cosmos 4.0.3-java

data/demo/config/targets/INST/cmd_tlm_server.txt

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+# This is a segment of the main cmd_tlm_server.txt that will be used with
+# AUTO_INTERFACE_TARGETS or INTERFACE_TARGET
+
+INTERFACE INST_INT simulated_target_interface.rb sim_inst.rb
+  TARGET INST

data/demo/config/targets/INST/doc/README.txt

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+This file is here to make sure this folder is included in the release.

data/demo/config/targets/INST/lib/example_limits_response.rb

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+# 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
+
+# This file implements a class to handle responses to limits state changes.
+
+require 'cosmos/packets/limits_response'
+
+# ExampleLimitsResponse class
+#
+# This class handles a limits response
+#
+class ExampleLimitsResponse < Cosmos::LimitsResponse
+
+  def call(packet, item, old_limits_state)
+    case item.limits.state
+    when :RED_HIGH
+      cmd('INST', 'COLLECT', 'TYPE' => 'NORMAL', 'DURATION' => 5)
+    when :RED_LOW
+      cmd_no_hazardous_check('INST', 'CLEAR')
+    end
+  end
+
+end # class ExampleLimitsResponse

data/demo/config/targets/INST/lib/inst_dump_component.rb

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+# 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/tools/data_viewer/data_viewer_component'
+
+module Cosmos
+  # This class displays packets as raw hex values
+  class InstDumpComponent < DataViewerComponent
+
+    # Processes the given packet. No gui interaction should be done in this
+    # method. Override this method for other components.
+    def process_packet (packet)
+      processed_text = ''
+      processed_text << '*' * 80 << "\n"
+      processed_text << "* #{packet.target_name} #{packet.packet_name}\n"
+      processed_text << "* Received Time: #{packet.received_time.formatted}\n" if packet.received_time
+      processed_text << "* Received Count: #{packet.received_count}\n"
+      processed_text << '*' * 80 << "\n"
+      processed_text << packet.buffer.formatted << "\n"
+      # Ensure that queue does not grow infinitely while paused
+      if @processed_queue.length < 1000
+        @processed_queue << processed_text
+      end
+    end
+  end
+end

data/demo/config/targets/INST/lib/sim_inst.rb

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+# 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
+
+# Provides a demonstration of a Simulated Target
+
+require 'cosmos'
+
+module Cosmos
+
+  class SimInst < SimulatedTarget
+
+    SOLAR_PANEL_DFLTS = [-179.0, 179.0, -179.0, 179.0, -95.0]
+
+    def initialize(target_name)
+      super(target_name)
+
+      position_filename = File.join(::Cosmos::USERPATH, 'config', 'data', 'position.bin')
+      attitude_filename = File.join(::Cosmos::USERPATH, 'config', 'data', 'attitude.bin')
+      @position_file = File.open(position_filename, 'rb')
+      @attitude_file = File.open(attitude_filename, 'rb')
+      @position_file_size = File.size(position_filename)
+      @attitude_file_size = File.size(attitude_filename)
+      @position_file_bytes_read = 0
+      @attitude_file_bytes_read = 0
+
+      @pos_packet = Structure.new(:BIG_ENDIAN)
+      @pos_packet.append_item('DAY', 16, :UINT)
+      @pos_packet.append_item('MSOD', 32, :UINT)
+      @pos_packet.append_item('USOMS', 16, :UINT)
+      @pos_packet.append_item('POSX', 32, :FLOAT)
+      @pos_packet.append_item('POSY', 32, :FLOAT)
+      @pos_packet.append_item('POSZ', 32, :FLOAT)
+      @pos_packet.append_item('SPARE1', 16, :UINT)
+      @pos_packet.append_item('SPARE2', 32, :UINT)
+      @pos_packet.append_item('SPARE3', 16, :UINT)
+      @pos_packet.append_item('VELX', 32, :FLOAT)
+      @pos_packet.append_item('VELY', 32, :FLOAT)
+      @pos_packet.append_item('VELZ', 32, :FLOAT)
+      @pos_packet.append_item('SPARE4', 32, :UINT)
+      @pos_packet.enable_method_missing
+
+      @att_packet = Structure.new(:BIG_ENDIAN)
+      @att_packet.append_item('DAY', 16, :UINT)
+      @att_packet.append_item('MSOD', 32, :UINT)
+      @att_packet.append_item('USOMS', 16, :UINT)
+      @att_packet.append_item('Q1', 32, :FLOAT)
+      @att_packet.append_item('Q2', 32, :FLOAT)
+      @att_packet.append_item('Q3', 32, :FLOAT)
+      @att_packet.append_item('Q4', 32, :FLOAT)
+      @att_packet.append_item('BIASX', 32, :FLOAT)
+      @att_packet.append_item('BIASY', 32, :FLOAT)
+      @att_packet.append_item('BIASZ', 32, :FLOAT)
+      @att_packet.append_item('SPARE', 32, :FLOAT)
+      @att_packet.enable_method_missing
+
+      packet = @tlm_packets['HEALTH_STATUS']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+      packet.temp1 = 50.0
+      packet.temp2 = -20.0
+      packet.temp3 = 85.0
+      packet.temp4 = 0.0
+      packet.duration = 10.0
+      packet.collect_type = 'NORMAL'
+
+      packet = @tlm_packets['ADCS']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength   = packet.buffer.length - 7
+
+      packet = @tlm_packets['PARAMS']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      packet = @tlm_packets['IMAGE']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      packet = @tlm_packets['MECH']
+      packet.enable_method_missing
+      packet.CcsdsSeqFlags = 'NOGROUP'
+      packet.CcsdsLength = packet.buffer.length - 7
+
+      @solar_panel_positions = SOLAR_PANEL_DFLTS.dup
+      @solar_panel_thread = nil
+      @solar_panel_thread_cancel = false
+
+      @trackStars = Array.new
+      @trackStars[0] = 1237
+      @trackStars[1] = 1329
+      @trackStars[2] = 1333
+      @trackStars[3] = 1139
+      @trackStars[4] = 1161
+      @trackStars[5] = 682
+      @trackStars[6] = 717
+      @trackStars[7] = 814
+      @trackStars[8] = 583
+      @trackStars[9] = 622
+
+      @get_count = 0
+      @bad_temp2 = false
+      @last_temp2 = 0
+    end
+
+    def set_rates
+      set_rate('ADCS', 10)
+      set_rate('HEALTH_STATUS', 100)
+      set_rate('PARAMS', 100)
+      set_rate('IMAGE', 100)
+      set_rate('MECH', 10)
+    end
+
+    def write(packet)
+      name = packet.packet_name.upcase
+
+      hs_packet = @tlm_packets['HEALTH_STATUS']
+      params_packet = @tlm_packets['PARAMS']
+
+      case name
+      when 'COLLECT'
+        hs_packet.collects += 1
+        hs_packet.duration = packet.read('duration')
+        hs_packet.collect_type = packet.read("type")
+      when 'CLEAR'
+        hs_packet.collects = 0
+      when 'SETPARAMS'
+        params_packet.value1 = packet.read('value1')
+        params_packet.value2 = packet.read('value2')
+        params_packet.value3 = packet.read('value3')
+        params_packet.value4 = packet.read('value4')
+        params_packet.value5 = packet.read('value5')
+      when 'ASCIICMD'
+        hs_packet.asciicmd = packet.read('string')
+      when 'SLRPNLDEPLOY'
+        return if @solar_panel_thread and @solar_panel_thread.alive?
+        @solar_panel_thread = Thread.new do
+          @solar_panel_thread_cancel = false
+          (0..@solar_panel_positions.size-1).to_a.reverse.each do |i|
+            while (@solar_panel_positions[i] > 0.1) or (@solar_panel_positions[i] < - 0.1)
+              if @solar_panel_positions[i] > 3.0
+                @solar_panel_positions[i] -= 3.0
+              elsif @solar_panel_positions[i] < -3.0
+                @solar_panel_positions[i] += 3.0
+              else
+                @solar_panel_positions[i] = 0.0
+              end
+              sleep(0.10)
+              break if @solar_panel_thread_cancel
+            end
+            if @solar_panel_thread_cancel
+              @solar_panel_thread_cancel = false
+              break
