cosmos 3.0.1 → 3.1.0

data/demo/lib/scpi_target.rb

@@ -1,74 +1,74 @@
-# encoding: ascii-8bit
-
-# Copyright 2014 Ball Aerospace & Technologies Corp.
-# All Rights Reserved.
-#
-# This program is free software; you can modify and/or redistribute it
-# under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 3 with
-# attribution addendums as found in the LICENSE.txt
-
-require 'cosmos'
-require 'cosmos/interfaces'
-require 'cosmos/tools/cmd_tlm_server/interface_thread'
-
-module Cosmos
-
-  class ScpiTarget
-
-    class ScpiServerInterface < TcpipServerInterface
-      PORT = 5025
-
-      def initialize
-        super(PORT, PORT, 5.0, nil, 'TERMINATED', '0xA', '0xA')
-      end
-    end
-
-    class ScpiInterfaceThread < InterfaceThread
-      def initialize(interface)
-        super(interface)
-        @index = 0
-      end
-
-      protected
-
-      def handle_packet(packet)
-        Logger.info "Received command: #{packet.buffer}"
-        if packet.buffer.include?('?')
-          @interface.write_raw(@index.to_s)
-        end
-        @index += 1
-      end
-    end
-
-    def initialize
-      # Create interface to receive commands and send telemetry
-      @target_interface = ScpiServerInterface.new
-      @interface_thread = nil
-    end
-
-    def start
-      @interface_thread = ScpiInterfaceThread.new(@target_interface)
-      @interface_thread.start
-    end
-
-    def stop
-      @interface_thread.stop if @interface_thread
-    end
-
-    def self.run
-      Logger.level = Logger::INFO
-      target = self.new
-      begin
-        target.start
-        while true
-          sleep 1
-        end
-      rescue SystemExit, Interrupt
-        target.stop
-      end
-    end
-
-  end # class ScpiTarget
-
-end # module Cosmos
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+require 'cosmos'
+require 'cosmos/interfaces'
+require 'cosmos/tools/cmd_tlm_server/interface_thread'
+
+module Cosmos
+
+  class ScpiTarget
+
+    class ScpiServerInterface < TcpipServerInterface
+      PORT = 5025
+
+      def initialize
+        super(PORT, PORT, 5.0, nil, 'TERMINATED', '0xA', '0xA')
+      end
+    end
+
+    class ScpiInterfaceThread < InterfaceThread
+      def initialize(interface)
+        super(interface)
+        @index = 0
+      end
+
+      protected
+
+      def handle_packet(packet)
+        Logger.info "Received command: #{packet.buffer}"
+        if packet.buffer.include?('?')
+          @interface.write_raw(@index.to_s)
+        end
+        @index += 1
+      end
+    end
+
+    def initialize
+      # Create interface to receive commands and send telemetry
+      @target_interface = ScpiServerInterface.new
+      @interface_thread = nil
+    end
+
+    def start
+      @interface_thread = ScpiInterfaceThread.new(@target_interface)
+      @interface_thread.start
+    end
+
+    def stop
+      @interface_thread.stop if @interface_thread
+    end
+
+    def self.run
+      Logger.level = Logger::INFO
+      target = self.new
+      begin
+        target.start
+        while true
+          sleep 1
+        end
+      rescue SystemExit, Interrupt
+        target.stop
+      end
+    end
+
+  end # class ScpiTarget
+
+end # module Cosmos

data/demo/lib/user_version.rb

@@ -1,3 +1,3 @@
-# encoding: ascii-8bit
-
-USER_VERSION = "Unofficial"
+# encoding: ascii-8bit
+
+USER_VERSION = "Unofficial"

data/demo/procedures/checks.rb

@@ -1,11 +1,11 @@
-collect_cnt = tlm("INST HEALTH_STATUS COLLECTS")
-cmd("INST COLLECT with DURATION 11, TYPE NORMAL")
-cmd_no_range_check("INST COLLECT with DURATION 11, TYPE NORMAL")
-cmd_no_hazardous_check("INST COLLECT with DURATION 11, TYPE NORMAL")
-cmd_no_checks("INST COLLECT with DURATION 11, TYPE NORMAL")
-wait_check("INST HEALTH_STATUS COLLECTS == #{collect_cnt + 2}", 10)
-cmd("INST CLEAR")
-cmd_no_range_check("INST CLEAR")
-cmd_no_hazardous_check("INST CLEAR")
-cmd_no_checks("INST CLEAR")
-puts tlm("INST HEALTH_STATUS COLLECTS")
+collect_cnt = tlm("INST HEALTH_STATUS COLLECTS")
+cmd("INST COLLECT with DURATION 11, TYPE NORMAL")
+cmd_no_range_check("INST COLLECT with DURATION 11, TYPE NORMAL")
+cmd_no_hazardous_check("INST COLLECT with DURATION 11, TYPE NORMAL")
+cmd_no_checks("INST COLLECT with DURATION 11, TYPE NORMAL")
+wait_check("INST HEALTH_STATUS COLLECTS == #{collect_cnt + 2}", 10)
+cmd("INST CLEAR")
+cmd_no_range_check("INST CLEAR")
+cmd_no_hazardous_check("INST CLEAR")
+cmd_no_checks("INST CLEAR")
+puts tlm("INST HEALTH_STATUS COLLECTS")

data/demo/procedures/clear_util.rb

@@ -1,7 +1,7 @@
-def clear
-  #Command the collect
-  cmd("INST CLEAR")
-
-  #Wait for telemetry to update
-  wait_check("INST HEALTH_STATUS COLLECTS == 0", 10)
-end
+def clear
+  #Command the collect
+  cmd("INST CLEAR")
+
+  #Wait for telemetry to update
+  wait_check("INST HEALTH_STATUS COLLECTS == 0", 10)
+end

data/demo/procedures/collect.rb

@@ -1,18 +1,18 @@
-load_utility 'collect_util.rb'
-load_utility 'clear_util.rb'
-
-number = ask("Enter a number.")
