[−][src]Crate mai400_service
Kubos Service for interacting with an Adcole Maryland Aerospace MAI-400
Configuration
The service can be configured in the /etc/kubos-config.toml with the following fields:
[mai400-service.addr]
ip = "127.0.0.1"
port = 8120
Where ip specifies the service's IP address, and port specifies the port which UDP requests should be sent to.
Starting the Service
The service should be started automatically by its init script, but may also be started manually:
$ mai400-service
Kubos MAI-400 service started
Listening on: 10.63.1.20:8120
Queries
Ping
Test query to verify service is running without attempting to communicate with the underlying subsystem
{
ping: "pong"
}
ACK
Get the last run mutation
{
ack: AckCommand
}
Errors
Get all errors encountered since the last time this field was queried
{
errors: [String]
}
Power Status
Get the current power state and uptime of the system
{
power {
state: PowerState,
uptime: Int
}
}
Configuration
Get the current configuration of the system
{
config: "Not Implemented"
}
Telemetry
Get current telemetry information for the system
{
telemetry{
nominal{
gpsTime: i32,
timeSubsec: i32,
cmdValidCntr: i32,
cmdInvalidCntr: i32,
cmdInvalidChksumCntr: i32,
lastCommand: i32,
acsMode: i32,
css: [i32; 6],
eclipseFlag: i32,
sunVecB: [i32; 3],
iBFieldMeas: [i32; 3],
bd: [f64; 3],
rwsSpeedCmd: [i32; 3],
rwsSpeedTach: [i32; 3],
rwaTorqueCmd: [f64; 3],
gcRwaTorqueCmd: [i32; 3],
torqueCoilCmd: [f64; 3],
gcTorqueCoilCmd: [i32; 3],
qboCmd: [i32; 4],
qboHat: [i32; 4],
angleToGo: f64,
qError: [i32; 4],
omegaB: [f64; 3],
nb: [i32; 3],
neci: [i32; 3],
},
debug{
irehs{
thermopilesA: [i32; 4],
thermopilesB: [i32; 4],
tempA: [i32; 4],
tempB: [i32; 4],
dipAngleA: i32,
dipAngleB: i32,
solutionDegraded: [Vec<String>; 8],
thermopileStructA{
dipAngle: i32,
earthLimb: {
adc: i32,
temp: i32,
errors: bool,
flags: Vec<String>,
},
earthRef: {...},
spaceRef: {...},
wideFov: {...},
thermopileStructB{...}
},
rawImu{
accel: [i32; 3],
gyro: [i32; 3],
gyroTemp: i32,
},
rotating{
bFieldIgrf: [f64; 3],
sunVecEph: [f64; 3],
scPosEci: [f64; 3],
scVelEci: [f64; 3],
keplerElem{
semiMajorAxis: f32,
eccentricity: f32,
inclination: f32,
raan: f32,
argParigee: f32,
trueAnomoly: f32,
},
kBdot: [f64; 3],
kp: [f64; 3],
kd: [f64; 3],
kUnload: [f64; 3],
cssBias: [i32; 6],
magBias: [i32; 3],
rwsVolt: i32,
rwsPress: i32,
attDetMode: i32,
rwsResetCntr: [i32; 3],
sunMagAligned: i32,
minorVersion: i32,
maiSn: i32,
orbitPropMode: i32,
acsOpMode: i32,
procResetCntr: i32,
majorVersion: i32,
adsOpMode: i32,
cssGain: [f64; 6],
magGain: [f64; 3],
orbitEpoch: i32,
trueAnomolyEpoch: f64,
orbitEpochNext: i32,
scPosEciEpoch: [f64; 3],
scVelEciEpoch: [f64; 3],
qbXWheelSpeed: i32,
qbXFilterGain: f64,
qbXDipoleGain: f64,
dipoleGain: [f64; 3],
wheelSpeedBias: [i32; 3],
cosSunMagAlignThresh: f64,
unloadAngThresh: f64,
qSat: f64,
rwaTrqMax: f64,
rwsMotorCurrent: [i32; 3],
rwsMotorTemp: i32,
}
}
}
}
Test Results
Get the test results of the last run test
Note: For this service, this actually just fetches the nominal and debug telemetry of the system, since there is no actual built-in test
{
testResults{
success,
telemetryNominal{...},
telemetryDebug{...}
}
}
System Mode
Get the current mode of the system
{
mode: Mode
}
System Orientation
Get the last reported orientation of the system
{
orientation: "Not Implemented"
}
System Spin
Get the last reported spin values of the system Note: The spin values are automatically updated every six seconds
{
spin{
x: f64,
y: f64,
z: f64
}
}
Mutations
Errors
Get all errors encountered while processing this GraphQL request
Note: This will only return errors thrown by fields which have already been processed, so it is recommended that this field be specified last.
