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CubeSatSim
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Merge pull request #302 from alanbjohnston/beta-cc

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command and control and sensor extension changes
beta-sim
Alan Johnston 2 years ago committed by GitHub
parent bef17d3180 cbb79bd450
commit efe8764544
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
4 changed files with 174 additions and 275 deletions
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78
config
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@ -15,15 +15,15 @@ if [ "$1" = "" ]; then
set -- $value
if [ "$1" = "a" ]; then
echo "APRS mode is set"
echo "Mode is APRS"
elif [ "$1" = "m" ]; then
echo "CW mode is set"
echo "Mode is CW"
elif [ "$1" = "f" ]; then
echo "FSK mode is set"
echo "Mode is FSK"
elif [ "$1" = "b" ]; then
echo "BPSK mode is set"
echo "Mode is BPSK"
elif [ "$1" = "s" ]; then
echo "SSTV mode is set"
echo "Mode is SSTV"
else
echo
fi
@ -60,6 +60,14 @@ if [ "$1" = "" ]; then
echo $6
echo
FILE=/home/pi/CubeSatSim/command_control
if [ -f "$FILE" ]; then
echo "Radio command and control is ON"
else
echo "Radio command and control is OFF"
fi
echo
FILE=/home/pi/CubeSatSim/battery_saver
if [ -f "$FILE" ]; then
echo "Battery saver mode is ON"
@ -95,7 +103,7 @@ elif [ "$1" = "-a" ]; then
echo "Battery saver mode is ON."
# if ! grep -q force_turbo=1 /boot/config.txt ; then sudo sh -c 'echo "force_turbo=1" >> /boot/config.txt'; fi
else
echo "Battery saver mode os OFF."
echo "Battery saver mode is OFF."
# sudo sed -i ':a;N;$!ba;s/\nforce_turbo=1//g' /boot/config.txt
fi
@ -175,7 +183,7 @@ elif [ "$1" = "-h" ]; then
echo " -l Change the Latitude and Longitude in the configuration file sim.cfg"
echo " -S Scan both I2C buses on the Raspberry Pi"
echo " -C Clear logs"
echo " -T Change command state"
echo " -T Change command and control state"
echo " -R Change the Commands Count in the file command_count.txt"
echo " -B Change battery saver mode manually"
echo " -q Change the Squelch setting for command receiver"
@ -441,29 +449,40 @@ elif [ "$1" = "-C" ]; then
elif [ "$1" = "-T" ]; then
echo
echo "Change command state"
echo "Change command and control state"
echo
echo "Current command state is:"
cat /home/pi/CubeSatSim/command_tx
echo
FILE=/home/pi/CubeSatSim/command_control
if [ -f "$FILE" ]; then
echo "Radio command and control is ON"
echo
echo "Do you want to turn command and control to OFF (y/n) "
read reset
echo
if [ "$reset" = "y" ] || [ "$reset" = "yes" ] ; then
echo "Command and control set to OFF"
sudo rm /home/pi/CubeSatSim/command_control
echo "rebooting"
sudo systemctl stop rpitx
sudo reboot now
fi
else
echo "Radio command and control is OFF"
echo
echo "Do you want to set command and control to ON (y/n) "
read reset
echo
if [ "$reset" = "y" ] || [ "$reset" = "yes" ] ; then
echo "Command and control set to ON"
sudo touch /home/pi/CubeSatSim/command_control
echo "rebooting"
sudo systemctl stop rpitx
sudo reboot now
fi
echo "Do you want to set beacon transmit to ON (y/n) "
read reset
echo
if [ "$reset" = "y" ] || [ "$reset" = "yes" ] ; then
sudo sed -i 's/False/True/g' /home/pi/CubeSatSim/command_tx
echo "Command state set to True to enable beacon"
echo "rebooting"
sudo systemctl stop rpitx
sudo reboot now
else
sudo sed -i 's/True/False/g' /home/pi/CubeSatSim/command_tx
echo "Command state set to False to disable beacon"
echo "rebooting"
sudo systemctl stop rpitx
sudo reboot now
fi
elif [ "$1" = "-R" ]; then
@ -693,6 +712,11 @@ elif [ "$1" = "-v" ]; then
echo
/home/pi/CubeSatSim/telem
else
echo
echo "Unknown option. Try config -h for a list of supported options."
