264 lines
11 KiB
Python
264 lines
11 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 config.definitions import CustomServiceList
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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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class OpCodes:
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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 ImtqSetIds:
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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 ImtqActionIds:
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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(OpCodes.OFF, "Mode Off")
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oce.add(OpCodes.ON, "Mode On")
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oce.add(OpCodes.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(OpCodes.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 OpCodes.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 OpCodes.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 OpCodes.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 + ImtqActionIds.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 + ImtqActionIds.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, ImtqSetIds.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 + ImtqActionIds.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 + ImtqActionIds.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, ImtqSetIds.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 + ImtqActionIds.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 + ImtqActionIds.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, ImtqSetIds.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 + ImtqActionIds.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 + ImtqActionIds.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, ImtqSetIds.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 + ImtqActionIds.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 + ImtqActionIds.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, ImtqSetIds.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 + ImtqActionIds.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 + ImtqActionIds.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, ImtqSetIds.NEGATIVE_Z_TEST)
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q.add_pus_tc(generate_one_hk_command(sid))
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if op_code in OpCodes.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 + ImtqActionIds.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=ImtqSetIds.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(
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object_id=object_id.as_bytes, set_id=ImtqSetIds.CAL_MTM_SET
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)
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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(
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object_id=object_id.as_bytes, set_id=ImtqSetIds.RAW_MTM_SET
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)
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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 = ImtqActionIds.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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