493 lines
19 KiB
Python
493 lines
19 KiB
Python
# -*- coding: utf-8 -*-
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"""
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@file imtq.py
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@brief Tests for the ISIS IMTQ (Magnettorquer) device handler
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@author J. Meier
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@date 25.03.2021
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"""
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import struct
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from typing import List
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from eive_tmtc.config.definitions import CustomServiceList
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from eive_tmtc.pus_tm.defs import PrintWrapper
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from spacepackets.ecss.tc import PusTelecommand
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from tmtccmd.config.tmtc import (
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tmtc_definitions_provider,
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OpCodeEntry,
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TmtcDefinitionWrapper,
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)
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from tmtccmd.tc import DefaultPusQueueHelper
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from tmtccmd.tc.pus_3_fsfw_hk import (
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make_sid,
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generate_one_diag_command,
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generate_one_hk_command,
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)
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from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
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from tmtccmd.util import ObjectIdU32
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from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
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class OpCode:
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ON = ["on"]
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NORMAL = ["normal"]
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OFF = ["off"]
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SET_DIPOLE = ["set_dipole"]
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class ImtqSetId:
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ENG_HK_SET = 1
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CAL_MTM_SET = 2
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RAW_MTM_SET = 3
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POSITIVE_X_TEST = 4
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NEGATIVE_X_TEST = 5
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POSITIVE_Y_TEST = 6
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NEGATIVE_Y_TEST = 7
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POSITIVE_Z_TEST = 8
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NEGATIVE_Z_TEST = 9
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class ImtqActionId:
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start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
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get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
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perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
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perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
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perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
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perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
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perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
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perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
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# Initiates the reading of the last performed self test. After sending this command the results
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# can be downlinked via the housekeeping service by using the appropriate set ids listed above.
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read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
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@tmtc_definitions_provider
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def add_imtq_cmds(defs: TmtcDefinitionWrapper):
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oce = OpCodeEntry()
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oce.add(OpCode.OFF, "Mode Off")
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oce.add(OpCode.ON, "Mode On")
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oce.add(OpCode.NORMAL, "Mode Normal")
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oce.add("3", "IMTQ perform pos X self test")
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oce.add("4", "IMTQ perform neg X self test")
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oce.add("5", "IMTQ perform pos Y self test")
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oce.add("6", "IMTQ perform neg Y self test")
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oce.add("7", "IMTQ perform pos Z self test")
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oce.add("8", "IMTQ perform neg Z self test")
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oce.add(OpCode.SET_DIPOLE, "IMTQ command dipole")
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oce.add("10", "IMTQ get commanded dipole")
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oce.add("11", "IMTQ get engineering hk set")
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oce.add("12", "IMTQ get calibrated MTM measurement one shot")
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oce.add("13", "IMTQ get raw MTM measurement one shot")
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defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
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def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
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q.add_log_cmd(
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f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
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)
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if op_code in OpCode.OFF:
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q.add_log_cmd("IMTQ: Set mode off")
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command = pack_mode_data(object_id.as_bytes, Modes.OFF, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
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if op_code in OpCode.ON:
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q.add_log_cmd("IMTQ: Set mode on")
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command = pack_mode_data(object_id.as_bytes, Modes.ON, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
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if op_code in OpCode.NORMAL:
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q.add_log_cmd("IMTQ: Mode Normal")
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command = pack_mode_data(object_id.as_bytes, Modes.NORMAL, 0)
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q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
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if op_code == "3":
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q.add_log_cmd("IMTQ: Perform positive x self test")
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command = object_id.as_bytes + ImtqActionId.perform_positive_x_test