-raise "Bad return" unless number.is_a? Numeric
-number = ask_string("Enter a number.")
-raise "Bad return" unless number.is_a? String
-
-result = message_box("Click something.", "BLAH", "WHAT")
-raise "Bad return" unless result == 'BLAH' or result == 'WHAT'
-
-prompt("Press Ok to start NORMAL Collect")
-collect('NORMAL', 1)
-prompt("Press Ok to start SPECIAL Collect")
-collect('SPECIAL', 2, true)
-clear()
-
-wait_check("INST HEALTH_STATUS COLLECTS == 0", 10)
+load_utility 'collect_util.rb'
+load_utility 'clear_util.rb'
+
+number = ask("Enter a number.")
+raise "Bad return" unless number.is_a? Numeric
+number = ask_string("Enter a number.")
+raise "Bad return" unless number.is_a? String
+
+result = message_box("Click something.", "BLAH", "WHAT")
+raise "Bad return" unless result == 'BLAH' or result == 'WHAT'
+
+prompt("Press Ok to start NORMAL Collect")
+collect('NORMAL', 1)
+prompt("Press Ok to start SPECIAL Collect")
+collect('SPECIAL', 2, true)
+clear()
+
+wait_check("INST HEALTH_STATUS COLLECTS == 0", 10)

data/demo/procedures/collect_util.rb

@@ -1,14 +1,14 @@
-load_utility 'clear_util.rb'
-
-def collect (type, duration, call_clear = false)
-  # Get the current collects telemetry point
-  collects = tlm('INST HEALTH_STATUS COLLECTS')
-
-  #Command the collect
-  cmd("INST COLLECT with TYPE #{type}, DURATION #{duration}")
-
-  #Wait for telemetry to update
-  wait_check("INST HEALTH_STATUS COLLECTS == #{collects + 1}", 10)
-
-  clear() if call_clear
-end
+load_utility 'clear_util.rb'
+
+def collect (type, duration, call_clear = false)
+  # Get the current collects telemetry point
+  collects = tlm('INST HEALTH_STATUS COLLECTS')
+
+  #Command the collect
+  cmd("INST COLLECT with TYPE #{type}, DURATION #{duration}")
+
+  #Wait for telemetry to update
+  wait_check("INST HEALTH_STATUS COLLECTS == #{collects + 1}", 10)
+
+  clear() if call_clear
+end

data/demo/procedures/cosmos_api_test.rb

@@ -1,293 +1,293 @@
-# cmd
-cmd("INST ABORT")
-cmd("INST ARYCMD with ARRAY []")
-cmd("INST CLEAR")
-cmd("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
-cmd("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
-cmd("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
-cmd("INST SLRPNLDEPLOY")
-cmd("INST SLRPNLRESET")
-cmd("INST ASCIICMD with STRING 'ARM LASER'")
-
-cmd("INST", "ABORT")
-cmd("INST", "ARYCMD", "ARRAY" => [])
-cmd("INST", "CLEAR")
-cmd("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
-cmd("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
-cmd("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
-cmd("INST", "SLRPNLDEPLOY")
-cmd("INST", "SLRPNLRESET")
-cmd("INST", "ASCIICMD", "STRING" => 'ARM LASER')
-
-# cmd should fail
-begin
-  cmd("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
-rescue RuntimeError => e
-  raise "Fail" if e.message != "Command parameter 'INST COLLECT DURATION' = 11 not in valid range of 0.0 to 10.0"
-rescue
-  raise "Fail"
-end
-
-cmd()
-cmd("BOB")
-cmd("BOB", "ABORT")
-cmd("INST", "BOB")
-cmd("INST", "ABORT", "BOB" => "BOB")
-cmd("INST", "ABORT", "TED", "BOB" => "BOB")
-cmd("BOB")
-cmd("BOB ABORT")
-cmd("INST BOB")
-
-# cmd_no_range_check
-cmd_no_range_check("INST ABORT")
-cmd_no_range_check("INST ARYCMD with ARRAY []")
-cmd_no_range_check("INST CLEAR")
-cmd_no_range_check("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
-cmd_no_range_check("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
-cmd_no_range_check("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
