def CAL(cobras, timeout=0):
if not cobrasAreType(cobras, 'Cal'):
return True # error
board = cobras[0].board
short_log.log("--- ISSUE CAL & VERIFY (%d) ---" % board)
full_log.log(cobras2Str(cobras))
# Get Timeout by finding largest freq range to test
if timeout == 0:
fRngCob = []
for c in cobras:
f0rng = (c.p.m0Range[1] - c.p.m0Range[0])
f1rng = (c.p.m1Range[1] - c.p.m1Range[0])
fRngCob.append(max(f0rng, f1rng))
tPerCobra = int(7.0 * max(fRngCob)) # assume <=7ms per freq
timeout = math.ceil(1200 + tPerCobra * len(cobras))
medium_log.log("Timeout:%d" % timeout)
payload = []
for c in cobras:
payload += c.p.toList(c.board, c.cobra)
cmd = CMD_cal(payload, cmds=len(cobras), timeout=timeout)
sock.send(cmd, eth_hex_logger, 'h')
error = False
for i in range(2):
resp = sock.recv(TLM_LEN, eth_hex_logger, 'h')
error |= tlm_chk(resp)
return error
def typeMatch(self, type):
if self.p is None:
return False
short_log.log("None params type")
if self.p.type != type:
return False
short_log.log("Wrong params type")
return True
def tlm_chk(data):
error = False
code = int(data[2] << 8) + int(data[3])
mess = int(data[4] << 8) + int(data[5])
medium_log.log("%s tlm rx'd. (Code:%d) (Message:%d)" \
%(CMD_NAMES[data[0]], code, mess))
#Error Logging
if (code != 0):
short_log.log("Error! Error code %d." % code)
error = True
return error
def POW(sec_pwr=255):
short_log.log("--- POWER ---")
sectors_off = []
for i in range(0, 6):
if not sec_pwr & (0x01 << i):
sectors_off.append(i)
medium_log.log("Sectors Without Power: %s" % sectors_off)
cmd = CMD_pow(sec_pwr, 0)
sock.send(cmd, eth_hex_logger, 'h')
resp = sock.recv(TLM_LEN, eth_hex_logger, 'h')
error = tlm_chk(resp)
return error
def chk(self, per0, per1, cur0, cur1, en_log=True):
# Check the inputted values against expected
err = 0
vals = [get_freq(per0), get_freq(per1), \
conv_current(cur0), conv_current(cur1) \
]
for i in range(4):
if not inrange(vals[i], self._ranges[i]):
short_log.log(
"Error! %s %.3f not in %s" \
%(self._names[i], vals[i], self._ranges[i]), \
enable= en_log
)
# give a unique error value
err = (i + 1)
return err
def DIA():
short_log.log("--- DIAGNOSTIC INFO ---")
cmd = CMD_dia()
sock.send(cmd, eth_hex_logger, 'h')
resp = sock.recv(DIA_TLM_LEN, eth_hex_logger, 'h')
boards_per_sector = [
int(resp[2]),
int(resp[3]),
int(resp[4]),
int(resp[5]),
int(resp[6]),
int(resp[7])
]
short_log.log("Board Counts: %s" % (boards_per_sector))
return boards_per_sector
def RST():
short_log.log("--- RESET ---")
sec_rst = 255
sectors_reseting = []
for i in range(0, 6):
if sec_rst & (0x01 << i):
sectors_reseting.append(i)
medium_log.log("Sectors Reseting: %s" % sectors_reseting)
cmd = CMD_pow(255, sec_rst)
sock.send(cmd, eth_hex_logger, 'h')
resp = sock.recv(TLM_LEN, eth_hex_logger, 'h')
error = tlm_chk(resp)
return error
def HK(cobras):
if not cobrasAreType(cobras, 'Hk'):
return True # error
board = cobras[0].board
short_log.log("--- ISSUE HK & VERIFY (brd:%d) ---" % board)
cmd = CMD_hk(board, timeout=2000)
sock.send(cmd, eth_hex_logger, 'h')
resp = sock.recv(TLM_LEN, eth_hex_logger, 'h')
er1 = tlm_chk(resp)
resp = sock.recv(HK_TLM_LEN, eth_hex_logger, 'h')
er2 = hk_chk(resp, cobras)
return er1 or er2
def SET(cobras):
if not cobrasAreType(cobras, 'Set'):
return True # error
board = cobras[0].board
short_log.log("--- ISSUE SETFREQ & VERIFY (brd:%d) ---" % board)
payload = []
for c in cobras:
payload += c.p.toList(c.board, c.cobra)
cmd = CMD_set(payload, cmds=len(cobras), timeout=2000)
sock.send(cmd, eth_hex_logger, 'h')
error = False
for i in range(2):
resp = sock.recv(TLM_LEN, eth_hex_logger, 'h')
error |= tlm_chk(resp)
return error
def RUN(cobras, timeout=0, inter=0):
if not cobrasAreType(cobras, 'Run'):
return True # error
board = cobras[0].board
short_log.log("--- ISSUE RUN & VERIFY (%d) ---" % board)
full_log.log(cobras2Str(cobras))
# Get timeout by finding longest runtime
if timeout == 0:
tCob = []
for c in cobras:
t0 = (c.p.steps[0] + c.p.sleeps[0]) * c.p.pulses[0]
t1 = (c.p.steps[1] + c.p.sleeps[1]) * c.p.pulses[1]
tCob.append(max(t0, t1))
timeout = math.ceil(1000 + 20 * len(cobras) * (max(tCob) / 1000))
# Get interleave by finding longest pulsetime
if inter == 0:
puCob = []
for c in cobras:
puCob.append(max(c.p.pulses))
# * 9/15ths for max 10% duty cycle
inter = math.ceil(max(puCob) * 9 / 15)
medium_log.log("Timeout:%d, inter:%d" % (timeout, inter))
payload = []
for c in cobras:
payload += c.p.toList(c.board, c.cobra)
cmd = CMD_run(payload, cmds=len(cobras), timeout=timeout, inter=inter)
sock.send(cmd, eth_hex_logger, 'h')
error = False
for i in range(2):
resp = sock.recv(TLM_LEN, eth_hex_logger, 'h')
error |= tlm_chk(resp)
return error
def hk_chk(data, cobras):
error = False
trange = cobras[0].p.trange
vrange = cobras[0].p.vrange
op = data[0]
code = int(data[2] << 8) + int(data[3])
b = int(data[4] << 8) + int(data[5])
raw_t1 = int(data[6] << 8) + int(data[7])
raw_t2 = int(data[8] << 8) + int(data[9])
raw_v = int(data[10] << 8) + int(data[11])
t1 = conv_temp(raw_t1)
t2 = conv_temp(raw_t2)
v = conv_volt(raw_v)
medium_log.log("%s data tlm rx'd. (Brd:%d) (Temps:%.1fC,%.1fC) (Voltage:%.3fV)" \
%(CMD_NAMES[op], b, t1, t2, v))
#Error Logging
if code != 0:
short_log.log("Error! Error Code %d." % code)
error = True
if not inrange(v, vrange):
short_log.log("Error! Voltage %.3fV outside %s." % (v, vrange))
error = True
if not (inrange(t1, trange) and inrange(t2, trange)):
short_log.log("Error! Temps %d,%dC outside %s." % (t1, t2, trange))
error = True
# Error Logging Payload
i = HK_TLM_HDR_LEN
for c in cobras:
p1 = int(data[i] << 8) + int(data[i + 1])
c1 = int(data[i + 2] << 8) + int(data[i + 3])
p2 = int(data[i + 4] << 8) + int(data[i + 5])
c2 = int(data[i + 6] << 8) + int(data[i + 7])
i += 8
logtxt = "%d 3.4mm(%.1fKhz,%.3fAmps) 2.4mm(%.1fKhz,%.3fAmps)" \
%(c.cobra, get_freq(p1), conv_current(c1), \
get_freq(p2), conv_current(c2))
medium_log.log(logtxt)
error |= c.p.chk(p1, p2, c1, c2, en_log=not error)
return error
def hk_chk(data, cobras, export):
error = False
trange = cobras[0].p.trange
vrange = cobras[0].p.vrange
op = data[0]
code = int(data[2] << 8) + int(data[3])
b = int(data[4] << 8) + int(data[5])
raw_t1 = int(data[6] << 8) + int(data[7])
raw_t2 = int(data[8] << 8) + int(data[9])
raw_v = int(data[10] << 8) + int(data[11])
t1 = conv_temp(raw_t1)
t2 = conv_temp(raw_t2)
v = conv_volt(raw_v)
medium_log.log("%s data tlm rx'd. (Brd:%d) (Temps:%.1fC,%.1fC) (Voltage:%.3fV)" \
%(CMD_NAMES[op], b, t1, t2, v))
# Write board number, temps, and voltage to a new .csv file in `log` folder
if export:
file = time.strftime("%Y%m%d-%H%M%S.csv")
path_to_file = os.path.join(os.getcwd(), "log", file)
with open(path_to_file, "w", newline="") as csvfile:
filewriter = csv.writer(csvfile, delimiter=",", quotechar="|")
filewriter.writerow([b, t1, t2, v])
#Error Logging
if code != 0:
short_log.log("Error! Error Code %d." % code)
error = True
if not inrange(v, vrange):
short_log.log("Error! Voltage %.3fV outside %s." % (v, vrange))
error = True
if not (inrange(t1, trange) and inrange(t2, trange)):
short_log.log("Error! Temps %d,%dC outside %s." % (t1, t2, trange))
error = True
# Error Logging Payload
i = HK_TLM_HDR_LEN
for c in cobras:
p1 = int(data[i] << 8) + int(data[i + 1])
c1 = int(data[i + 2] << 8) + int(data[i + 3])
p2 = int(data[i + 4] << 8) + int(data[i + 5])
c2 = int(data[i + 6] << 8) + int(data[i + 7])
i += 8
logtxt = "%d 3.4mm(%.1fKhz,%.3fAmps) 2.4mm(%.1fKhz,%.3fAmps)" \
%(c.cobra, get_freq(p1), conv_current(c1), \
get_freq(p2), conv_current(c2))
medium_log.log(logtxt)
# Write motor data to .csv file
if export:
with open(path_to_file, "a", newline="") as csvfile:
filewriter = csv.writer(csvfile, delimiter=",", quotechar="|")
filewriter.writerow([c.cobra, get_freq(p1), conv_current(c1), \
get_freq(p2), conv_current(c2)])
error |= c.p.chk(p1, p2, c1, c2, en_log=not error)
return error