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Initiate reading of positive x self test results")
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command = object_id.as_bytes + ImtqActionId.read_self_test_results
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Request dataset with positive x self test results")
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sid = make_sid(object_id.as_bytes, ImtqSetId.POSITIVE_X_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code == "4":
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q.add_log_cmd("IMTQ: Perform negative x self test")
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command = object_id.as_bytes + ImtqActionId.perform_negative_x_test
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Initiate reading of negative x self test results")
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command = object_id.as_bytes + ImtqActionId.read_self_test_results
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Request dataset with negative x self test results")
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sid = make_sid(object_id.as_bytes, ImtqSetId.NEGATIVE_X_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code == "5":
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q.add_log_cmd("IMTQ: Perform positive y self test")
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command = object_id.as_bytes + ImtqActionId.perform_positive_y_test
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Initiate reading of positive y self test results")
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command = object_id.as_bytes + ImtqActionId.read_self_test_results
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Request dataset with positive y self test results")
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sid = make_sid(object_id.as_bytes, ImtqSetId.POSITIVE_Y_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code == "6":
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q.add_log_cmd("IMTQ: Perform negative y self test")
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command = object_id.as_bytes + ImtqActionId.perform_negative_y_test
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Initiate reading of negative y self test results")
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command = object_id.as_bytes + ImtqActionId.read_self_test_results
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Request dataset with negative y self test results")
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sid = make_sid(object_id.as_bytes, ImtqSetId.NEGATIVE_Y_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code == "7":
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q.add_log_cmd("IMTQ: Perform positive z self test")
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command = object_id.as_bytes + ImtqActionId.perform_positive_z_test
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Initiate reading of positive z self test results")
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command = object_id.as_bytes + ImtqActionId.read_self_test_results
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Request dataset with positive z self test results")
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sid = make_sid(object_id.as_bytes, ImtqSetId.POSITIVE_Y_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code == "8":
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q.add_log_cmd("IMTQ: Perform negative z self test")
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command = object_id.as_bytes + ImtqActionId.perform_negative_z_test
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Initiate reading of negative z self test results")
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command = object_id.as_bytes + ImtqActionId.read_self_test_results
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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q.add_log_cmd("IMTQ: Request dataset with negative z self test results")
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sid = make_sid(object_id.as_bytes, ImtqSetId.NEGATIVE_Z_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code in OpCode.SET_DIPOLE:
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x_dipole = int(input("Specify X dipole [range [0, 2000] * 10^-4 * Am^2]: "))
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y_dipole = int(input("Specify Y dipole [range [0, 2000] * 10^-4 * Am^2]: "))
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z_dipole = int(input("Specify Z dipole [range [0, 2000] * 10^-4 * Am^2]: "))
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duration = int(
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input(
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f"Specify torque duration [range [0, {pow(2, 16) - 1}, "
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f"0 for continuous generation until update]: "
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)
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)
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dur_str = "infinite" if duration == 0 else str(duration)
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q.add_log_cmd(
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f"IMTQ: Commanding dipole X={x_dipole}, Y={y_dipole}, Z={y_dipole}, duration={dur_str}"
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)
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q.add_pus_tc(
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pack_dipole_command(
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object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
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)
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)
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if op_code == "10":
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q.add_log_cmd("IMTQ: Get commanded dipole")
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command = object_id.as_bytes + ImtqActionId.get_commanded_dipole
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q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
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if op_code == "11":
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q.add_log_cmd("IMTQ: Get engineering hk set")
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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.as_bytes, set_id=ImtqSetId.ENG_HK_SET)
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)
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)
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if op_code == "12":
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q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
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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.as_bytes, set_id=ImtqSetId.CAL_MTM_SET)
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)
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)
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if op_code == "13":
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q.add_log_cmd("IMTQ: Get raw MTM hk set")
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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.as_bytes, set_id=ImtqSetId.RAW_MTM_SET)
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)
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)
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def pack_dipole_command(
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object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
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) -> PusTelecommand:
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"""This function packs the command causing the ISIS IMTQ to generate a dipole.
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:param object_id: The object id of the IMTQ handler.