-cmd_no_range_check("INST SLRPNLDEPLOY")
-cmd_no_range_check("INST SLRPNLRESET")
-cmd_no_range_check("INST ASCIICMD with STRING 'ARM LASER'")
-cmd_no_range_check("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
-
-cmd_no_range_check("INST", "ABORT")
-cmd_no_range_check("INST", "ARYCMD", "ARRAY" => [])
-cmd_no_range_check("INST", "CLEAR")
-cmd_no_range_check("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
-cmd_no_range_check("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
-cmd_no_range_check("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
-cmd_no_range_check("INST", "SLRPNLDEPLOY")
-cmd_no_range_check("INST", "SLRPNLRESET")
-cmd_no_range_check("INST", "ASCIICMD", "STRING" => 'ARM LASER')
-cmd_no_range_check("INST", "COLLECT", "DURATION" => 11, "TYPE" => 'NORMAL')
-
-# cmd_no_range_check should fail
-cmd_no_range_check()
-cmd_no_range_check("BOB")
-cmd_no_range_check("BOB", "ABORT")
-cmd_no_range_check("INST", "BOB")
-cmd_no_range_check("INST", "ABORT", "BOB" => "BOB")
-cmd_no_range_check("INST", "ABORT", "TED", "BOB" => "BOB")
-cmd_no_range_check("BOB")
-cmd_no_range_check("BOB ABORT")
-cmd_no_range_check("INST BOB")
-
-# cmd_no_hazardous_check
-cmd_no_hazardous_check("INST ABORT")
-cmd_no_hazardous_check("INST ARYCMD with ARRAY []")
-cmd_no_hazardous_check("INST CLEAR")
-cmd_no_hazardous_check("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
-cmd_no_hazardous_check("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
-cmd_no_hazardous_check("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
-cmd_no_hazardous_check("INST SLRPNLDEPLOY")
-cmd_no_hazardous_check("INST SLRPNLRESET")
-cmd_no_hazardous_check("INST ASCIICMD with STRING 'ARM LASER'")
-
-cmd_no_hazardous_check("INST", "ABORT")
-cmd_no_hazardous_check("INST", "ARYCMD", "ARRAY" => [])
-cmd_no_hazardous_check("INST", "CLEAR")
-cmd_no_hazardous_check("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
-cmd_no_hazardous_check("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
-cmd_no_hazardous_check("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
-cmd_no_hazardous_check("INST", "SLRPNLDEPLOY")
-cmd_no_hazardous_check("INST", "SLRPNLRESET")
-cmd_no_hazardous_check("INST", "ASCIICMD", "STRING" => 'ARM LASER')
-
-# cmd_no_hazardous_check should fail
-cmd_no_hazardous_check("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
-cmd_no_hazardous_check()
-cmd_no_hazardous_check("BOB")
-cmd_no_hazardous_check("BOB", "ABORT")
-cmd_no_hazardous_check("INST", "BOB")
-cmd_no_hazardous_check("INST", "ABORT", "BOB" => "BOB")
-cmd_no_hazardous_check("INST", "ABORT", "TED", "BOB" => "BOB")
-cmd_no_hazardous_check("BOB")
-cmd_no_hazardous_check("BOB ABORT")
-cmd_no_hazardous_check("INST BOB")
-
-# cmd_no_checks
-cmd_no_checks("INST ABORT")
-cmd_no_checks("INST ARYCMD with ARRAY []")
-cmd_no_checks("INST CLEAR")
-cmd_no_checks("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
-cmd_no_checks("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
-cmd_no_checks("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
-cmd_no_checks("INST SLRPNLDEPLOY")
-cmd_no_checks("INST SLRPNLRESET")
-cmd_no_checks("INST ASCIICMD with STRING 'ARM LASER'")
-cmd_no_checks("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
-
-cmd_no_checks("INST", "ABORT")
-cmd_no_checks("INST", "ARYCMD", "ARRAY" => [])
-cmd_no_checks("INST", "CLEAR")
-cmd_no_checks("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
-cmd_no_checks("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