mutation {
errors: [String]
}
No-Op
Execute a trivial command against the system
mutation {
noop {
errors: String,
success: Boolean
}
}
Set Power State
Control the power state of the system
- state: Power state the system should be changed to
Note: The only valid input for this service is
RESET
mutation {
controlPower(state: PowerState) {
errors: String,
success: Boolean,
power: PowerState
}
}
Configuration
Configure the system
mutation {
configureHardware: "Not Implemented"
}
System Self-Test
Run a system self-test
- test: Type of self-test to perform
mutation {
testHardware(test: TestType) {
... on IntegrationTestRsults {
errors: String,
success: Boolean,
telemetryNominal{...},
telemetryDebug{...}
}
... on HardwareTestResults {
errors: "Not Implemented",
success: true,
data: Empty
}
}
}
Passthrough
Pass a custom command through to the system
- command: String containing the hex values to be sent (ex. "C3"). It will be converted to a byte array before transfer.
mutation {
issueRawCommand(command: String) {
errors: String,
success: Boolean,
response: String
}
}
Set ADC Mode
Set the attitude control mode
- mode: Control mode to change to
- qbiCmd: Optional array of four values needed for Qinertial and Qtable mode
- sunAngleEnable: Optional. Specifies whether the sun rotating angle should be updated when using Normal-Sun or LatLong-Sun mode sunRotAngle: Optional. The sun rotating angle for use in Normal-Sun and LatLong-Sun mode
mutation {
setMode(mode: Mode, qbiCmd: Vec<i32>, sunAngleEnable: bool, sunRotAngle: f64) {
errors: String,
success: Boolean,
response: String
}
}
Set System Values
Update system values
- gpsTime: Optional. If specified, updates the system's ADACS clock
- rv: Optional. If specified, updates the orbital position and velocity at epoch. The argument has the following sub-fields: - eciPos: Vector containing the new X, Y, and Z ECI position values - eciVel: Vector containing the new X, Y, and Z ECI velocity values - timeEpoch: GPS time at which the eciPos and eciVel values will go into effect
mutation {
update(gps_time: Option<i32>,
rv: Option<{eciPos: [f64; 3], eciVel: [f64; 3], timeEpoch: i32}>) {
errors: String,
success: Boolean,
}
}
Structs
| ConfigureHardwareResponse | Response fields for 'configureHardware' mutation |
| ControlPowerResponse | Response fields for 'controlPower' mutation |
| GenericResponse | Common response fields structure for requests which don't return any specific data |
| GetPowerResponse | Response fields for 'power' query |
| HardwareTestResults | Response fields for 'testHardware(test: HARDWARE)' mutation |
| IREHSTelem | IR Earth horizon sensor telemetry values |
| IntegrationTestResults | Response fields for 'testHardware(test: INTEGRATION)' mutation |
| Kepler | Kepler element telemetry values |
| RVInput | RV input fields for |
| RawIMUTelem | Raw IMU telemetry values |
| Rotating | Rotating telemetry values. These values aren't updated with each returned telemetry packet. Instead, sections are updated each iteration. The full rotation is updated every six seconds. |
| Spin | Response fields for |
| StdTelem | Response fields for 'telemetry(telem: NOMINAL)' query |
| Telemetry | Response fields for |
| TelemetryDebug | Response fields for 'telemetry(telem: DEBUG)' query |
| ThermopileSensor | Thermopile sensor telemetry values |
| ThermopileStruct | Thermopile telemetry values |
Enums
| AckCommand | Return field for 'ack' query |
| Mode | System mode |
| PowerState | Input field for 'controlPower' mutation and response field for 'power' query |
| TestResults | Enum for the 'testHardware' mutation response union |
| TestType | Input field for 'testHardware' mutation |