echo
fi
# sudo systemctl restart cubesatsim

58
main.c
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@ -567,7 +567,7 @@ int main(int argc, char * argv[]) {
voltage_max[i] = -1000.0;
current_max[i] = -1000.0;
}
for (int i = 0; i < 17; i++) {
for (int i = 0; i < SENSOR_FIELDS; i++) {
sensor_min[i] = 1000.0;
sensor_max[i] = -1000.0;
// printf("Sensor min and max initialized!");
@ -673,7 +673,7 @@ int main(int argc, char * argv[]) {
const char space[2] = " ";
token = strtok(sensor_payload, space);
// printf("token: %s\n", token);
for (count1 = 0; count1 < 17; count1++) {
for (count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (token != NULL) {
sensor[count1] = (float) atof(token);
// #ifdef DEBUG_LOGGING
@ -683,18 +683,18 @@ int main(int argc, char * argv[]) {
}
}
printf("\n");
// if (sensor[XS1] != 0) {
if ((sensor[XS1] > -90.0) && (sensor[XS1] < 90.0) && (sensor[XS1] != 0.0)) {
if (sensor[XS1] != latitude) {
latitude = sensor[XS1];
// if (sensor[GPS1] != 0) {
if ((sensor[GPS1] > -90.0) && (sensor[GPS1] < 90.0) && (sensor[GPS1] != 0.0)) {
if (sensor[GPS1] != latitude) {
latitude = sensor[GPS1];
printf("Latitude updated to %f \n", latitude);
newGpsTime = millis();
}
}
// if (sensor[XS2] != 0) {
if ((sensor[XS2] > -180.0) && (sensor[XS2] < 180.0) && (sensor[XS2] != 0.0)) {
if (sensor[XS2] != longitude) {
longitude = sensor[XS2];
// if (sensor[GPS2] != 0) {
if ((sensor[GPS2] > -180.0) && (sensor[GPS2] < 180.0) && (sensor[GPS2] != 0.0)) {
if (sensor[GPS2] != longitude) {
longitude = sensor[GPS2];
printf("Longitude updated to %f \n", longitude);
newGpsTime = millis();
}
@ -712,7 +712,7 @@ int main(int argc, char * argv[]) {
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
for (int count1 = 0; count1 < 17; count1++) {
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (sensor[count1] < sensor_min[count1])
sensor_min[count1] = sensor[count1];
if (sensor[count1] > sensor_max[count1])
@ -869,7 +869,7 @@ int main(int argc, char * argv[]) {
const char space[2] = " ";
token = strtok(sensor_payload, space);
// printf("token: %s\n", token);
for (count1 = 0; count1 < 17; count1++) {
for (count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (token != NULL) {
sensor[count1] = (float) atof(token);
// #ifdef DEBUG_LOGGING
@ -879,18 +879,18 @@ int main(int argc, char * argv[]) {
}
}
printf("\n");
// if (sensor[XS1] != 0) {
if ((sensor[XS1] > -90.0) && (sensor[XS1] < 90.0) && (sensor[XS1] != 0.0)) {
if (sensor[XS1] != latitude) {
latitude = sensor[XS1];
// if (sensor[GPS1] != 0) {
if ((sensor[GPS1] > -90.0) && (sensor[GPS1] < 90.0) && (sensor[GPS1] != 0.0)) {
if (sensor[GPS1] != latitude) {
latitude = sensor[GPS1];
printf("Latitude updated to %f \n", latitude);
newGpsTime = millis();
}
}
// if (sensor[XS2] != 0) {
if ((sensor[XS2] > -180.0) && (sensor[XS2] < 180.0) && (sensor[XS2] != 0.0)) {
if (sensor[XS2] != longitude) {
longitude = sensor[XS2];
// if (sensor[GPS2] != 0) {
if ((sensor[GPS2] > -180.0) && (sensor[GPS2] < 180.0) && (sensor[GPS2] != 0.0)) {
if (sensor[GPS2] != longitude) {
longitude = sensor[GPS2];
printf("Longitude updated to %f \n", longitude);
newGpsTime = millis();
}
@ -908,7 +908,7 @@ int main(int argc, char * argv[]) {
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
for (int count1 = 0; count1 < 17; count1++) {
