Bootup proc

communications/command_definitions.py

@@ -106,6 +106,10 @@ def __init__(self, parent: MainSatelliteThread):
             NormalCommandEnum.SudoCommand.value: self.sudo_command,
             NormalCommandEnum.Picberry.value: self.picberry,
             NormalCommandEnum.ExecPyFile.value: self.exec_py_file,
+            NormalCommandEnum.IgnoreLowBatt.value: self.ignore_low_battery,
+            NormalCommandEnum.MissionMode.value: self.set_mission_mode,
+            NormalCommandEnum.InitOpnav.value: self.init_opnav_parameters,
+            NormalCommandEnum.SetCommsOffTimes: self.set_comms_off_times
         }
 
         self.low_battery_commands = {
@@ -131,11 +135,8 @@ def __init__(self, parent: MainSatelliteThread):
         self.sensor_commands = {}
 
         self.test_commands = {
-            2: self.split,
-            3: self.run_opnav,
             TestCommandEnum.ADCTest.value: self.adc_test,
             TestCommandEnum.SeparationTest.value: self.separation_test,
-            6: self.gom_outputs,
             7: self.comms_driver_test,
             TestCommandEnum.LongString.value: self.print_long_string,
             TestCommandEnum.PiShutdown.value: self.pi_shutdown,
@@ -160,6 +161,8 @@ def __init__(self, parent: MainSatelliteThread):
             CommandCommandEnum.ShellCommand.value: self.shell_command
         }
 
+        self.attitude_commands = {}
+
         self.COMMAND_DICT = {
             FMEnum.Boot.value: self.bootup_commands,
             FMEnum.Restart.value: self.restart_commands,
@@ -171,7 +174,8 @@ def __init__(self, parent: MainSatelliteThread):
             FMEnum.SensorMode.value: self.sensor_commands,
             FMEnum.TestMode.value: self.test_commands,
             FMEnum.CommsMode: self.comms_commands,
-            FMEnum.Command.value: self.command_commands
+            FMEnum.Command.value: self.command_commands,
+            FMEnum.AttitudeAdjustment.value: self.attitude_commands
         }
 
         for value in self.COMMAND_DICT.values():
@@ -277,13 +281,9 @@ def set_parameter(self, **kwargs):
     def set_exit_lowbatt_threshold(self, **kwargs):
         """Does the same thing as set_parameter, but only for the EXIT_LOW_BATTERY_MODE_THRESHOLD parameter. Only
         requires one kwarg and does some basic sanity checks on the passed value"""
-        value = kwargs['value']
+        value = kwargs['vbatt']
         try:
-            assert 0 < value < 1.0 and float(value) is float
-            if value >= params.ENTER_LOW_BATTERY_MODE_THRESHOLD:
-                self.parent.logger.error(
-                    f"New value for Exit LB thresh must be less than current Enter LB thresh value")
-                assert False
+            assert 4 < value < 8.5 and float(value) is float
             self.set_parameter(name="EXIT_LOW_BATTERY_MODE_THRESHOLD", value=value)
         except AssertionError:
             self.parent.logger.error(f"Incompatible value {value} for EXIT_LOW_BATTERY_MODE_THRESHOLD")
@@ -340,8 +340,14 @@ def electrolysis(self, **kwargs):
         state = kwargs[STATE]
         delay = kwargs.get(DELAY, 0)
         assert type(state) is bool
+        params.WANT_TO_ELECTROLYZE = state
         self.parent.gom.set_electrolysis(state, delay=delay)
 
+    def ignore_low_battery(self, **kwargs):
+        """This is obviously a very dangerous command. It's mainly meant for testing on the ground"""
+        ignore = kwargs[IGNORE]
+        params.IGNORE_LOW_BATTERY = ignore
+
     # def burn(self, **kwargs):
     #     time_burn = kwargs['time']
     #     absolute = kwargs['absolute']
@@ -370,11 +376,13 @@ def reboot_pi():
         os.system("reboot")
         # add something here that adds to the restarts db that this restart was commanded
 
-    def cease_comms(self):
-        # I'm actually unsure of how to do this. Maybe do something with the GPIO pins so that the pi can't transmit
-        self.parent.logger.critical("Ceasing all communications")
-        # definitely should implement some sort of password and double verification to prevent accidental triggering
-        raise NotImplementedError
+    def cease_comms(self, **kwargs):
+        pword = kwargs[PASSWORD]
+        if pword == 123:  # TODO, change
+            # I'm actually unsure of how to do this. Maybe do something with the GPIO pins so that the pi can't transmit
+            self.parent.logger.critical("Ceasing all communications")
+            # definitely should implement some sort of password and double verification to prevent accidental triggering
+            raise NotImplementedError
 
     def set_system_clock(self, **kwargs):  # Needs validation (talk to Viraj)
         # need to validate this works, and need to integrate updating RTC
@@ -661,14 +669,6 @@ def get_gom_conf2(self, **kwargs):
             #    **current_config2_dict)
             # self.parent.downlink_queue.put(acknowledgement)
 
-    def get_gom_conf1(self, **kwargs):
-        raise NotImplementedError
-
-    def set_gom_conf2(self, **kwargs):
-        raise NotImplementedError
-
-    def get_gom_conf2(self, **kwargs):
-        raise NotImplementedError
 
     def shell_command(self, **kwargs):
         cmd: str = kwargs.get(CMD)
@@ -698,6 +698,32 @@ def exec_py_file(self, **kwargs):
         self.parent.logger.debug(f"CWD: {os.getcwd()}")
         exec(open(filename).read())
 
+    def set_mission_mode(self, **kwargs):
+        mission_mode = kwargs[MISSION_MODE]
+        self.set_parameter(name='CURRENT_MISSION_MODE', value=mission_mode, hard_set=True)
+        self.parent.flight_mode.update_mission_mode(mission_mode)
+
+        return {MISSION_MODE: params.CURRENT_MISSION_MODE}
+
+    def init_opnav_parameters(self, **kwargs):
+        pos_x = kwargs[POSITION_X]
+        pos_y = kwargs[POSITION_Y]
+        pos_z = kwargs[POSITION_Z]
+        pos_t = kwargs[NASA_PROVIDED_TIME]
+
+        # TODO write above values to opnav db
+
+        self.set_parameter(name="WANT_TO_OPNAV", value=True, hard_set=True)
+
+    def set_comms_off_times(self, **kwargs):
+        comms_off_start = kwargs[COMMS_OFF_START]
+        comms_off_end = kwargs[COMMS_OFF_END]
+
+        self.set_parameter(name="COMMS_OFF_TIME_START", value=comms_off_start, hard_set=True)
+        self.set_parameter(name="COMMS_OFF_TIME_END", value=comms_off_end, hard_set=True)
+
+        return {COMMS_OFF_START: comms_off_start, COMMS_OFF_END: comms_off_end}
+
 
 def dict_from_eps_config(config: ps.eps_config_t) -> dict:
     return {PPT_MODE: config.ppt_mode,

flight_modes/attitude_adjustment.py

@@ -38,7 +38,7 @@ def C3(theta):
 """
 
 class AAMode(PauseBackgroundMode):
-    """Attitude adjustment flight mode"""
+    """FMID 11: Attitude adjustment flight mode"""
 
     flight_mode_id = FMEnum.AttitudeAdjustment.value
     command_codecs = {}