Fixed GPS Epoch

Added offset between UTC and TT at GPS epoch in GpsTimeToJD and JDToGpsTime

Database/AcParmDump00.txt

@@ -10,8 +10,8 @@ SC[0].AC.Whl[3].Tcmd = 4.330127018922e-02
 SC[0].AC.MTB[0].Mcmd = 8.800548569006e+00
 SC[0].AC.MTB[1].Mcmd = -2.137387806672e+00
 SC[0].AC.MTB[2].Mcmd = -5.018295046486e+01
-SC[0].AC.Cmd.AngRate = 2.312342778563e-314 5.470770398582e-315 2.312185986336e-314
-SC[0].AC.Cmd.Ang = 2.312307055640e-314 6.951594276136e-310 6.951594276130e-310
+SC[0].AC.Cmd.AngRate = 2.353524928780e-314 5.470770398582e-315 2.353368136553e-314
+SC[0].AC.Cmd.Ang = 2.353489205858e-314 6.951592154901e-310 6.951592154895e-310
 SC[0].AC.ID = 0
 SC[0].AC.EchoEnabled = 1
 SC[0].AC.Nb = 2

Database/AcParmDump01.txt

@@ -3,15 +3,15 @@ SC[1].AC.bvb = -1.900000000000e-05 -1.700000000000e-05 -5.000000000000e-06
 SC[1].AC.Hvb = 0.000000000000e+00 -2.346498216570e+00 4.984766121226e-01
 SC[1].AC.G[0].Cmd.AngRate = 1.745329251994e-02 0.000000000000e+00 0.000000000000e+00
 SC[1].AC.G[0].Cmd.Ang = 1.570796326795e+00 0.000000000000e+00 0.000000000000e+00
-SC[1].AC.Whl[0].Tcmd = 3.353538970494e-02
-SC[1].AC.Whl[1].Tcmd = 3.376473171143e-02
-SC[1].AC.Whl[2].Tcmd = 2.331740744481e-02
-SC[1].AC.Whl[3].Tcmd = 2.308806543833e-02
+SC[1].AC.Whl[0].Tcmd = 3.356265958666e-02
+SC[1].AC.Whl[1].Tcmd = 3.379200422587e-02
+SC[1].AC.Whl[2].Tcmd = 2.329013808130e-02
+SC[1].AC.Whl[3].Tcmd = 2.306079344210e-02
 SC[1].AC.MTB[0].Mcmd = 2.020659348894e+01
 SC[1].AC.MTB[1].Mcmd = -9.471055630330e+00
 SC[1].AC.MTB[2].Mcmd = -4.458346611483e+01
-SC[1].AC.Cmd.AngRate = 2.280641629514e-314 5.470770398582e-315 2.280484837287e-314
-SC[1].AC.Cmd.Ang = 2.280605906591e-314 6.951599698419e-310 6.951599698413e-310
+SC[1].AC.Cmd.AngRate = 2.163486000994e-314 5.470770398582e-315 2.163329208767e-314
+SC[1].AC.Cmd.Ang = 2.163450278072e-314 6.951602388919e-310 6.951602388913e-310
 SC[1].AC.ID = 1
 SC[1].AC.EchoEnabled = 1
 SC[1].AC.Nb = 2

Database/JsonToIPC.py

@@ -57,7 +57,6 @@ def WriteProlog():
       outfile.write("      long Isc,Iorb,Iw,Ipfx,i;\n")
 
       if Pipe == "Socket":
-         outfile.write("      int Success;\n")
          outfile.write("      char AckMsg[5] = \"Ack\\n\";\n")
          outfile.write("      char Msg[16384];\n")
          outfile.write("      long MsgLen = 0;\n")
@@ -168,9 +167,8 @@ def ReadProlog():
       #endif   
 
       if Pipe == "Socket":
-         outfile.write("      long MsgLen;\n\n")
+         outfile.write("      \n")
          outfile.write("      memset(Msg,'\\0',16384);\n")
-         outfile.write("      MsgLen = 0;\n\n")
          outfile.write("      NumBytes = recv(Socket,Msg,16384,0);\n")
          outfile.write("      if (NumBytes <= 0) return; /* Bail out if no message */\n\n")
          outfile.write("      Done = 0;\n")
@@ -231,7 +229,7 @@ def WriteEpilog():
          outfile.write("      LineLen = strlen(line);\n")
          outfile.write("      memcpy(&Msg[MsgLen],line,LineLen);\n")
          outfile.write("      MsgLen += LineLen;\n")
-         outfile.write("      Success = send(Socket,Msg,MsgLen,0);\n\n")
+         outfile.write("      send(Socket,Msg,MsgLen,0);\n\n")
          outfile.write("      /* Wait for Ack */\n");
          outfile.write("      recv(Socket,AckMsg,5,0);\n")
       elif Pipe == "Gmsec":
@@ -342,7 +340,7 @@ def StateRefreshCode():
       outfile.write("               /* Update Dyn */\n")
       outfile.write("               MapJointStatesToStateVector(S);\n")
       outfile.write("               D = &S->Dyn;\n")
-      outfile.write("               MapStateVectorToBodyStates(D->u,D->x,D->h,D->uf,D->xf,S);\n")
+      outfile.write("               MapStateVectorToBodyStates(D->u,D->x,D->h,D->a,D->uf,D->xf,S);\n")
       outfile.write("               MotionConstraints(S);\n")
       outfile.write("            }\n")
       outfile.write("         }\n")
@@ -647,7 +645,7 @@ def main():
       VerbList = {"WriteTo","ReadFrom"}
       PipeList = {"Socket","Gmsec","File","Cmd"}
 
-      infile = open('42.json','rU')
+      infile = open('42.json')
       StructDict = json.load(infile)
       infile.close()
 
@@ -791,7 +789,7 @@ def main():
                   #endif  
 
                   outfile.close()  
-                  infile = open("TempIpc.c","rU")    
+                  infile = open("TempIpc.c")    
                   outfile = open("../Source/IPC/"+Prog+Verb+Pipe+".c","w")
                   StripEmptyLoops(infile,outfile)
                   infile.close()

Database/Readme.txt

@@ -56,7 +56,7 @@ Only one variable definition per line, please.
 
 By custom, I use only a limited subset of C variable types.  If you add a variable that is not in the following list, you'll need to add it to the list of recognized types in HeadersToJson.py: long, double, char, float, unsigned char, unsigned int, FILE, struct.
 
-The section partitions (Parameters, Inputs, Outputs, Diagnostics, and Internal Variables) correspond to traditional command/telemetry packet roles.  I don't use them (much) myself, but CCDD and its adherents do.  The Prototypes tag is to signal to the python script that all structure definitions have been read.
+The section partitions (Parameters, Inputs, Outputs, Diagnostics, and Internal Variables) correspond to traditional command/telemetry packet roles.  I don't use them (much) myself, but other folks do.  The Prototypes tag is to signal to the python script that all structure definitions have been read.
 
 Any trailing comment gets copied into the dictionary as a description.  Some key 
 character combinations have special meaning: