
|
|
|
class InfoAss:
|
|
ON = "Mode On: 3/4 RWs min. on"
|
|
NML = "Mode Normal: 3/4 RWs min. normal"
|
|
OFF = "Mode Off: All RWs off"
|
|
ALL_SPEED_UP = "Speed up consecutively"
|
|
ALL_SPEED_OFF = "Speed down to 0"
|
|
|
|
|
|
class RwSetId(enum.IntEnum):
|
|
STATUS_SET_ID = 4
|
|
TEMPERATURE_SET_ID = 8
|
|
LAST_RESET = 2
|
|
TM_SET = 9
|
|
|
|
|
|
class RwCommandId:
|
|
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
|
|
|
|
|
|
@tmtc_definitions_provider
|
|
def add_rw_cmds(defs: TmtcDefinitionWrapper):
|
|
oce = OpCodeEntry()
|
|
oce.add(info=InfoDev.SPEED, keys=OpCodesDev.SPEED)
|
|
oce.add(info=InfoDev.ON, keys=OpCodesDev.ON)
|
|
oce.add(info=InfoDev.OFF, keys=OpCodesDev.OFF)
|
|
oce.add(info=InfoDev.NML, keys=OpCodesDev.NML)
|
|
oce.add(info=InfoDev.REQ_TM, keys=OpCodesDev.REQ_TM)
|
|
oce.add(info=InfoDev.GET_STATUS, keys=OpCodesDev.GET_STATUS)
|
|
oce.add(info=InfoDev.GET_TM, keys=OpCodesDev.GET_TM)
|
|
oce.add(info=InfoDev.ENABLE_STATUS_HK, keys=OpCodesDev.ENABLE_STATUS_HK)
|
|
oce.add(info=InfoDev.DISABLE_STATUS_HK, keys=OpCodesDev.DISABLE_STATUS_HK)
|
|
defs.add_service(
|
|
name=CustomServiceList.REACTION_WHEEL_1.value,
|
|
info="Reaction Wheel 1",
|
|
op_code_entry=oce,
|
|
)
|
|
defs.add_service(
|
|
name=CustomServiceList.REACTION_WHEEL_2.value,
|
|
info="Reaction Wheel 2",
|
|
op_code_entry=oce,
|
|
)
|
|
defs.add_service(
|
|
name=CustomServiceList.REACTION_WHEEL_3.value,
|
|
info="Reaction Wheel 3",
|
|
op_code_entry=oce,
|
|
)
|
|
defs.add_service(
|
|
name=CustomServiceList.REACTION_WHEEL_4.value,
|
|
info="Reaction Wheel 4",
|
|
op_code_entry=oce,
|
|
)
|
|
oce = OpCodeEntry()
|
|
oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
|
|
oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
|
|
oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
|
|
oce.add(info=InfoAss.ALL_SPEED_UP, keys=OpCodesAss.ALL_SPEED_UP)
|
|
oce.add(info=InfoAss.ALL_SPEED_OFF, keys=OpCodesAss.ALL_SPEED_OFF)
|
|
defs.add_service(
|
|
name=CustomServiceList.RW_ASSEMBLY.value,
|
|
info="Reaction Wheel Assembly",
|
|
op_code_entry=oce,
|
|
)
|
|
|
|
|
|
def pack_single_rw_test_into(
|
|
object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
|
|
):
|
|
if op_code == OpCodesDev.SPEED:
|
|
speed, ramp_time = prompt_speed_ramp_time()
|
|
q.add_log_cmd(
|
|
f"RW {rw_idx}: {InfoDev.SPEED} with target "
|
|
f"speed {speed / 10.0} RPM and {ramp_time} ms ramp time"
|
|
)
|
|
q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
|
|
|
|
if op_code == OpCodesDev.ON:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.ON}")
|
|
mode_data = pack_mode_data(object_id, Mode.ON, 0)
|
|
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
|
|
|
|
if op_code == OpCodesDev.NML:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.NML}")
|
|
mode_data = pack_mode_data(object_id, Mode.NORMAL, 0)
|
|
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
|
|
|
|
if op_code == OpCodesDev.OFF:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.OFF}")
|
|
mode_data = pack_mode_data(object_id, Mode.OFF, 0)
|
|
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
|
|
|
|
if op_code == OpCodesDev.GET_TM:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.GET_TM}")
|
|
q.add_pus_tc(
|
|
generate_one_hk_command(
|
|
sid=make_sid(object_id=object_id, set_id=RwSetId.TM_SET)
|
|
)
|
|
)
|
|
if op_code == OpCodesDev.REQ_TM:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.REQ_TM}")
|
|
q.add_pus_tc(
|
|
create_action_cmd(object_id=object_id, action_id=ActionId.REQUEST_TM)
|
|
)
|
|
if op_code in OpCodesDev.GET_STATUS:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.GET_STATUS}")
|
|
q.add_pus_tc(
|
|
generate_one_diag_command(
|
|