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (sensor[count1] < sensor_min[count1])
sensor_min[count1] = sensor[count1];
if (sensor[count1] > sensor_max[count1])
@ -1435,7 +1435,7 @@ void get_tlm_fox() {
if (loop % 32 == 0) { // was 8
printf("Sending MIN frame \n");
frm_type = 0x03;
for (int count1 = 0; count1 < 17; count1++) {
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (count1 < 3)
other[count1] = other_min[count1];
if (count1 < 8) {
@ -1449,7 +1449,7 @@ void get_tlm_fox() {
if ((loop + 16) % 32 == 0) { // was 8
printf("Sending MAX frame \n");
frm_type = 0x02;
for (int count1 = 0; count1 < 17; count1++) {
for (int count1 = 0; count1 < SENSOR_FIELDS; count1++) {
if (count1 < 3)
other[count1] = other_max[count1];
if (count1 < 8) {
@ -1588,8 +1588,8 @@ void get_tlm_fox() {
encodeA(b_max, 42 + head_offset, (int)(sensor_max[GYRO_Y] + 0.5) + 2048);
encodeB(b_max, 43 + head_offset, (int)(sensor_max[GYRO_Z] + 0.5) + 2048);
encodeA(b_max, 48 + head_offset, (int)(sensor_max[XS1] * 10 + 0.5) + 2048);
encodeB(b_max, 49 + head_offset, (int)(sensor_max[XS2] * 10 + 0.5) + 2048);
encodeA(b_max, 48 + head_offset, (int)(sensor_max[DTEMP] * 10 + 0.5) + 2048);
encodeB(b_max, 49 + head_offset, (int)(sensor_max[XS1] * 10 + 0.5) + 2048);
encodeB(b_max, 10 + head_offset, (int)(sensor_max[TEMP] * 10 + 0.5));
encodeA(b_max, 45 + head_offset, (int)(sensor_max[HUMI] * 10 + 0.5));
}
@ -1641,8 +1641,8 @@ void get_tlm_fox() {
encodeA(b_min, 42 + head_offset, (int)(sensor_min[GYRO_Y] + 0.5) + 2048);
encodeB(b_min, 43 + head_offset, (int)(sensor_min[GYRO_Z] + 0.5) + 2048);
encodeA(b_min, 48 + head_offset, (int)(sensor_min[XS1] * 10 + 0.5) + 2048);
encodeB(b_min, 49 + head_offset, (int)(sensor_min[XS2] * 10 + 0.5) + 2048);
encodeA(b_min, 48 + head_offset, (int)(sensor_min[DTEMP] * 10 + 0.5) + 2048);
encodeB(b_min, 49 + head_offset, (int)(sensor_min[XS1] * 10 + 0.5) + 2048);
encodeB(b_min, 10 + head_offset, (int)(sensor_min[TEMP] * 10 + 0.5));
encodeA(b_min, 45 + head_offset, (int)(sensor_min[HUMI] * 10 + 0.5));
}
@ -1679,8 +1679,8 @@ void get_tlm_fox() {
encodeA(b, 45 + head_offset, (int)(sensor[HUMI] * 10 + 0.5)); // in place of sensor1
encodeB(b, 46 + head_offset, PSUCurrent);
encodeA(b, 48 + head_offset, (int)(sensor[XS1] * 10 + 0.5) + 2048);
encodeB(b, 49 + head_offset, (int)(sensor[XS2] * 10 + 0.5) + 2048);
encodeA(b, 48 + head_offset, (int)(sensor[DTEMP] * 10 + 0.5) + 2048);
encodeB(b, 49 + head_offset, (int)(sensor[XS1] * 10 + 0.5) + 2048);
FILE * command_count_file = fopen("/home/pi/CubeSatSim/command_count.txt", "r");
if (command_count_file != NULL) {

19
main.h
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@ -34,19 +34,24 @@
#define MINUS_Y 5
#define PLUS_Z 6
#define MINUS_Z 7
#define TEMP 2
#define TEMP 2 // OK and BME280 is positions 0 and 1
#define PRES 3
#define ALT 4
#define HUMI 5
#define GYRO_X 7
#define GYRO_X 7 // MPU6050 is posisition 6
#define GYRO_Y 8
#define GYRO_Z 9
#define ACCEL_X 10
#define ACCEL_Y 11
#define ACCEL_Z 12
#define XS1 14
#define XS2 15
#define XS3 16
#define GPS1 14 // GPS is position 13
#define GPS2 15
#define GPS3 16
#define DTEMP 18 // TMP is position 17
#define XS1 20 // NEW user defined token will be position 19
#define XS2 21
#define XS3 22
#define SENSOR_FIELDS 26
#define RSSI 0
#define IHU_TEMP 2
