########################################################################### # # Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved. # # THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN # WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. # # @file conductivity_sensors.py # # @author (last) Dara Navaei # @date (last) 15-May-2023 # @author (original) Quang Nguyen # @date (original) 20-Jul-2020 # ############################################################################ import struct from logging import Logger from enum import unique from .constants import RESET, NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray @unique class ROConductivitySensorsEnum(DialinEnum): P9_CPI = 0 # CPi (P9) conductivity sensor value P18_CPO = 1 # CPo (P18) conductivity sensor value class ROConductivitySensors(AbstractSubSystem): """ Dialin API sub-class for conductivity sensors related commands. """ def __init__(self, can_interface, logger: Logger): """ @param can_interface: Denali Can Messenger object """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.ro_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_RO_CONDUCTIVITY_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_conductivity_sensors_sync) self.p9_cpi_conductivity = 0.0 self.p18_cpo_conductivity = 0.0 self.ro_conductivity_timestamp = 0.0 @publish(["ro_conductivity_timestamp", "p9_cpi_conductivity", "p18_cpo_conductivity"]) def _handler_conductivity_sensors_sync(self, message, timestamp=0.0): """ Handles published RO conductivity sensor data messages. Conductivity sensor data are captured for reference. @param message: published conductivity sensor data message @return: None """ self.p9_cpi_conductivity = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.p18_cpo_conductivity = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.ro_conductivity_timestamp = timestamp def cmd_conductivity_sensor_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the RO conductivity sensor data broadcast interval override command Constraints: Must be logged into RO. Given interval must be non-zero and a multiple of the RO general task interval (50 ms). @param ms: integer - interval (in ms) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ if not check_broadcast_interval_override_ms(ms): return False reset_byte_array = integer_to_bytearray(reset) ms_byte_array = integer_to_bytearray(ms) payload = reset_byte_array + ms_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, message_id=MsgIds.MSG_ID_RO_CONDUCTIVITY_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override RO conductivity sensor broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: if reset == RESET: str_res = "reset back to normal: " else: str_res = str(ms) + " ms: " self.logger.debug("RO Conductivity sensor data broadcast interval overridden to " + str_res + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_conductivity_sensor_readings_override(self, sensor: int, conductivity: float, reset: int = NO_RESET) -> int: """ Constructs and sends the RO conductivity value override command. Constraints: Must be logged into RO. @param sensor: unsigned int - sensor ID @param conductivity: float - conductivity value to override sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) cond_byte_array = float_to_bytearray(conductivity) sensor_byte_array = integer_to_bytearray(sensor) payload = reset_byte_array + cond_byte_array + sensor_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, message_id=MsgIds.MSG_ID_RO_CONDUCTIVITY_OVERRIDE_REQUEST.value, payload=payload) if reset == RESET: str_res = "reset back to normal" else: str_res = str(conductivity) + " microsiemens/cm" self.logger.debug("override RO conductivity sensor value for sensor " + str(sensor) + ": " + str_res) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_conductivity_sensor_read_counter_override(self, sensor: int, counter: int, reset: int = NO_RESET) -> int: """ Constructs and sends the RO conductivity sensor read override command @param sensor: unsigned int - sensor ID @param counter: counter - count value to override sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) read_byte_array = integer_to_bytearray(counter) sensor_byte_array = integer_to_bytearray(sensor) payload = reset_byte_array + read_byte_array + sensor_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, message_id=MsgIds.MSG_ID_RO_CONDUCTIVITY_READ_COUNT_OVERRIDE_REQUEST.value, payload=payload) if reset == RESET: str_res = "reset back to normal" else: str_res = str(counter) self.logger.debug("override RO conductivity sensor value for sensor " + str(sensor) + ": " + str_res) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_conductivity_sensor_error_counter_override(self, sensor: int, counter: int, reset: int = NO_RESET) -> int: """ Constructs and sends the RO conductivity error counter override command @param sensor: unsigned int - sensor ID @param counter: counter - count value to override error counter @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) error_byte_array = integer_to_bytearray(counter) sensor_byte_array = integer_to_bytearray(sensor) payload = reset_byte_array + error_byte_array + sensor_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, message_id=MsgIds.MSG_ID_RO_CONDUCTIVITY_ERROR_COUNT_OVERRIDE_REQUEST.value, payload=payload) if reset == RESET: str_res = "reset back to normal" else: str_res = str(counter) self.logger.debug("override RO conductivity sensor value for sensor " + str(sensor) + ": " + str_res) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False