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:param x_dipole: The dipole of the x coil in 10^-4*Am^2 (max. 2000)
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:param y_dipole: The dipole of the y coil in 10^-4*Am^2 (max. 2000)
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:param z_dipole: The dipole of the z coil in 10^-4*Am^2 (max. 2000)
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:param duration: The duration in milliseconds the dipole will be generated by the coils.
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When set to 0, the dipole will be generated until a new dipole actuation
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command is sent.
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"""
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action_id = ImtqActionId.start_actuation_dipole
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command = object_id + action_id
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x_dipole = int(round(x_dipole))
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y_dipole = int(round(y_dipole))
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z_dipole = int(round(z_dipole))
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if x_dipole < -2000 or x_dipole > 2000:
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raise_dipole_error("X dipole", x_dipole)
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if y_dipole < -2000 or y_dipole > 2000:
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raise_dipole_error("Y dipole", y_dipole)
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if z_dipole < -2000 or z_dipole > 2000:
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raise_dipole_error("Z dipole", z_dipole)
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duration = int(round(duration))
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if duration < 0 or duration > pow(2, 16) - 1:
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raise ValueError(
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f"Duration in ms of {duration} smaller than 0 or larger than allowed {pow(2, 16) - 1}"
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)
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command += struct.pack("!h", x_dipole)
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command += struct.pack("!h", y_dipole)
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command += struct.pack("!h", z_dipole)
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command += struct.pack("!H", duration)
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command = PusTelecommand(service=8, subservice=128, app_data=command)
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return command
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def raise_dipole_error(dipole_str: str, value: int):
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raise ValueError(
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f"{dipole_str} {value} negative or larger than maximum allowed 2000 * 10^-4*Am^2"
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)
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ENG_HK_HEADERS = [
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"Digital Voltage [mV]",
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"Analog Voltage [mV]",
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"Digital Current [mA]",
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"Analog Current [mA]",
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"Coil Current X [mA]",
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"Coil Current Y [mA]",
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"Coil Current Z [mA]",
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"Coil X Temperature [°C]",
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"Coil Y Temperature [°C]",
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"Coil Z Temperature [°C]",
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"MCU Temperature [°C]",
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]
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def unpack_eng_hk(hk_data: bytes) -> List:
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digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
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analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
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digital_current = struct.unpack("!f", hk_data[4:8])[0]
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analog_current = struct.unpack("!f", hk_data[8:12])[0]
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coil_x_current = struct.unpack("!f", hk_data[12:16])[0]
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coil_y_current = struct.unpack("!f", hk_data[16:20])[0]
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coil_z_current = struct.unpack("!f", hk_data[20:24])[0]
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coil_x_temperature = struct.unpack("!h", hk_data[24:26])[0]
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coil_y_temperature = struct.unpack("!h", hk_data[26:28])[0]
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coil_z_temperature = struct.unpack("!h", hk_data[28:30])[0]
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mcu_temperature = struct.unpack("!h", hk_data[30:32])[0]
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content_list = [