@ -146,7 +151,7 @@ float axis[3], angle[3], volts_max[3], amps_max[3], batt, speed, period, tempS,
int i2c_bus0 = OFF, i2c_bus1 = OFF, i2c_bus3 = OFF, camera = OFF, sim_mode = FALSE, SafeMode = FALSE, rxAntennaDeployed = 0, txAntennaDeployed = 0;
double eclipse_time;
float voltage[9], current[9], sensor[17], other[3];
float voltage[9], current[9], sensor[SENSOR_FIELDS], other[3];
char sensor_payload[500];
int test_i2c_bus(int bus);
@ -157,7 +162,7 @@ char pythonStr[100], pythonConfigStr[100], busStr[10];
int map[8] = {0, 1, 2, 3, 4, 5, 6, 7};
char src_addr[5] = "";
char dest_addr[5] = "APCSS";
float voltage_min[9], current_min[9], voltage_max[9], current_max[9], sensor_max[17], sensor_min[17], other_max[3], other_min[3];
float voltage_min[9], current_min[9], voltage_max[9], current_max[9], sensor_max[SENSOR_FIELDS], sensor_min[SENSOR_FIELDS], other_max[3], other_min[3];
int get_payload_serial(int debug_camera);
int finished = FALSE;

294
rpitx.py
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@ -11,6 +11,51 @@ from os import system
from PIL import Image, ImageDraw, ImageFont, ImageColor
import serial
def command_control_check():
global command_control
global no_command
global debug_mode
global command_count
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
# print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
# if (command_tx == True):
# print("Turning on transmit")
# system("echo > command_tx True")
# output(txLed, txLedOn)
# sleep(0.5)
# output(txLed, txLedff)
# else:
# print("Turning off transmit")
# system("echo > command_tx False")
else:
print("No carrier received!")
output(pd, 0)
# sleep(1)
def battery_saver_check():
try:
global txc
@ -153,14 +198,6 @@ GPIO.setup(27, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(txc_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(green, GPIO.OUT)
GPIO.setup(squelch, GPIO.IN, pull_up_down=GPIO.PUD_UP) ## pull up in case pin is not connected
if GPIO.input(squelch) == False:
print("squelch not set correctly, no command input!")
no_command = True
else:
no_command = False
transmit = False
if GPIO.input(12) == False:
print("Version is v1 with UHF BPF")
@ -311,6 +348,23 @@ if __name__ == "__main__":
if (debug_mode == 1):
print("Can't read callsign from sim.cfg file, defaulting to AMSAT")
file.close()
try:
f = open("/home/pi/CubeSatSim/command_control", "r")
f.close()
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(squelch, GPIO.IN, pull_up_down=GPIO.PUD_UP) ## pull up in case pin is not connected
if GPIO.input(squelch) == False:
print("squelch not set correctly, no command input!")
no_command = True
else:
print("command and control is activated")
no_command = False
except:
print("command and control not activated")
no_command = True
print(callsign)
GPIO.setmode(GPIO.BCM) # added to make Tx LED work on Pi 4
GPIO.setup(txLed, GPIO.OUT)
@ -415,49 +469,14 @@ if __name__ == "__main__":
output(txLed, txLedOff)
system("sudo rm /home/pi/CubeSatSim/ready")
f.close()
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
if (command_tx == True):
print("Turning on transmit")
system("echo > command_tx True")
# output(txLed, txLedOn)
# sleep(0.5)
# output(txLed, txLedff)
else:
print("Turning off transmit")
system("echo > command_tx False")
else:
print("No carrier received!")
output(pd, 0)
if (debug_mode == 1):
print("Ready for next packet!")