+            end
+          end
+        end
+      when 'SLRPNLRESET'
+        Cosmos.kill_thread(self, @solar_panel_thread)
+        @solar_panel_positions = SOLAR_PANEL_DFLTS.dup
+      end
+    end
+
+    def graceful_kill
+      @solar_panel_thread_cancel = true
+    end
+
+    def read(count_100hz, time)
+      pending_packets = get_pending_packets(count_100hz)
+
+      pending_packets.each do |packet|
+        case packet.packet_name
+        when 'ADCS'
+          #Read 44 Bytes for Position Data
+          pos_data = nil
+          begin
+            pos_data = @position_file.read(44)
+            @position_file_bytes_read += 44
+          rescue
+            # Do Nothing
+          end
+
+          if pos_data.nil? or pos_data.length == 0
+            #Assume end of file - close and reopen
+            @position_file.close
+            @position_file = File.open(File.join(::Cosmos::USERPATH, 'config', 'data', 'position.bin'), 'rb')
+            pos_data = @position_file.read(44)
+            @position_file_bytes_read = 44
+          end
+
+          @pos_packet.buffer = pos_data
+          packet.posx = @pos_packet.posx
+          packet.posy = @pos_packet.posy
+          packet.posz = @pos_packet.posz
+          packet.velx = @pos_packet.velx
+          packet.vely = @pos_packet.vely
+          packet.velz = @pos_packet.velz
+
+          #Read 40 Bytes for Attitude Data
+          att_data = nil
+          begin
+            att_data = @attitude_file.read(40)
+            @attitude_file_bytes_read += 40
+          rescue
+            # Do Nothing
+          end
+
+          if att_data.nil? or att_data.length == 0
+            @attitude_file.close
+            @attitude_file = File.open(File.join(::Cosmos::USERPATH, 'config', 'data', 'attitude.bin'), 'rb')
+            att_data = @attitude_file.read(40)
+            @attitude_file_bytes_read = 40
+          end
+
+          @att_packet.buffer = att_data
+          packet.q1 = @att_packet.q1
+          packet.q2 = @att_packet.q2
+          packet.q3 = @att_packet.q3
+          packet.q4 = @att_packet.q4
+          packet.biasx = @att_packet.biasx
+          packet.biasy = @att_packet.biasy
+          packet.biasy = @att_packet.biasz
+
+          packet.star1id = @trackStars[((@get_count / 100) + 0) % 10]
+          packet.star2id = @trackStars[((@get_count / 100) + 1) % 10]
+          packet.star3id = @trackStars[((@get_count / 100) + 2) % 10]
+          packet.star4id = @trackStars[((@get_count / 100) + 3) % 10]
+          packet.star5id = @trackStars[((@get_count / 100) + 4) % 10]
+
+          packet.posprogress = (@position_file_bytes_read.to_f / @position_file_size.to_f) * 100.0
+          packet.attprogress = (@attitude_file_bytes_read.to_f / @attitude_file_size.to_f) * 100.0
+
+          packet.timesec = time.tv_sec
+          packet.timeus  = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+        when 'HEALTH_STATUS'
+          cycle_tlm_item(packet, 'temp1', -95.0, 95.0, 5.0)
+          if @bad_temp2
+            packet.write('temp2', @last_temp2)
+            @bad_temp2 = false
+          end
+          @last_temp2 = cycle_tlm_item(packet, 'temp2', -50.0, 50.0, -1.0)
+          if (packet.temp2.abs - 30).abs < 2
+            packet.write('temp2', Float::NAN)
+            @bad_temp2 = true
+          elsif (packet.temp2.abs - 20).abs < 2
+            packet.write('temp2', -Float::INFINITY)
+            @bad_temp2 = true
+          elsif (packet.temp2.abs - 10).abs < 2
+            packet.write('temp2', Float::INFINITY)
+            @bad_temp2 = true
+          end
+          cycle_tlm_item(packet, 'temp3', -30.0, 80.0, 2.0)
+          cycle_tlm_item(packet, 'temp4', 0.0, 20.0, -0.1)
+
+          packet.timesec = time.tv_sec
+          packet.timeus  = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+          ary = []
+          10.times do |index|
+            ary << index
+          end
+          packet.ary = ary
+
+          if @get_count % 1000 == 0
+            if packet.ground1status == 'CONNECTED'
+              packet.ground1status = 'UNAVAILABLE'
+            else
+              packet.ground1status = 'CONNECTED'
+            end
+          end
+
+          if @get_count % 500 == 0
+            if packet.ground2status == 'CONNECTED'
+              packet.ground2status = 'UNAVAILABLE'
+            else
+              packet.ground2status = 'CONNECTED'
+            end
+          end
+
+        when 'PARAMS'
+          packet.timesec = time.tv_sec
+          packet.timeus = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+        when 'IMAGE'
+          packet.timesec = time.tv_sec
+          packet.timeus = time.tv_usec
+          packet.ccsdsseqcnt += 1
+
+        when 'MECH'
+          packet.timesec = time.tv_sec
+          packet.timeus = time.tv_usec
+          packet.ccsdsseqcnt += 1
+          packet.slrpnl1 = @solar_panel_positions[0]
+          packet.slrpnl2 = @solar_panel_positions[1]
+          packet.slrpnl3 = @solar_panel_positions[2]
+          packet.slrpnl4 = @solar_panel_positions[3]
+          packet.slrpnl5 = @solar_panel_positions[4]
+        end
+      end
+
+      pending_packets << Packet.new(nil, nil, :BIG_ENDIAN, nil, "\000" * 10) if @get_count == 300
+
+      @get_count += 1
+      pending_packets
+    end
+
+  end # class SimInst
+
+end # module Cosmos