sid=make_sid(object_id=object_id, set_id=RwSetId.STATUS_SET_ID)
|
|
)
|
|
)
|
|
if op_code in OpCodesDev.ENABLE_STATUS_HK:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.ENABLE_STATUS_HK}")
|
|
interval = float(input("Please enter HK interval in floating point seconds: "))
|
|
cmds = enable_periodic_hk_command_with_interval(
|
|
True, make_sid(object_id, RwSetId.STATUS_SET_ID), interval
|
|
)
|
|
for cmd in cmds:
|
|
q.add_pus_tc(cmd)
|
|
if op_code in OpCodesDev.DISABLE_STATUS_HK:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDev.DISABLE_STATUS_HK}")
|
|
q.add_pus_tc(
|
|
disable_periodic_hk_command(
|
|
True, make_sid(object_id, RwSetId.STATUS_SET_ID)
|
|
)
|
|
)
|
|
|
|
|
|
def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
|
|
if op_code in OpCodesAss.OFF:
|
|
data = pack_mode_data(object_id=object_id, mode=Mode.OFF, submode=0)
|
|
q.add_pus_tc(
|
|
PusTelecommand(
|
|
service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=data
|
|
)
|
|
)
|
|
if op_code in OpCodesAss.ON:
|
|
data = pack_mode_data(object_id=object_id, mode=Mode.ON, submode=0)
|
|
q.add_pus_tc(
|
|
PusTelecommand(
|
|
service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=data
|
|
)
|
|
)
|
|
if op_code in OpCodesAss.NML:
|
|
data = pack_mode_data(object_id=object_id, mode=Mode.NORMAL, submode=0)
|
|
q.add_pus_tc(
|
|
PusTelecommand(
|
|
service=200, subservice=Subservice.TC_MODE_COMMAND, app_data=data
|
|
)
|
|
)
|
|
if op_code in OpCodesAss.ALL_SPEED_UP:
|
|
speed, ramp_time = prompt_speed_ramp_time()
|
|
rw_speed_up_cmd_consec(q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], speed, ramp_time)
|
|
if op_code in OpCodesAss.ALL_SPEED_OFF:
|
|
rw_speed_down_cmd_consec(
|
|
q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], prompt_ramp_time()
|
|
)
|
|
|
|
|
|
def prompt_speed_ramp_time() -> (int, int):
|
|
speed = int(
|
|
input("Specify speed [0.1 RPM, 0 or range [-65000, -1000] and [1000, 65000]: ")
|
|
)
|
|
return speed, prompt_ramp_time()
|
|
|
|
|
|
def prompt_ramp_time() -> int:
|
|
return int(input("Specify ramp time [ms, range [10, 20000]]: "))
|
|
|
|
|
|
def pack_set_speed_command(
|
|
object_id: bytes, speed: int, ramp_time_ms: int
|
|
) -> PusTelecommand:
|
|
"""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 0, [-65000, -1000] and [1000, 65000]. Values are
|
|
specified in 0.1 * RPM
|
|
:param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
|
|
Valid times are 10 - 20000 ms
|
|
"""
|
|
if speed > 0:
|
|
if speed < 1000 or speed > 65000:
|
|
raise ValueError(
|
|
"Invalid RW speed specified. "
|
|
"Allowed range is [1000, 65000] 0.1 * RPM"
|
|
)
|
|
elif speed < 0:
|
|
if speed < -65000 or speed > -1000:
|
|
raise ValueError(
|
|
"Invalid RW speed specified. "
|
|
"Allowed range is [-65000, -1000] 0.1 * RPM"
|
|
)
|
|
else:
|
|
# Speed is 0
|
|
pass
|
|
|
|
if ramp_time_ms < 0 or (
|
|
ramp_time_ms > 0 and (ramp_time_ms > 20000 or ramp_time_ms < 10)
|
|
):
|
|
raise ValueError("Invalid Ramp Speed time. Allowed range is [10-20000] ms")
|
|
command_id = RwCommandId.SET_SPEED
|
|
command = bytearray()
|
|
command += object_id + command_id
|
|
command = command + struct.pack("!i", speed)
|
|
command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
|
|
command = PusTelecommand(service=8, subservice=128, app_data=command)
|
|
return command
|
|
|
|
|
|
def handle_rw_hk_data(
|
|
printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
|
|
):
|
|
|
|
pw = PrintWrapper(printer)
|
|
current_idx = 0
|
|
if set_id == RwSetId.STATUS_SET_ID:
|
|
pw.dlog(
|
|
f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
|
|
)
|
|
fmt_str = "!IiiBB"
|
|
inc_len = struct.calcsize(fmt_str)
|
|