-cmd_no_checks("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
-cmd_no_checks("INST", "SLRPNLDEPLOY")
-cmd_no_checks("INST", "SLRPNLRESET")
-cmd_no_checks("INST", "ASCIICMD", "STRING" => 'ARM LASER')
-cmd_no_checks("INST", "COLLECT", "DURATION" => 11, "TYPE" => 'NORMAL')
-
-# cmd_no_checks should fail
-cmd_no_checks()
-cmd_no_checks("BOB")
-cmd_no_checks("BOB", "ABORT")
-cmd_no_checks("INST", "BOB")
-cmd_no_checks("INST", "ABORT", "BOB" => "BOB")
-cmd_no_checks("INST", "ABORT", "TED", "BOB" => "BOB")
-cmd_no_checks("BOB")
-cmd_no_checks("BOB ABORT")
-cmd_no_checks("INST BOB")
-
-# send_raw should fail (on demo cmd/tlm server)
-send_raw()
-send_raw("INT1")
-send_raw("INT1", "\x00\x00")
-send_raw("INT1", "\x00\x00", "\x00\x00")
-
-# get_cmd_list
-expected_list = [["ABORT", "Aborts a collect on the instrument"], ["ARYCMD", "Command with array parameter"], ["ASCIICMD", "Enumerated ASCII command"], ["CLEAR", "Clears counters on the instrument"], ["COLLECT", "Starts a collect on the instrument"], ["FLTCMD", "Command with float parameters"], ["SETPARAMS", "Sets numbered parameters"], ["SLRPNLDEPLOY", "Deploy solar array panels"], ["SLRPNLRESET", "Reset solar array panels"]]
-list = get_cmd_list("INST")
-raise "Fail" if list != expected_list
-
-# get_cmd_list should fail
-get_cmd_list()
-get_cmd_list("BOB")
-get_cmd_list("BOB", "TED")
-
-# get_cmd_param_list
-expected_list = [["CCSDSVER", 0, nil, "CCSDS primary header version number", nil, nil, false],
-  ["CCSDSTYPE", 1, nil, "CCSDS primary header packet type", nil, nil, false],
-  ["CCSDSSHF", 0, nil, "CCSDS primary header secondary header flag", nil, nil, false],
-  ["CCSDSAPID", 999, nil, "CCSDS primary header application id", nil, nil, false],
-  ["CCSDSSEQFLAGS", 3, nil, "CCSDS primary header sequence flags", nil, nil, false],
-  ["CCSDSSEQCNT", 0, nil, "CCSDS primary header sequence count", nil, nil, false],
-  ["CCSDSLENGTH", 0, nil, "CCSDS primary header packet length", nil, nil, false],
-  ["PKTID", 1, nil, "Packet id", nil, nil, false],
-  ["TYPE", 0, {"NORMAL"=>0, "SPECIAL"=>1}, "Collect type", nil, nil, true],
-  ["DURATION", 1.0, nil, "Collect duration", nil, nil, false],
-  ["OPCODE", "0xAB", nil, "Collect opcode", nil, nil, false],
-  ["TEMP", 0.0, nil, "Collect temperature", "Celcius", "C", false]]
-list = get_cmd_param_list("INST", "COLLECT")
-if list != expected_list
-  raise "Fail"
-end
-
-# get_cmd_param_list should fail
-get_cmd_param_list()
-get_cmd_param_list("INST")
-get_cmd_param_list("INST", "BOB")
-get_cmd_param_list("INST", "COLLECT", "DURATION")
-
-# get_cmd_hazardous
-hazardous, hazardous_description = get_cmd_hazardous("INST", "COLLECT", "TYPE" => "SPECIAL")
-puts "#{hazardous}:#{hazardous_description}"
-hazardous, hazardous_description = get_cmd_hazardous("INST", "COLLECT", "TYPE" => "NORMAL")
-puts "#{hazardous}:#{hazardous_description}"
-hazardous, hazardous_description = get_cmd_hazardous("INST", "ABORT")
-puts "#{hazardous}:#{hazardous_description}"
-hazardous, hazardous_description = get_cmd_hazardous("INST", "CLEAR")
-puts "#{hazardous}:#{hazardous_description}"
-
-# get_cmd_hazardous should fail
-get_cmd_hazardous()
-get_cmd_hazardous("INST")
-get_cmd_hazardous("INST", "COLLECT", "BOB" => 5)
-get_cmd_hazardous("INST", "COLLECT", 5)
-
-# tlm
-tlm("INST HEALTH_STATUS ARY")
-tlm("INST HEALTH_STATUS ASCIICMD")
-tlm("INST HEALTH_STATUS CCSDSAPID")
-tlm("INST HEALTH_STATUS TEMP1")
-
-tlm("INST", "HEALTH_STATUS", "ARY")
-tlm("INST", "HEALTH_STATUS", "ASCIICMD")