data/demo/config/targets/INST/procedures/checks.rb

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+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/config/targets/INST/procedures/collect.rb

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+load_utility 'utilities/collect.rb'
+load_utility 'utilities/clear.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/config/targets/INST/procedures/disconnect.rb

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+cmd("INST ABORT")
+cmd_no_range_check("INST COLLECT with TYPE NORMAL, TEMP 100")
+cmd_no_hazardous_check("INST CLEAR")
+cmd_no_checks("INST COLLECT with TYPE SPECIAL, TEMP 100.0")
+cmd_raw("INST ABORT")
+cmd_raw_no_range_check("INST COLLECT with TYPE 0, TEMP 100")
+cmd_raw_no_hazardous_check("INST CLEAR")
+cmd_raw_no_checks("INST COLLECT with TYPE 1, TEMP 100.0")
+check("INST ADCS BIASX == 100")
+check_formatted("INST ADCS BIASX == 100")
+check_with_units("INST ADCS BIASX == 100")
+check_raw("INST ADCS BIASX == 100")
+check_tolerance("INST ADCS BIASX", 5, 0.5)
+check_tolerance_raw("INST ADCS BIASX", 5, 0.5)
+check_expression("true == false")
+wait
+wait 5
+wait("INST ADCS BIASX > 100", 5)
+wait_raw("INST ADCS BIASX > 100", 5)
+wait_tolerance("INST ADCS BIASX", 5, 0.5, 5)
+wait_tolerance_raw("INST ADCS BIASX", 5, 0.5, 5)
+wait_expression("true == false", 5)
+wait_packet("INST","ADCS", 2, 5)
+wait_check("INST ADCS BIASX == 100", 5)
+wait_check_raw("INST ADCS BIASX == 100", 5)
+wait_check_tolerance("INST ADCS BIASX", 5, 0.5, 5)
+wait_check_tolerance_raw("INST ADCS BIASX", 5, 0.5, 5)
+wait_check_expression("true == false", 5)
+wait_check_packet("INST","ADCS", 2, 5)