sleep(0.5)
except:
sleep(0.5)
command_control_check()
sleep(1)
elif (mode == 'm'):
print("CW")
# sleep(4)
@ -491,40 +510,7 @@ if __name__ == "__main__":
# output (ptt, 1)
sleep(5)
while True:
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
if (command_tx == True):
print("Turning on transmit")
system("echo > command_tx True")
# output(txLed, txLedOn)
# sleep(0.5)
# output(txLed, txLedff)
else:
print("Turning off transmit")
system("echo > command_tx False")
sleep(5)
output(pd, 1) # changed from 0 to 1
command_control_check()
try:
f = open("/home/pi/CubeSatSim/cwready")
@ -606,6 +592,8 @@ if __name__ == "__main__":
except:
print("image 2 did not load - copy from CubeSatSim/sstv directory")
while 1:
command_control_check()
system("raspistill -o /home/pi/CubeSatSim/camera_out.jpg -w 320 -h 256") # > /dev/null 2>&1")
print("Photo taken")
@ -632,42 +620,12 @@ if __name__ == "__main__":
draw.text((120, 10), telem_string, font=font2, fill='white')
img.save(file)
command_control_check()
system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/camera_out.jpg")
system("sudo rm /home/pi/CubeSatSim/camera_out.jpg > /dev/null 2>&1")
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
if (command_tx == True):
print("Turning on transmit")
system("echo > command_tx True")
# output(txLed, txLedOn)
# sleep(0.5)
# output(txLed, txLedff)
else:
print("Turning off transmit")
system("echo > command_tx False")
output(pd, 0)
command_control_check()
if (command_tx == True):
print ("Sending SSTV image")
@ -694,9 +652,14 @@ if __name__ == "__main__":
sleep(1)
else:
try:
command_control_check()
file = open("/home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg")
print("First SSTV stored image detected")
system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg")
command_control_check()
if (command_tx == True):
print ("Sending SSTV image")
@ -723,43 +686,15 @@ if __name__ == "__main__":
except:
print("image 1 did not load - copy from CubeSatSim/sstv directory")
try:
command_control_check()
file = open("/home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg")
print("Second SSTV stored image detected")
system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg")
while 1:
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
if (command_tx == True):
print("Turning on transmit")
system("echo > command_tx True")
# output(txLed, txLedOn)
# sleep(0.5)
# output(txLed, txLedff)
else:
print("Turning off transmit")
system("echo > command_tx False")
output(pd, 0)
command_control_check()
if (command_tx == True):
print ("Sending SSTV image")
@ -822,40 +757,7 @@ if __name__ == "__main__":
# output(txLed, txLedOn)
# sleep(0.03)
# output(txLed, txLedOff)
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
if (command_tx == True):
print("Turning on transmit")
system("echo > command_tx True")
system("sudo nc -l 8080 | csdr convert_i16_f | csdr fir_interpolate_cc 2 | csdr dsb_fc | csdr bandpass_fir_fft_cc 0.002 0.06 0.01 | csdr fastagc_ff | sudo /home/pi/rpitx/sendiq -i /dev/stdin -s 96000 -f " + tx + "e6 -t float &")
else:
print("Turning off transmit") # and rebooting")
system("echo > command_tx False")
system("sudo systemctl restart rpitx")
# system("sudo reboot now")
sleep(60)
output(pd, 0)
command_control_check()
if (command_tx == True):
output(txLed, txLedOn)
@ -875,39 +777,7 @@ if __name__ == "__main__":
# output(txLed, txLedOn)
# sleep(0.03)
# output(txLed, txLedOff)
output(pd, 1)
output(ptt, 1)
sleep(1)
if (no_command == False and GPIO.input(squelch) == False):
print("carrier received!")
# command_tx = not command_tx
print(command_tx)
try:
command_count += 1
filec = open("/home/pi/CubeSatSim/command_count.txt", "w")
command_count_string = str(command_count)
print(command_count_string)
string = filec.write(command_count_string)
filec.close()
except:
if (debug_mode == 1):
print("Can't write command_count file!")
print("Command_count: ")
print(command_count)
increment_mode()
if (command_tx == True):
print("Turning on transmit")
system("echo > command_tx True")
system("sudo nc -l 8080 | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3 &")
else:
print("Turning of transmit and rebooting")
system("echo > command_tx False")
system("sudo systemctl restart rpitx")
# system("sudo reboot now")
sleep(60)
command_control_check()
if (command_tx == True):
output(txLed, txLedOn)
sleep(4.0)

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