-tlm("INST", "HEALTH_STATUS", "CCSDSAPID")
-tlm("INST", "HEALTH_STATUS", "TEMP1")
-
-# tlm should fail
-tlm()
-tlm("BOB")
-tlm("INST")
-tlm("INST BOB")
-tlm("INST HEALTH_STATUS")
-tlm("INST HEALTH_STATUS BOB")
-tlm("INST HEALTH_STATUS ARY BOB")
-tlm("INST", "BOB")
-tlm("INST", "HEALTH_STATUS")
-tlm("INST", "HEALTH_STATUS", "BOB")
-tlm("INST", "HEALTH_STATUS", "ARY", "BOB")
-
-# tlm_raw
-tlm_raw("INST HEALTH_STATUS ARY")
-tlm_raw("INST HEALTH_STATUS ASCIICMD")
-tlm_raw("INST HEALTH_STATUS CCSDSAPID")
-tlm_raw("INST HEALTH_STATUS TEMP1")
-
-tlm_raw("INST", "HEALTH_STATUS", "ARY")
-tlm_raw("INST", "HEALTH_STATUS", "ASCIICMD")
-tlm_raw("INST", "HEALTH_STATUS", "CCSDSAPID")
-tlm_raw("INST", "HEALTH_STATUS", "TEMP1")
-
-# tlm_raw should fail
-tlm_raw()
-tlm_raw("BOB")
-tlm_raw("INST")
-tlm_raw("INST BOB")
-tlm_raw("INST HEALTH_STATUS")
-tlm_raw("INST HEALTH_STATUS BOB")
-tlm_raw("INST HEALTH_STATUS ARY BOB")
-tlm_raw("INST", "BOB")
-tlm_raw("INST", "HEALTH_STATUS")
-tlm_raw("INST", "HEALTH_STATUS", "BOB")
-tlm_raw("INST", "HEALTH_STATUS", "ARY", "BOB")
-
-# tlm_formatted
-tlm_formatted("INST HEALTH_STATUS ARY")
-tlm_formatted("INST HEALTH_STATUS ASCIICMD")
-tlm_formatted("INST HEALTH_STATUS CCSDSAPID")
-tlm_formatted("INST HEALTH_STATUS TEMP1")
-
-tlm_formatted("INST", "HEALTH_STATUS", "ARY")
-tlm_formatted("INST", "HEALTH_STATUS", "ASCIICMD")
-tlm_formatted("INST", "HEALTH_STATUS", "CCSDSAPID")
-tlm_formatted("INST", "HEALTH_STATUS", "TEMP1")
-
-# tlm_formatted should fail
-tlm_formatted()
-tlm_formatted("BOB")
-tlm_formatted("INST")
-tlm_formatted("INST BOB")
-tlm_formatted("INST HEALTH_STATUS")
-tlm_formatted("INST HEALTH_STATUS BOB")
-tlm_formatted("INST HEALTH_STATUS ARY BOB")
-tlm_formatted("INST", "BOB")
-tlm_formatted("INST", "HEALTH_STATUS")
-tlm_formatted("INST", "HEALTH_STATUS", "BOB")
-tlm_formatted("INST", "HEALTH_STATUS", "ARY", "BOB")
-
-# tlm_with_units
-tlm_with_units("INST HEALTH_STATUS ARY")
-tlm_with_units("INST HEALTH_STATUS ASCIICMD")
-tlm_with_units("INST HEALTH_STATUS CCSDSAPID")
-tlm_with_units("INST HEALTH_STATUS TEMP1")
-
-tlm_with_units("INST", "HEALTH_STATUS", "ARY")
-tlm_with_units("INST", "HEALTH_STATUS", "ASCIICMD")
-tlm_with_units("INST", "HEALTH_STATUS", "CCSDSAPID")
-tlm_with_units("INST", "HEALTH_STATUS", "TEMP1")
-
-# tlm_with_units should fail
-tlm_with_units()
-tlm_with_units("BOB")
-tlm_with_units("INST")
-tlm_with_units("INST BOB")
-tlm_with_units("INST HEALTH_STATUS")
-tlm_with_units("INST HEALTH_STATUS BOB")
-tlm_with_units("INST HEALTH_STATUS ARY BOB")
-tlm_with_units("INST", "BOB")
-tlm_with_units("INST", "HEALTH_STATUS")
-tlm_with_units("INST", "HEALTH_STATUS", "BOB")
-tlm_with_units("INST", "HEALTH_STATUS", "ARY", "BOB")
-
+# cmd
+cmd("INST ABORT")
+cmd("INST ARYCMD with ARRAY []")
+cmd("INST CLEAR")
+cmd("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
+cmd("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
+cmd("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
+cmd("INST SLRPNLDEPLOY")
+cmd("INST SLRPNLRESET")
+cmd("INST ASCIICMD with STRING 'ARM LASER'")
+
+cmd("INST", "ABORT")
+cmd("INST", "ARYCMD", "ARRAY" => [])
+cmd("INST", "CLEAR")
+cmd("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
+cmd("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
+cmd("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
+cmd("INST", "SLRPNLDEPLOY")
+cmd("INST", "SLRPNLRESET")
+cmd("INST", "ASCIICMD", "STRING" => 'ARM LASER')
+
+# cmd should fail
+begin
+  cmd("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