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digital_voltage,
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analog_voltage,
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digital_current,
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analog_current,
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coil_x_current,
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coil_y_current,
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coil_z_current,
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coil_x_temperature,
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coil_y_temperature,
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coil_z_temperature,
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mcu_temperature,
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]
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return content_list
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def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
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pw = PrintWrapper(printer)
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content_list = unpack_eng_hk(hk_data)
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validity_buffer = hk_data[32:]
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num_of_vars = len(ENG_HK_HEADERS)
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pw.dlog(str(ENG_HK_HEADERS))
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pw.dlog(str(content_list))
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printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
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def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
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pw = PrintWrapper(printer)
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header_list = [
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"Calibrated MTM X [nT]",
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"Calibrated MTM Y [nT]",
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"Calibrated MTM Z [nT]",
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"Coil actuation status",
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]
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mtm_x = struct.unpack("!I", hk_data[0:4])[0]
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mtm_y = struct.unpack("!I", hk_data[4:8])[0]
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mtm_z = struct.unpack("!I", hk_data[8:12])[0]
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coil_actuation_status = hk_data[12]
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validity_buffer = hk_data[12:]
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content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
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num_of_vars = len(header_list)
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pw.dlog(str(header_list))
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pw.dlog(str(content_list))
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printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
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def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
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pw = PrintWrapper(printer)
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header_list = [
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"Raw MTM X [nT]",
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"Raw MTM Y [nT]",
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"Raw MTM Z [nT]",
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"Coil actuation status",
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]
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mtm_x = struct.unpack("!f", hk_data[0:4])[0]
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mtm_y = struct.unpack("!f", hk_data[4:8])[0]
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mtm_z = struct.unpack("!f", hk_data[8:12])[0]
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coil_actuation_status = hk_data[12]
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validity_buffer = hk_data[13:]
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content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
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num_of_vars = 2
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pw.dlog(str(header_list))
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pw.dlog(str(content_list))
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printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
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def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
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pw = PrintWrapper(printer)
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header_list = [
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"Init Err",
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"Init Raw Mag X [nT]",
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"Init Raw Mag Y [nT]",
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"Init Raw Mag Z [nT]",
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"Init Cal Mag X [nT]",
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"Init Cal Mag Y [nT]",
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"Init Cal Mag Z [nT]",