(temp, speed, ref_speed, state, clc_mode) = struct.unpack(
|
|
fmt_str, hk_data[current_idx : current_idx + inc_len]
|
|
)
|
|
current_idx += inc_len
|
|
speed_rpm = speed / 10.0
|
|
ref_speed_rpm = ref_speed / 10.0
|
|
pw.dlog(
|
|
f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
|
|
)
|
|
pw.dlog(
|
|
f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
|
|
f"4: Running, speed changing"
|
|
)
|
|
pw.dlog(
|
|
f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
|
|
f"1: High Current Mode (0.6 A)"
|
|
)
|
|
printer.print_validity_buffer(hk_data[current_idx:], 5)
|
|
if set_id == RwSetId.LAST_RESET:
|
|
pw.dlog(
|
|
f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
|
|
)
|
|
fmt_str = "!BB"
|
|
inc_len = struct.calcsize(fmt_str)
|
|
(last_not_cleared_reset_status, current_reset_status) = struct.unpack(
|
|
fmt_str, hk_data[current_idx : current_idx + inc_len]
|
|
)
|
|
current_idx += inc_len
|
|
pw.dlog(
|
|
f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
|
|
f"Current Reset Status {current_reset_status}"
|
|
)
|
|
if set_id == RwSetId.TM_SET:
|
|
pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
|
|
fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
|
|
inc_len = struct.calcsize(fmt_str)
|
|
(
|
|
last_reset_status,
|
|
mcu_temp,
|
|
pressure_sens_temp,
|
|
pressure,
|
|
state,
|
|
clc_mode,
|
|
current_speed,
|
|
ref_speed,
|
|
num_invalid_crc_packets,
|
|
num_invalid_len_packets,
|
|
num_invalid_cmd_packets,
|
|
num_of_cmd_executed_requests,
|
|
num_of_cmd_replies,
|
|
uart_num_of_bytes_written,
|
|
uart_num_of_bytes_read,
|
|
uart_num_parity_errors,
|
|
uart_num_noise_errors,
|
|
uart_num_frame_errors,
|
|
uart_num_reg_overrun_errors,
|
|
uart_total_num_errors,
|
|
spi_num_bytes_written,
|
|
spi_num_bytes_read,
|
|
spi_num_reg_overrun_errors,
|
|
spi_total_num_errors,
|
|
) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
|
|
|
|
pw.dlog(
|
|
f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
|
|
)
|
|
pw.dlog(f"Last Reset Status {last_reset_status}")
|
|
pw.dlog(
|
|
f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
|
|
f"1: High Current Mode (0.6 A)"
|
|
)
|
|
pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
|
|
pw.dlog(
|
|
f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
|
|
f"4: Running, speed changing"
|
|
)
|
|
pw.dlog(f"Number Of Invalid Packets:")
|
|
pw.dlog("CRC | Length | CMD")
|
|
pw.dlog(
|
|
f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
|
|
)
|
|
pw.dlog(
|
|
f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
|
|
f"Num of CMD Replies {num_of_cmd_replies}"
|
|
)
|
|
pw.dlog("UART COM information:")
|
|
pw.dlog(
|
|
f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
|
|
f"RegOverrunErrs | TotalErrs"
|
|
)
|
|
pw.dlog(
|
|
f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
|
|
f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
|
|
f"{uart_total_num_errors}"
|
|
)
|
|
pw.dlog("SPI COM Info:")
|
|
pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
|
|
pw.dlog(
|
|
f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
|
|
f"{spi_total_num_errors}"
|
|
)
|
|
if current_idx > 0:
|
|
printer.print_validity_buffer(
|
|
validity_buffer=hk_data[current_idx:], num_vars=27
|
|
)
|
|
|
|
|
|
def rw_speed_up_cmd_consec(
|
|
q: DefaultPusQueueHelper, obids: List[bytes], speed: int, ramp_time: int
|
|
):
|
|
for oid in obids:
|
|
q.add_pus_tc(
|
|
pack_set_speed_command(object_id=oid, speed=speed, ramp_time_ms=ramp_time)
|
|
)
|
|
|
|
|
|
def rw_speed_down_cmd_consec(
|
|
q: DefaultPusQueueHelper, obids: List[bytes], ramp_time: int
|
|
):
|
|
for oid in obids:
|
|
q.add_pus_tc(
|
|
pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time)
|
|
)
|