########################################################################### # # Copyright (c) 2021-2024 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 temperature_sensors.py # # @author (last) Micahel Garthwaite # @date (last) 28-Jul-2023 # @author (original) Dara Navaei # @date (original) 01-Dec-2021 # ############################################################################ import struct from enum import unique from logging import Logger from leahi_dialin.common.constants import NO_RESET from leahi_dialin.common.global_vars import GlobalVariables from leahi_dialin.common.fp_defs import fp_enum_repository, BETA_IOFP_COND_SENSOR_OFFSET, BETA_IOFP_PRES_SENSOR_OFFSET 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 class FPTemperatureSensors(AbstractSubSystem): def __init__(self, can_interface, logger: Logger): super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.fp_sync_broadcast_ch_id self.msg_id_fp_temperature_data = MsgIds.MSG_ID_FP_TEMPERATURE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_fp_temperature_data, self._handler_temperature_sensors_sync) self.fp_temperature_sensors_timestamp = 0 self.fp_temperatures = { fp_enum_repository.FPTemperatureSensorNames.M3_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P8_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P13_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P17_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P10_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P19_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P7_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P16_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P7_INTERNAL_TEMP.name: 0.0, fp_enum_repository.FPTemperatureSensorNames.P16_INTERNAL_TEMP.name: 0.0, } if GlobalVariables().HW_BETA_1_9: self.fp_temperatures[fp_enum_repository.FPTemperatureSensorNames.P46_TEMP.name] = 0.0 @publish(["msg_id_fp_temperature_data", "fp_temperatures", "fp_temperatures_timestamp"]) def _handler_temperature_sensors_sync(self, message,timestamp=0.0): """ Handles published FP temperature sensors message @param message: published FP temperature sensors data message @returns none """ sensor_list =[] sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.M3_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P10_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P19_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P8_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P13_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P17_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P7_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P16_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P7_INTERNAL_TEMP, 'f')) sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P16_INTERNAL_TEMP, 'f')) if GlobalVariables().HW_BETA_1_9: if fp_enum_repository.FPTemperatureSensorNames.P46_TEMP.name not in self.fp_enum_repository: self.fp_temperatures[fp_enum_repository.FPTemperatureSensorNames.P46_TEMP.name] = 0.0 sensor_list.append((fp_enum_repository.FPTemperatureSensorNames.P46_TEMP, 'f')) i = 1 for sensor in sensor_list: start_pos = eval(f'MsgFieldPositions.START_POS_FIELD_{i}') end_pos = eval(f'MsgFieldPositions.END_POS_FIELD_{i}') self.fp_temperatures[sensor[0].name] = struct.unpack(sensor[1], bytearray(message['message'][start_pos:end_pos]))[0] i += 1 self.fp_temperature_sensors_timestamp = timestamp def cmd_temperatures_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends broadcast time interval. Constraints: Must be logged into FP. Given interval must be non-zero and a multiple of the FP general task interval (50 ms). @param ms: (int) Publish time interval in ms @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ if not check_broadcast_interval_override_ms(ms): return False reset_value = integer_to_bytearray(reset) interval_value = integer_to_bytearray(ms) payload = reset_value + interval_value message = DenaliMessage.build_message( channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_FP_TEMPERATURE_SENSOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Sending {} ms publish interval to the Temperature Sensors module".format(ms)) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_temperatures_value_override(self, sensor_index: int, sensor_value: float, reset: int = NO_RESET) -> int: """ Constructs and sends the value override of a temperature sensor. Constraints: Must be logged into FP. Given sensor_index must be one of the sensors listed below. @param sensor_index : (int) Index of the sensor @param sensor_value: (float) Value of the sensor to override @param reset: (int) whether to reset the override value. The default is NO_RESET @returns 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) value = float_to_bytearray(sensor_value) # FP Conductivity Sensors' Temperature Override if fp_enum_repository.FPTemperatureSensorNames.FIRST_CONDUCTIVITY_SENSOR.value <= sensor_index <= fp_enum_repository.FPTemperatureSensorNames.LAST_CONDUCTIVITY_SENSOR.value: modified_index = sensor_index - fp_enum_repository.FPTemperatureSensorNames.FIRST_CONDUCTIVITY_SENSOR.value + BETA_IOFP_COND_SENSOR_OFFSET msg_id = MsgIds.MSG_ID_FP_CONDUCTIVITY_TEMP_OVERRIDE_REQUEST # FP Flow Sensors' Temperature Override elif fp_enum_repository.FPTemperatureSensorNames.FIRST_FLOW_SENSOR.value <= sensor_index <= fp_enum_repository.FPTemperatureSensorNames.LAST_FLOW_SENSOR.value: modified_index = sensor_index - fp_enum_repository.FPTemperatureSensorNames.FIRST_FLOW_SENSOR.value msg_id = MsgIds.MSG_ID_FP_FLOW_TEMP_OVERRIDE_REQUEST # FP Pressure Sensors' Temperature Override else: modified_index = sensor_index - fp_enum_repository.FPTemperatureSensorNames.FIRST_PRESSURE_SENSOR.value + BETA_IOFP_PRES_SENSOR_OFFSET msg_id = MsgIds.MSG_ID_FP_PRESSURE_TEMP_OVERRIDE_REQUEST index = integer_to_bytearray(modified_index) rst = integer_to_bytearray(reset) value = float_to_bytearray(sensor_value) payload = rst + value + index sensor_name = fp_enum_repository.FPTemperatureSensorNames(sensor_index).name.split('_')[0] message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=msg_id.value, payload=payload) self.logger.debug("Setting sensor {} to {} C".format(fp_enum_repository.FPTemperatureSensorNames[str(sensor_index)].name, sensor_value)) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False