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"Init Coil X Current [mA]",
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"Init Coil Y Current [mA]",
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"Init Coil Z Current [mA]",
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"Init Coil X Temperature [°C]",
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"Init Coil Y Temperature [°C]",
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"Init Coil Z Temperature [°C]",
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"Err",
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"Raw Mag X [nT]",
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"Raw Mag Y [nT]",
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"Raw Mag Z [nT]",
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"Cal Mag X [nT]",
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"Cal Mag Y [nT]",
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"Cal Mag Z [nT]",
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"Coil X Current [mA]",
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"Coil Y Current [mA]",
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"Coil Z Current [mA]",
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"Coil X Temperature [°C]",
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"Coil Y Temperature [°C]",
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"Coil Z Temperature [°C]",
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"Fina Err",
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"Fina Raw Mag X [nT]",
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"Fina Raw Mag Y [nT]",
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"Fina Raw Mag Z [nT]",
|
|
"Fina Cal Mag X [nT]",
|
|
"Fina Cal Mag Y [nT]",
|
|
"Fina Cal Mag Z [nT]",
|
|
"Fina Coil X Current [mA]",
|
|
"Fina Coil Y Current [mA]",
|
|
"Fina Coil Z Current [mA]",
|
|
"Fina Coil X Temperature [°C]",
|
|
"Fina Coil Y Temperature [°C]",
|
|
"Fina Coil Z Temperature [°C]",
|
|
]
|
|
# INIT step (no coil actuation)
|
|
init_err = hk_data[0]
|
|
init_raw_mag_x = struct.unpack("!f", hk_data[1:5])[0]
|
|
init_raw_mag_y = struct.unpack("!f", hk_data[5:9])[0]
|
|
init_raw_mag_z = struct.unpack("!f", hk_data[9:13])[0]
|
|
init_cal_mag_x = struct.unpack("!f", hk_data[13:17])[0]
|
|
init_cal_mag_y = struct.unpack("!f", hk_data[17:21])[0]
|
|
init_cal_mag_z = struct.unpack("!f", hk_data[21:25])[0]
|
|
init_coil_x_current = struct.unpack("!f", hk_data[25:29])[0]
|
|
init_coil_y_current = struct.unpack("!f", hk_data[29:33])[0]
|
|
init_coil_z_current = struct.unpack("!f", hk_data[33:37])[0]
|
|
init_coil_x_temperature = struct.unpack("!H", hk_data[37:39])[0]
|
|
init_coil_y_temperature = struct.unpack("!H", hk_data[39:41])[0]
|
|
init_coil_z_temperature = struct.unpack("!H", hk_data[41:43])[0]
|
|
|
|
# Actuation step
|
|
err = hk_data[43]
|
|
raw_mag_x = struct.unpack("!f", hk_data[44:48])[0]
|
|
raw_mag_y = struct.unpack("!f", hk_data[48:52])[0]
|
|
raw_mag_z = struct.unpack("!f", hk_data[52:56])[0]
|
|
cal_mag_x = struct.unpack("!f", hk_data[56:60])[0]
|
|
cal_mag_y = struct.unpack("!f", hk_data[60:64])[0]
|
|
cal_mag_z = struct.unpack("!f", hk_data[64:68])[0]
|
|
coil_x_current = struct.unpack("!f", hk_data[68:72])[0]
|
|
coil_y_current = struct.unpack("!f", hk_data[72:76])[0]
|
|
coil_z_current = struct.unpack("!f", hk_data[76:80])[0]
|
|
coil_x_temperature = struct.unpack("!H", hk_data[80:82])[0]
|
|
coil_y_temperature = struct.unpack("!H", hk_data[82:84])[0]
|
|
coil_z_temperature = struct.unpack("!H", hk_data[84:86])[0]
|
|
|
|
# FINA step (no coil actuation)
|
|
fina_err = hk_data[86]
|
|
fina_raw_mag_x = struct.unpack("!f", hk_data[87:91])[0]
|
|
fina_raw_mag_y = struct.unpack("!f", hk_data[91:95])[0]
|
|
fina_raw_mag_z = struct.unpack("!f", hk_data[95:99])[0]
|
|
fina_cal_mag_x = struct.unpack("!f", hk_data[99:103])[0]
|
|
fina_cal_mag_y = struct.unpack("!f", hk_data[103:107])[0]
|
|
fina_cal_mag_z = struct.unpack("!f", hk_data[107:111])[0]
|
|
fina_coil_x_current = struct.unpack("!f", hk_data[111:115])[0]
|
|
fina_coil_y_current = struct.unpack("!f", hk_data[115:119])[0]
|
|
fina_coil_z_current = struct.unpack("!f", hk_data[119:123])[0]
|
|
fina_coil_x_temperature = struct.unpack("!H", hk_data[123:125])[0]
|
|
fina_coil_y_temperature = struct.unpack("!H", hk_data[125:127])[0]
|
|
fina_coil_z_temperature = struct.unpack("!H", hk_data[127:129])[0]
|
|
|
|
validity_buffer = hk_data[129:]
|
|
content_list = [
|
|
init_err,
|
|
init_raw_mag_x,
|
|
init_raw_mag_y,
|
|
init_raw_mag_z,
|
|
init_cal_mag_x,
|
|
init_cal_mag_y,
|
|
init_cal_mag_z,
|
|
init_coil_x_current,
|
|
init_coil_y_current,
|
|
init_coil_z_current,
|
|
init_coil_x_temperature,
|
|
init_coil_y_temperature,
|
|
init_coil_z_temperature,
|
|
err,
|
|
raw_mag_x,
|
|
init_raw_mag_y,
|
|
raw_mag_z,
|
|
cal_mag_x,
|
|
cal_mag_y,
|
|
cal_mag_z,
|
|
coil_x_current,
|
|
coil_y_current,
|
|
coil_z_current,
|
|
coil_x_temperature,
|
|
coil_y_temperature,
|
|
coil_z_temperature,
|
|
fina_err,
|
|
fina_raw_mag_x,
|
|
fina_raw_mag_y,
|
|
fina_raw_mag_z,
|
|
fina_cal_mag_x,
|
|
fina_cal_mag_y,
|
|
fina_cal_mag_z,
|
|
fina_coil_x_current,
|
|
fina_coil_y_current,
|
|
fina_coil_z_current,
|
|
fina_coil_x_temperature,
|
|
fina_coil_y_temperature,
|
|
fina_coil_z_temperature,
|
|
]
|
|
num_of_vars = len(header_list)
|
|
pw.dlog(str(header_list))
|
|
pw.dlog(str(content_list))
|
|
printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
|