+rescue RuntimeError => e
+  raise "Fail" if e.message != "Command parameter 'INST COLLECT DURATION' = 11 not in valid range of 0.0 to 10.0"
+rescue
+  raise "Fail"
+end
+
+cmd()
+cmd("BOB")
+cmd("BOB", "ABORT")
+cmd("INST", "BOB")
+cmd("INST", "ABORT", "BOB" => "BOB")
+cmd("INST", "ABORT", "TED", "BOB" => "BOB")
+cmd("BOB")
+cmd("BOB ABORT")
+cmd("INST BOB")
+
+# cmd_no_range_check
+cmd_no_range_check("INST ABORT")
+cmd_no_range_check("INST ARYCMD with ARRAY []")
+cmd_no_range_check("INST CLEAR")
+cmd_no_range_check("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
+cmd_no_range_check("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
+cmd_no_range_check("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
+cmd_no_range_check("INST SLRPNLDEPLOY")
+cmd_no_range_check("INST SLRPNLRESET")
+cmd_no_range_check("INST ASCIICMD with STRING 'ARM LASER'")
+cmd_no_range_check("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
+
+cmd_no_range_check("INST", "ABORT")
+cmd_no_range_check("INST", "ARYCMD", "ARRAY" => [])
+cmd_no_range_check("INST", "CLEAR")
+cmd_no_range_check("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
+cmd_no_range_check("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
+cmd_no_range_check("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
+cmd_no_range_check("INST", "SLRPNLDEPLOY")
+cmd_no_range_check("INST", "SLRPNLRESET")
+cmd_no_range_check("INST", "ASCIICMD", "STRING" => 'ARM LASER')
+cmd_no_range_check("INST", "COLLECT", "DURATION" => 11, "TYPE" => 'NORMAL')
+
+# cmd_no_range_check should fail
+cmd_no_range_check()
+cmd_no_range_check("BOB")
+cmd_no_range_check("BOB", "ABORT")
+cmd_no_range_check("INST", "BOB")
+cmd_no_range_check("INST", "ABORT", "BOB" => "BOB")
+cmd_no_range_check("INST", "ABORT", "TED", "BOB" => "BOB")
+cmd_no_range_check("BOB")
+cmd_no_range_check("BOB ABORT")
+cmd_no_range_check("INST BOB")
+
+# cmd_no_hazardous_check
+cmd_no_hazardous_check("INST ABORT")
+cmd_no_hazardous_check("INST ARYCMD with ARRAY []")
+cmd_no_hazardous_check("INST CLEAR")
+cmd_no_hazardous_check("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
+cmd_no_hazardous_check("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
+cmd_no_hazardous_check("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
+cmd_no_hazardous_check("INST SLRPNLDEPLOY")
+cmd_no_hazardous_check("INST SLRPNLRESET")
+cmd_no_hazardous_check("INST ASCIICMD with STRING 'ARM LASER'")
+
+cmd_no_hazardous_check("INST", "ABORT")
+cmd_no_hazardous_check("INST", "ARYCMD", "ARRAY" => [])
+cmd_no_hazardous_check("INST", "CLEAR")
+cmd_no_hazardous_check("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
+cmd_no_hazardous_check("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
+cmd_no_hazardous_check("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
+cmd_no_hazardous_check("INST", "SLRPNLDEPLOY")
+cmd_no_hazardous_check("INST", "SLRPNLRESET")
+cmd_no_hazardous_check("INST", "ASCIICMD", "STRING" => 'ARM LASER')
+
+# cmd_no_hazardous_check should fail
+cmd_no_hazardous_check("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
+cmd_no_hazardous_check()
+cmd_no_hazardous_check("BOB")
+cmd_no_hazardous_check("BOB", "ABORT")
+cmd_no_hazardous_check("INST", "BOB")
+cmd_no_hazardous_check("INST", "ABORT", "BOB" => "BOB")
+cmd_no_hazardous_check("INST", "ABORT", "TED", "BOB" => "BOB")
+cmd_no_hazardous_check("BOB")
+cmd_no_hazardous_check("BOB ABORT")
+cmd_no_hazardous_check("INST BOB")
+
+# cmd_no_checks
+cmd_no_checks("INST ABORT")
