eive-tmtc/pus_tc/devs/reaction_wheels.py

213 lines
7.5 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.definitions import QueueCommands, ServiceOpCodeDictT
from tmtccmd.tc.pus_3_fsfw_hk import (
generate_one_hk_command,
generate_one_diag_command,
make_sid,
)
from tmtccmd.config.globals import add_op_code_entry, add_service_op_code_entry
from tmtccmd.tc.packer import TcQueueT
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
def add_rw_cmds(cmd_dict: ServiceOpCodeDictT):
op_code_dict = dict()
add_op_code_entry(
op_code_dict=op_code_dict, info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED
)
add_op_code_entry(op_code_dict=op_code_dict, info=InfoDevs.ON, keys=OpCodesDevs.ON)
add_op_code_entry(
op_code_dict=op_code_dict, info=InfoDevs.OFF, keys=OpCodesDevs.OFF
)
add_op_code_entry(
op_code_dict=op_code_dict, info=InfoDevs.NML, keys=OpCodesDevs.NML
)
add_op_code_entry(
op_code_dict=op_code_dict, info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS
)
add_op_code_entry(
op_code_dict=op_code_dict, info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM
)
add_service_op_code_entry(
srv_op_code_dict=cmd_dict,
name=CustomServiceList.REACTION_WHEEL_1.value,
op_code_entry=op_code_dict,
info="Reaction Wheel 1",
)
add_service_op_code_entry(
srv_op_code_dict=cmd_dict,
name=CustomServiceList.REACTION_WHEEL_2.value,
op_code_entry=op_code_dict,
info="Reaction Wheel 2",
)
add_service_op_code_entry(
srv_op_code_dict=cmd_dict,
name=CustomServiceList.REACTION_WHEEL_3.value,
op_code_entry=op_code_dict,
info="Reaction Wheel 3",
)
add_service_op_code_entry(
srv_op_code_dict=cmd_dict,
name=CustomServiceList.REACTION_WHEEL_4.value,
op_code_entry=op_code_dict,
info="Reaction Wheel 4",
)
op_code_dict = dict()
add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.ON, keys=OpCodesAss.ON)
add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.NML, keys=OpCodesAss.NML)
add_op_code_entry(op_code_dict=op_code_dict, info=InfoAss.OFF, keys=OpCodesAss.OFF)
add_service_op_code_entry(
srv_op_code_dict=cmd_dict,
name=CustomServiceList.RW_ASSEMBLY.value,
op_code_entry=op_code_dict,
info="Reaction Wheel Assembly",
)
def pack_single_rw_test_into(
object_id: bytes, rw_idx: int, tc_queue: TcQueueT, op_code: str
) -> TcQueueT:
if op_code in OpCodesDevs.SPEED:
speed = int(input("Specify speed [0.1 RPM]: "))
ramp_time = int(input("Specify ramp time [ms]: "))
tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.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 in OpCodesDevs.ON:
tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.ON}"))
mode_data = pack_mode_data(object_id, Modes.ON, 0)
command = PusTelecommand(service=200, subservice=1, ssc=41, app_data=mode_data)
tc_queue.appendleft(command.pack_command_tuple())
if op_code in OpCodesDevs.NML:
tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.NML}"))
mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
command = PusTelecommand(service=200, subservice=1, ssc=42, app_data=mode_data)
tc_queue.appendleft(command.pack_command_tuple())
if op_code in OpCodesDevs.OFF:
tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.OFF}"))
mode_data = pack_mode_data(object_id, Modes.OFF, 0)
command = PusTelecommand(service=200, subservice=1, ssc=43, app_data=mode_data)
tc_queue.appendleft(command.pack_command_tuple())
if op_code in OpCodesDevs.GET_TM:
tc_queue.appendleft((QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.GET_TM}"))
command = generate_one_hk_command(
sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET), ssc=0
)
tc_queue.appendleft(command.pack_command_tuple())
if op_code in OpCodesDevs.GET_STATUS:
tc_queue.appendleft(
(QueueCommands.PRINT, f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
)
command = generate_one_diag_command(
sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID), ssc=0
)
tc_queue.appendleft(command.pack_command_tuple())
return tc_queue
def pack_rw_ass_cmds(tc_queue: TcQueueT, 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)
cmd = PusTelecommand(
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
)
tc_queue.appendleft(cmd.pack_command_tuple())
if op_code in OpCodesAss.ON:
data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
cmd = PusTelecommand(
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
)
tc_queue.appendleft(cmd.pack_command_tuple())
if op_code in OpCodesAss.NML:
data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
cmd = PusTelecommand(
service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
)
tc_queue.appendleft(cmd.pack_command_tuple())
def pack_set_speed_command(object_id: bytes, 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