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Actions.py
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Actions.py
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"""
This file is part of ADCS.
ADCS is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
ADCS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with ADCS. If not, see <http://www.gnu.org/licenses/>.
"""
import Definitions
import Actuate as act
from time import sleep
from itertools import groupby
class Actions(object):
def __init__(self,micro,hdcs):
""" This class plays two critical roles:
1. Take manual control actions via the Cmd structure
2. Take auto control actions via instrumentation limits
"""
# Instantiate classes
self.Thermal = act.Thermal_Sensing()
self.Electrical = act.Electrical()
# Initialize variables
# Needs link to micro for upload control & nexus
self.micro = micro
self.hdcs = hdcs
self.last_cmd = {}
def Cmd(self,cmd,state):
""" Check if commands are different than last time, & if so, act """
if self.last_cmd != cmd:
# Microcode upload mode
if cmd['UC']:
programs = cmd['UC'].split('&')
programs.pop(-1) # last entry will always be ''
self.micro.Microuplink(programs)
state['UC']=cmd['UC'] # send ack to ADCS
cmd['UC']=0 # reset until further notice
print('>>UC COMMAND RESET<<')
# Device reset mode
if cmd['RS']:
if cmd['RS'] == 'ADCS' or cmd['RS'] == 1:
act.Software_Reset(self)
elif cmd['RS'] == 'MICRO':
act.Micro_Reset(self.micro)
elif cmd['RS'] == 'ADCS_OFF':
act.Software_Exit(self)
state['RS'] = cmd['RS'] # send ack to ADCS, if still alive
cmd['RS'] = 0 # reset flag to until further notice
# Test matrix sequence & Nexus upload
if cmd['TM'] and not state['TM']:
print('>>TM CMD INIT ACK<<')
state['TM'] = 1 # AcknowLedge the command
self.TestMatrix = [] # Reset the test matrix
elif not cmd['TM'] and state['TM']:
print('>>TM DEACTIVATED<<>>MOVING TO NEXUS')
# Omit duplicate rows
self.TestMatrix = [row for row,val in # using itertools
groupby(sorted(self.TestMatrix))]
print("OPERATOR VERIFY MATRIX>>",self.TestMatrix)
sleep(10) # Pause so that operator can verify the matrix
state['TM'] = 0
self.micro.Nexusuplink(self.TestMatrix,'Micro1')
self.micro.Nexusuplink(self.TestMatrix,'Micro2')
# Command to set countdown clock & hold
cmd['c1'] =self.TestMatrix[0][0]
cmd['c1_']=self.TestMatrix[0][1]
cmd['c2'] =self.TestMatrix[0][0]
cmd['c2_']=self.TestMatrix[0][1]
cmd['Cm']=2
# Bus power-up actuation
if cmd['B1'] or cmd['B2']:
self.Electrical.Electrical_Activate()
state['B1'] = 1
state['B2'] = 1
elif not cmd['B1'] or not cmd['B2']:
self.Electrical.Electrical_Deactivate()
state['B1'] = 0
state['B2'] = 0
self.last_cmd = dict(cmd)
if cmd['TM'] and state['TM']:
if cmd['TM']!=1:
if ( len(self.TestMatrix) == 0 or cmd['TM']!=self.TestMatrix[-1]):
print('>>TM APPEND<<', cmd['TM'],'index',state['TM'])
self.TestMatrix.append( cmd['TM'] )
state['TM'] += 1 # increment index
def Auto(self,cmd,state,inhibit):
""" Check if exceeded parameters & if so, act.
NOTE: This function modifies cmd & state in-place, no return """
self.Thermal.Eval(cmd,state)
if inhibit != 'auto':
if (state['C1']>=-20 or state['C2']>=-20): # ADCS TERMINAL COUNT:
# if state limits exceeded
for key,limits in Definitions.State_Limits.items() :
if state[key] >= limits[1]:
cmd['E'] = 1
state['ER'] = ''.join([key,'HI'])
break
elif state[key] <= limits[0]:
cmd['E'] = 1
state['ER'] = ''.join([key,'LO'])
break
# if any micros go offline
for micro in ['u1','u2','u3','u4']:
if state[micro]==0:
cmd['E'] = 1
state['ER'] = ''.join([micro,'LOS'])
break
# if hdcs disconnected
if state['hdcs']==0:
cmd['E'] = 1
state['ER'] = 'HDCSLOS'