220 lines
7.0 KiB
Python
220 lines
7.0 KiB
Python
# -*- coding: utf-8 -*-
|
|
"""reaction_wheels.py
|
|
@brief Tests for the reaction wheel handler
|
|
@author J. Meier
|
|
@date 20.06.2021
|
|
"""
|
|
import struct
|
|
|
|
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,
|
|
)
|
|
from spacepackets.ecss.tc import PusTelecommand
|
|
from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
|
|
from config.definitions import CustomServiceList
|
|
|
|
|
|
class OpCodesDevs:
|
|
SPEED = ["0", "speed"]
|
|
ON = ["1", "on"]
|
|
NML = ["2", "nml"]
|
|
OFF = ["3", "off"]
|
|
GET_STATUS = ["4", "status"]
|
|
GET_TM = ["5", "tm"]
|
|
|
|
|
|
class InfoDevs:
|
|
SPEED = "Set speed"
|
|
ON = "Set On"
|
|
NML = "Set Normal"
|
|
OFF = "Set Off"
|
|
GET_STATUS = "Get Status HK"
|
|
GET_TM = "Get TM HK"
|
|
|
|
|
|
class OpCodesAss:
|
|
ON = ["0", "on"]
|
|
NML = ["1", "nml"]
|
|
OFF = ["2", "off"]
|
|
|
|
|
|
class InfoAss:
|
|
ON = "Mode On: 3/4 RWs min. on"
|
|
NML = "Mode Normal: 3/4 RWs min. normal"
|
|
OFF = "Mode Off: All RWs off"
|
|
|
|
|
|
class RwSetIds:
|
|
STATUS_SET_ID = 4
|
|
TEMPERATURE_SET_ID = 8
|
|
LAST_RESET = 2
|
|
TM_SET = 9
|
|
|
|
|
|
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
|
|
|
|
|
|
@tmtc_definitions_provider
|
|
def add_rw_cmds(defs: TmtcDefinitionWrapper):
|
|
oce = OpCodeEntry()
|
|
oce.add(info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED)
|
|
oce.add(info=InfoDevs.ON, keys=OpCodesDevs.ON)
|
|
oce.add(info=InfoDevs.OFF, keys=OpCodesDevs.OFF)
|
|
oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
|
|
oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
|
|
oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
|
|
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)
|
|
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 in OpCodesDevs.SPEED:
|
|
speed = int(input("Specify speed [0.1 RPM]: "))
|
|
ramp_time = int(input("Specify ramp time [ms]: "))
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.SPEED}")
|
|
q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
|
|
|
|
if op_code in OpCodesDevs.ON:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
|
|
mode_data = pack_mode_data(object_id, Modes.ON, 0)
|
|
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
|
|
|
|
if op_code in OpCodesDevs.NML:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
|
|
mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
|
|
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
|
|
|
|
if op_code in OpCodesDevs.OFF:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
|
|
mode_data = pack_mode_data(object_id, Modes.OFF, 0)
|
|
q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
|
|
|
|
if op_code in OpCodesDevs.GET_TM:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
|
|
q.add_pus_tc(
|
|
generate_one_hk_command(
|
|
sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
|
|
)
|
|
)
|
|
if op_code in OpCodesDevs.GET_STATUS:
|
|
q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
|
|
q.add_pus_tc(
|
|
generate_one_diag_command(
|
|
sid=make_sid(object_id=object_id, set_id=RwSetIds.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=Modes.OFF, submode=0)
|
|
q.add_pus_tc(
|
|
PusTelecommand(
|
|
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
|
|
)
|
|
)
|
|
if op_code in OpCodesAss.ON:
|
|
data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
|
|
q.add_pus_tc(
|
|
PusTelecommand(
|
|
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
|
|
)
|
|
)
|
|
if op_code in OpCodesAss.NML:
|
|
data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
|
|
q.add_pus_tc(
|
|
PusTelecommand(
|
|
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
|
|
)
|
|
)
|
|
|
|
|
|
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 [-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 - 10000 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 > 10000 or ramp_time_ms < 10)
|
|
):
|
|
raise ValueError("Invalid Ramp Speed time. Allowed range is [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_ms.to_bytes(length=2, byteorder="big")
|
|
command = PusTelecommand(service=8, subservice=128, app_data=command)
|
|
return command
|