+cmd_no_checks("INST ARYCMD with ARRAY []")
+cmd_no_checks("INST CLEAR")
+cmd_no_checks("INST COLLECT with DURATION 1.0, TEMP 0.0, TYPE 'NORMAL'")
+cmd_no_checks("INST FLTCMD with FLOAT32 0.0, FLOAT64 0.0")
+cmd_no_checks("INST SETPARAMS with VALUE1 0, VALUE2 0, VALUE3 0, VALUE4 0, VALUE5 0")
+cmd_no_checks("INST SLRPNLDEPLOY")
+cmd_no_checks("INST SLRPNLRESET")
+cmd_no_checks("INST ASCIICMD with STRING 'ARM LASER'")
+cmd_no_checks("INST COLLECT with DURATION 11, TYPE 'NORMAL'")
+
+cmd_no_checks("INST", "ABORT")
+cmd_no_checks("INST", "ARYCMD", "ARRAY" => [])
+cmd_no_checks("INST", "CLEAR")
+cmd_no_checks("INST", "COLLECT", "DURATION" => 1.0, "TEMP" => 0.0, "TYPE" => 'NORMAL')
+cmd_no_checks("INST", "FLTCMD", "FLOAT32" => 0.0, "FLOAT64" => 0.0)
+cmd_no_checks("INST", "SETPARAMS", "VALUE1" => 0, "VALUE2" => 0, "VALUE3" => 0, "VALUE4" => 0, "VALUE5" => 0)
+cmd_no_checks("INST", "SLRPNLDEPLOY")
+cmd_no_checks("INST", "SLRPNLRESET")
+cmd_no_checks("INST", "ASCIICMD", "STRING" => 'ARM LASER')
+cmd_no_checks("INST", "COLLECT", "DURATION" => 11, "TYPE" => 'NORMAL')
+
+# cmd_no_checks should fail
+cmd_no_checks()
+cmd_no_checks("BOB")
+cmd_no_checks("BOB", "ABORT")
+cmd_no_checks("INST", "BOB")
+cmd_no_checks("INST", "ABORT", "BOB" => "BOB")
+cmd_no_checks("INST", "ABORT", "TED", "BOB" => "BOB")
+cmd_no_checks("BOB")
+cmd_no_checks("BOB ABORT")
+cmd_no_checks("INST BOB")
+
+# send_raw should fail (on demo cmd/tlm server)
+send_raw()
+send_raw("INT1")
+send_raw("INT1", "\x00\x00")
+send_raw("INT1", "\x00\x00", "\x00\x00")
+
+# get_cmd_list
+expected_list = [["ABORT", "Aborts a collect on the instrument"], ["ARYCMD", "Command with array parameter"], ["ASCIICMD", "Enumerated ASCII command"], ["CLEAR", "Clears counters on the instrument"], ["COLLECT", "Starts a collect on the instrument"], ["FLTCMD", "Command with float parameters"], ["SETPARAMS", "Sets numbered parameters"], ["SLRPNLDEPLOY", "Deploy solar array panels"], ["SLRPNLRESET", "Reset solar array panels"]]
+list = get_cmd_list("INST")
+raise "Fail" if list != expected_list
+
+# get_cmd_list should fail
+get_cmd_list()
+get_cmd_list("BOB")
+get_cmd_list("BOB", "TED")
+
+# get_cmd_param_list
+expected_list = [["CCSDSVER", 0, nil, "CCSDS primary header version number", nil, nil, false],
+  ["CCSDSTYPE", 1, nil, "CCSDS primary header packet type", nil, nil, false],
+  ["CCSDSSHF", 0, nil, "CCSDS primary header secondary header flag", nil, nil, false],
+  ["CCSDSAPID", 999, nil, "CCSDS primary header application id", nil, nil, false],
+  ["CCSDSSEQFLAGS", 3, nil, "CCSDS primary header sequence flags", nil, nil, false],
+  ["CCSDSSEQCNT", 0, nil, "CCSDS primary header sequence count", nil, nil, false],
+  ["CCSDSLENGTH", 0, nil, "CCSDS primary header packet length", nil, nil, false],
+  ["PKTID", 1, nil, "Packet id", nil, nil, false],
+  ["TYPE", 0, {"NORMAL"=>0, "SPECIAL"=>1}, "Collect type", nil, nil, true],
+  ["DURATION", 1.0, nil, "Collect duration", nil, nil, false],
+  ["OPCODE", "0xAB", nil, "Collect opcode", nil, nil, false],
+  ["TEMP", 0.0, nil, "Collect temperature", "Celcius", "C", false]]
+list = get_cmd_param_list("INST", "COLLECT")
+if list != expected_list
+  raise "Fail"
+end
+
+# get_cmd_param_list should fail
+get_cmd_param_list()
+get_cmd_param_list("INST")
+get_cmd_param_list("INST", "BOB")
+get_cmd_param_list("INST", "COLLECT", "DURATION")
+
+# get_cmd_hazardous
+hazardous, hazardous_description = get_cmd_hazardous("INST", "COLLECT", "TYPE" => "SPECIAL")
