Add mission cases folder and remove boot cases

.github/workflows/hootl.yml

@@ -56,11 +56,14 @@ jobs:
         !(python -m ptest runsim -c ptest/configs/hootl_speedup.json -t FailingEmptyCase -ni)
         !(python -m ptest runsim -c ptest/configs/hootl_speedup.json -t FailingEmptySimCase -ni)
 
-    - name: Boot Utility Cases
+    - name: Mission Rehearsal Cases
       run: |
-        python -m ptest runsim -c ptest/configs/hootl.json -t BootToStartupCase -ni
-        python -m ptest runsim -c ptest/configs/hootl.json -t BootToDetumbleCase -ni
-        python -m ptest runsim -c ptest/configs/hootl.json -t BootToStandbyCase -ni
+        python -m ptest runsim -c ptest/configs/hootl.json -t SingleSatStartupCase -ni
+        python -m ptest runsim -c ptest/configs/hootl_hootl.json -t DualSatStartupCase -ni
+        python -m ptest runsim -c ptest/configs/hootl.json -t SingleSatStartupCase -ni
+        python -m ptest runsim -c ptest/configs/hootl_hootl.json -t DualSatStartupCase -ni
+        python -m ptest runsim -c ptest/configs/hootl.json -t SingleSatStartupCase -ni
+        python -m ptest runsim -c ptest/configs/hootl_hootl.json -t DualSatStartupCase -ni
 
     - name: Hardware Checkout Cases
       run: |

ptest/cases/__init__.py

@@ -2,19 +2,25 @@
 # - tools/alltest.sh
 # - .github/workflows/hootl.yml
 
-# Testcases that require simulation
 from .empty_case import EmptySimCase, FailingEmptySimCase
 from .dual_empty_case import DualEmptySimCase
 from .piksi_fault_handler import PiksiFaultHandler
 from .autonomous_mission_manager_pure_radio import AutonomousMissionController
 
-# from .base import *
+# Testcases intended for use with mission rehearsals and general telemetry
+# testing.
+from .mission import (
+    SingleSatStartupCase,
+    DualSatStartupCase,
+    SingleSatDetumbleCase,
+    DualSatDetumbleCase,
+    SingleSatStandbyCase,
+    DualSatStandbyCase
+)
 
 from .psim_debug import PSimDebug
 from .dual_psim import DualPSim
 
-# Testcases that don't require simulation
-from .boot_to import BootToStartupCase, BootToDetumbleCase, BootToStandbyCase
 from .empty_case import EmptyCase, FailingEmptyCase
 from .dual_empty_case import DualEmptyCase
 from .ditl_case import DitlCase

ptest/cases/mission/__init__.py

@@ -0,0 +1,3 @@
+from .startup import SingleSatStartupCase, DualSatStartupCase
+from .detumble import SingleSatDetumbleCase, DualSatDetumbleCase
+from .standby import SingleSatStandbyCase, DualSatStandbyCase

ptest/cases/mission/detumble.py

@@ -0,0 +1,45 @@
+from ..base import DualSatCase, SingleSatCase, PSimCase
+from .utils import log_fc_data, log_psim_data
+
+
+class SingleSatDetumbleCase(SingleSatCase, PSimCase):
+
+    def __init__(self, *args, **kwargs):
+        super(SingleSatDetumbleCase, self).__init__(*args, **kwargs)
+
+        self.psim_configs += ["truth/detumble"]
+        self.initial_state = "detumble"
+        self.skip_deployment_wait = True
+
+    def run(self):
+        if not self.is_interactive:
+            self.finish()
+            return
+
+        log_fc_data(self.flight_controller)
+        log_psim_data(self, "leader")
+
+        self.cycle()
+
+
+class DualSatDetumbleCase(DualSatCase, PSimCase):
+
+    def __init__(self, *args, **kwargs):
+        super(DualSatDetumbleCase, self).__init__(*args, **kwargs)
+
+        self.psim_configs += ["truth/detumble"]
+        self.leader_initial_state = "detumble"
+        self.follower_initial_state = "detumble"
+        self.leader_skip_deployment_wait = True
+        self.follower_skip_deployment_wait = True
+
+    def run(self):
+        if not self.is_interactive:
+            self.finish()
+            return
+
+        log_fc_data(self.flight_controller_leader)
+        log_fc_data(self.flight_controller_follower)
+        log_psim_data(self, "leader", "follower")
+
+        self.cycle()

ptest/cases/mission/standby.py

@@ -0,0 +1,59 @@
+from ..base import DualSatCase, SingleSatCase, PSimCase
+from ..utils import TestCaseFailure
+from .utils import log_fc_data, log_psim_data
+
+import lin
+
+
+class SingleSatStandbyCase(SingleSatCase, PSimCase):
+
+    def __init__(self, *args, **kwargs):
+        super(SingleSatStandbyCase, self).__init__(*args, **kwargs)
+
+        self.psim_configs += ["truth/standby"]
+        self.psim_config_overrides["truth.leader.attitude.w"] = lin.Vector3([0.01,0.0711,-0.01])
+        self.initial_state = "standby"
+        self.skip_deployment_wait = True
+
+    def run(self):
+        if not self.is_interactive:
+            if not self.flight_controller.smart_read("attitude_estimator.valid"):
+                raise TestCaseFailure("Attitude estimator failed to initialize.")
+
+            self.finish()
+            return
+
+        log_fc_data(self.flight_controller)
+        log_psim_data(self, "leader")
+
+        self.cycle()
+
+
+class DualSatStandbyCase(DualSatCase, PSimCase):
+
+    def __init__(self, *args, **kwargs):
+        super(DualSatStandbyCase, self).__init__(*args, **kwargs)
+
+        self.psim_configs += ["truth/standby"]
+        self.psim_config_overrides["truth.leader.attitude.w"] = lin.Vector3([0.01,0.0711,-0.01])
+        self.psim_config_overrides["truth.follower.attitude.w"] = lin.Vector3([0.01,0.0711,-0.01])
+        self.leader_initial_state = "standby"
+        self.follower_initial_state = "standby"
+        self.leader_skip_deployment_wait = True
+        self.follower_skip_deployment_wait = True
+
+    def run(self):
+        if not self.is_interactive:
+            if not self.flight_controller_leader.smart_read("attitude_estimator.valid"):
+                raise TestCaseFailure("Leader attitude estimator failed to initialize.")
+            if not self.flight_controller_follower.smart_read("attitude_estimator.valid"):
+                raise TestCaseFailure("Follower attitude estimator failed to initialize.")
+
+            self.finish()
+            return
+
+        log_fc_data(self.flight_controller_leader)
+        log_fc_data(self.flight_controller_follower)
+        log_psim_data(self, "leader", "follower")
+
+        self.cycle()

ptest/cases/mission/startup.py

@@ -0,0 +1,42 @@
+from ..base import DualSatCase, SingleSatCase, PSimCase
+from .utils import log_fc_data, log_psim_data
+
+
+class SingleSatStartupCase(SingleSatCase, PSimCase):
+
+    def __init__(self, *args, **kwargs):
+        super(SingleSatStartupCase, self).__init__(*args, **kwargs)
+
+        self.psim_configs += ["truth/deployment"]
+        self.initial_state = "startup"
+
+    def run(self):
+        if not self.is_interactive:
+            self.finish()
+            return
+
+        log_fc_data(self.flight_controller)
+        log_psim_data(self, "leader")
+
+        self.cycle()
+
+
+class DualSatStartupCase(DualSatCase, PSimCase):
+
+    def __init__(self, *args, **kwargs):
+        super(DualSatStartupCase, self).__init__(*args, **kwargs)
+
+        self.psim_configs += ["truth/deployment"]
+        self.leader_initial_state = "startup"
+        self.follower_initial_state = "startup"
+
+    def run(self):
+        if not self.is_interactive:
+            self.finish()
+            return
+
+        log_fc_data(self.flight_controller_leader)
+        log_fc_data(self.flight_controller_follower)
+        log_psim_data(self, "leader", "follower")
+
+        self.cycle()

ptest/cases/mission/utils.py

@@ -0,0 +1,71 @@
+"""Utility functions specific to full mission cases.
+
+Full mission cases here refers to those intended to be used for mission
+rehearsals.
+"""
+
+fc_fields = [
+    # Core state information
+    "pan.state",
+    "pan.bootcount",
+    "pan.cycle_no",
+    "pan.deployment.elapsed",
+    # Other state machine states
+    "adcs.state",
+    "piksi.state",
+    "radio.state",
+    # Estimator information
+    "time.valid",
+    "time.gps",
+    "orbit.valid",
+    "orbit.pos",
+    "orbit.vel",
+    "rel_orbit.state",
+    "rel_orbit.rel_pos",
+    "rel_orbit.rel_vel",
+    "attitude_estimator.valid",
+    "attitude_estimator.q_body_eci",
+    "attitude_estimator.L_body",
+    "attitude_estimator.w_bias_body",
+    # Attitude control commands
+    "adcs_cmd.mtr_cmd",
+    "adcs_cmd.rwa_torque_cmd",
+    # PSim sensor debugging information
+#    "piksi.time"
+#    "adcs_monitor.ssa_vec",
+#    "adcs_monitor.mag1_vec",
+#    "adcs_monitor.gyr_vec",
+#    "adcs_monitor.ssa_mode",
+]
+
+psim_fields_per_satellite = [
+    "truth.{}.attitude.w",
+    "truth.{}.attitude.L",
+    "truth.{}.wheels.t",
+    "truth.{}.wheels.w",
+    "truth.{}.orbit.r.ecef",
+    "truth.{}.orbit.v.ecef",
+    "sensors.{}.gyroscope.w.bias"
+]
+
+psim_fields = [
+    "truth.t.ns",
+    "truth.dt.ns"
+]
+
+
+def log_fc_data(fc):
+    for field in fc_fields:
+        fc.smart_read(field)
+
+
+def log_psim_data(case, *satellites):
+    """Logs a collection of PSim associated with a testcase for the satellite(s)
+    specified.
+    """
+    for satellite in satellites:
+        for field in psim_fields_per_satellite:
+            case.rs_psim(field.format(satellite))
+
+    for field in psim_fields:
+        case.rs_psim(field)