125 lines
4.7 KiB
Python
125 lines
4.7 KiB
Python
import struct
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from pus_tm.defs import PrintWrapper, FsfwTmTcPrinter
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from tmtccmd.utility.obj_id import ObjectIdU32
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def handle_rw_hk_data(
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printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
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):
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from pus_tc.devs.reaction_wheels import RwSetIds
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pw = PrintWrapper(printer)
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current_idx = 0
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if set_id == RwSetIds.STATUS_SET_ID:
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pw.dlog(
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f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
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)
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fmt_str = "!IiiBB"
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inc_len = struct.calcsize(fmt_str)
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(temp, speed, ref_speed, state, clc_mode) = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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current_idx += inc_len
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speed_rpm = speed / 10.0
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ref_speed_rpm = ref_speed / 10.0
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pw.dlog(
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f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
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)
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pw.dlog(
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f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
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f"4: Running, speed changing"
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)
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pw.dlog(
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f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
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f"1: High Current Mode (0.6 A)"
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)
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printer.print_validity_buffer(hk_data[current_idx:], 5)
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if set_id == RwSetIds.LAST_RESET:
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pw.dlog(
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f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
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)
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fmt_str = "!BB"
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inc_len = struct.calcsize(fmt_str)
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(last_not_cleared_reset_status, current_reset_status) = struct.unpack(
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fmt_str, hk_data[current_idx : current_idx + inc_len]
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)
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current_idx += inc_len
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pw.dlog(
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f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
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f"Current Reset Status {current_reset_status}"
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)
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if set_id == RwSetIds.TM_SET:
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pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
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fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
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inc_len = struct.calcsize(fmt_str)
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(
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last_reset_status,
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mcu_temp,
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pressure_sens_temp,
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pressure,
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state,
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clc_mode,
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current_speed,
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ref_speed,
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num_invalid_crc_packets,
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num_invalid_len_packets,
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num_invalid_cmd_packets,
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num_of_cmd_executed_requests,
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num_of_cmd_replies,
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uart_num_of_bytes_written,
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uart_num_of_bytes_read,
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uart_num_parity_errors,
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uart_num_noise_errors,
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uart_num_frame_errors,
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uart_num_reg_overrun_errors,
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uart_total_num_errors,
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spi_num_bytes_written,
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spi_num_bytes_read,
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spi_num_reg_overrun_errors,
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spi_total_num_errors,
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) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
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pw.dlog(
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f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
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)
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pw.dlog(f"Last Reset Status {last_reset_status}")
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pw.dlog(
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f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
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f"1: High Current Mode (0.6 A)"
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)
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pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
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pw.dlog(
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f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
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f"4: Running, speed changing"
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)
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pw.dlog(f"Number Of Invalid Packets:")
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pw.dlog("CRC | Length | CMD")
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pw.dlog(
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f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
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)
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pw.dlog(
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f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
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f"Num of CMD Replies {num_of_cmd_replies}"
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)
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pw.dlog("UART COM information:")
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pw.dlog(
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f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
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f"RegOverrunErrs | TotalErrs"
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)
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pw.dlog(
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f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
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f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
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f"{uart_total_num_errors}"
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)
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pw.dlog("SPI COM Info:")
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pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
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pw.dlog(
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f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
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f"{spi_total_num_errors}"
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)
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if current_idx > 0:
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printer.print_validity_buffer(
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validity_buffer=hk_data[current_idx:], num_vars=27
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)
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