+puts "#{hazardous}:#{hazardous_description}"
+hazardous, hazardous_description = get_cmd_hazardous("INST", "COLLECT", "TYPE" => "NORMAL")
+puts "#{hazardous}:#{hazardous_description}"
+hazardous, hazardous_description = get_cmd_hazardous("INST", "ABORT")
+puts "#{hazardous}:#{hazardous_description}"
+hazardous, hazardous_description = get_cmd_hazardous("INST", "CLEAR")
+puts "#{hazardous}:#{hazardous_description}"
+
+# get_cmd_hazardous should fail
+get_cmd_hazardous()
+get_cmd_hazardous("INST")
+get_cmd_hazardous("INST", "COLLECT", "BOB" => 5)
+get_cmd_hazardous("INST", "COLLECT", 5)
+
+# tlm
+tlm("INST HEALTH_STATUS ARY")
+tlm("INST HEALTH_STATUS ASCIICMD")
+tlm("INST HEALTH_STATUS CCSDSAPID")
+tlm("INST HEALTH_STATUS TEMP1")
+
+tlm("INST", "HEALTH_STATUS", "ARY")
+tlm("INST", "HEALTH_STATUS", "ASCIICMD")
+tlm("INST", "HEALTH_STATUS", "CCSDSAPID")
+tlm("INST", "HEALTH_STATUS", "TEMP1")
+
+# tlm should fail
+tlm()
+tlm("BOB")
+tlm("INST")
+tlm("INST BOB")
+tlm("INST HEALTH_STATUS")
+tlm("INST HEALTH_STATUS BOB")
+tlm("INST HEALTH_STATUS ARY BOB")
+tlm("INST", "BOB")
+tlm("INST", "HEALTH_STATUS")
+tlm("INST", "HEALTH_STATUS", "BOB")
+tlm("INST", "HEALTH_STATUS", "ARY", "BOB")
+
+# tlm_raw
+tlm_raw("INST HEALTH_STATUS ARY")
+tlm_raw("INST HEALTH_STATUS ASCIICMD")
+tlm_raw("INST HEALTH_STATUS CCSDSAPID")
+tlm_raw("INST HEALTH_STATUS TEMP1")
+
+tlm_raw("INST", "HEALTH_STATUS", "ARY")
+tlm_raw("INST", "HEALTH_STATUS", "ASCIICMD")
+tlm_raw("INST", "HEALTH_STATUS", "CCSDSAPID")
+tlm_raw("INST", "HEALTH_STATUS", "TEMP1")
+
+# tlm_raw should fail
+tlm_raw()
+tlm_raw("BOB")
+tlm_raw("INST")
+tlm_raw("INST BOB")
+tlm_raw("INST HEALTH_STATUS")
+tlm_raw("INST HEALTH_STATUS BOB")
+tlm_raw("INST HEALTH_STATUS ARY BOB")
+tlm_raw("INST", "BOB")
+tlm_raw("INST", "HEALTH_STATUS")
+tlm_raw("INST", "HEALTH_STATUS", "BOB")
+tlm_raw("INST", "HEALTH_STATUS", "ARY", "BOB")
+
+# tlm_formatted
+tlm_formatted("INST HEALTH_STATUS ARY")
+tlm_formatted("INST HEALTH_STATUS ASCIICMD")
+tlm_formatted("INST HEALTH_STATUS CCSDSAPID")
+tlm_formatted("INST HEALTH_STATUS TEMP1")
+
+tlm_formatted("INST", "HEALTH_STATUS", "ARY")
+tlm_formatted("INST", "HEALTH_STATUS", "ASCIICMD")
+tlm_formatted("INST", "HEALTH_STATUS", "CCSDSAPID")
+tlm_formatted("INST", "HEALTH_STATUS", "TEMP1")
+
+# tlm_formatted should fail
+tlm_formatted()
+tlm_formatted("BOB")
+tlm_formatted("INST")
+tlm_formatted("INST BOB")
+tlm_formatted("INST HEALTH_STATUS")
+tlm_formatted("INST HEALTH_STATUS BOB")
+tlm_formatted("INST HEALTH_STATUS ARY BOB")
+tlm_formatted("INST", "BOB")
+tlm_formatted("INST", "HEALTH_STATUS")
+tlm_formatted("INST", "HEALTH_STATUS", "BOB")
+tlm_formatted("INST", "HEALTH_STATUS", "ARY", "BOB")
+
+# tlm_with_units
+tlm_with_units("INST HEALTH_STATUS ARY")
+tlm_with_units("INST HEALTH_STATUS ASCIICMD")
+tlm_with_units("INST HEALTH_STATUS CCSDSAPID")
+tlm_with_units("INST HEALTH_STATUS TEMP1")
+
+tlm_with_units("INST", "HEALTH_STATUS", "ARY")
+tlm_with_units("INST", "HEALTH_STATUS", "ASCIICMD")
+tlm_with_units("INST", "HEALTH_STATUS", "CCSDSAPID")
+tlm_with_units("INST", "HEALTH_STATUS", "TEMP1")
+
+# tlm_with_units should fail
+tlm_with_units()
+tlm_with_units("BOB")
+tlm_with_units("INST")
+tlm_with_units("INST BOB")
+tlm_with_units("INST HEALTH_STATUS")
+tlm_with_units("INST HEALTH_STATUS BOB")
+tlm_with_units("INST HEALTH_STATUS ARY BOB")
+tlm_with_units("INST", "BOB")
+tlm_with_units("INST", "HEALTH_STATUS")
+tlm_with_units("INST", "HEALTH_STATUS", "BOB")
+tlm_with_units("INST", "HEALTH_STATUS", "ARY", "BOB")
+