########################################################################### # # 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) Zoltan Miskolci # @date (last) 07-Jan-2026 # @author (original) Dara Navaei # @date (original) 01-Dec-2021 # ############################################################################ import struct from logging import Logger from leahi_dialin.common.constants import NO_RESET from leahi_dialin.common.dd_defs import dd_enum_repository from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.protocols.CAN import DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray class DDTemperatureSensors(AbstractSubSystem): def __init__(self, can_interface, logger: Logger): super().__init__() self.can_interface = can_interface self.logger: Logger = logger # Dictionary of the temperature sensors self.dd_temperatures_timestamp = 0.0 self.dd_temperatures = { dd_enum_repository.DDTemperatureSensorNames.D1_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D78_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D4_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D50_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D99_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.BRD_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D16_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D28_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D30_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D44_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D75_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D4_AVG_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D50_AVG_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D99_AVG_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D28_AVG_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D30_AVG_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D66_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D51_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D18_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D41_TEMP.name: 0.0, dd_enum_repository.DDTemperatureSensorNames.D87_TEMP.name: 0.0 } if self.can_interface is not None: channel_id = DenaliChannels.dd_sync_broadcast_ch_id self.msg_id_dd_temperature_data = MsgIds.MSG_ID_DD_TEMPERATURE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_temperature_data, self._handler_temperature_sensors_sync) @publish(["msg_id_dd_temperature_data", "dd_temperatures", "dd_temperatures_timestamp"]) def _handler_temperature_sensors_sync(self, message,timestamp=0.0): """ Handles published DD temperature sensors message @param message: published DD temperature sensors data message @returns none """ sensor_list =[] sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D1_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D78_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D4_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D50_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D99_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.BRD_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D16_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D28_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D30_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D44_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D75_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D4_AVG_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D50_AVG_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D99_AVG_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D28_AVG_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D30_AVG_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D9_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D66_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D51_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D18_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D41_TEMP, 'f')) sensor_list.append((dd_enum_repository.DDTemperatureSensorNames.D87_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.dd_temperatures[sensor[0].name] = struct.unpack(sensor[1], bytearray(message['message'][start_pos:end_pos]))[0] i += 1 self.dd_temperatures_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 DD. Given interval must be non-zero and a multiple of the DD 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 """ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_TEMPERATURE_SENSOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'DD Temperature Sensors', logger = self.logger, can_interface = self.can_interface) 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 DD. 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 """ # DD Conductivity Sensors' Temperature Reading Override if dd_enum_repository.DDTemperatureSensorNames.FIRST_CONDUCTIVITY_SENSOR.value <= sensor_index <= dd_enum_repository.DDTemperatureSensorNames.LAST_CONDUCTIVITY_SENSOR.value: modified_index= sensor_index - dd_enum_repository.DDTemperatureSensorNames.FIRST_CONDUCTIVITY_SENSOR.value message_id = MsgIds.MSG_ID_DD_CONDUCTIVITY_SENSOR_TEMPERATURE_OVERRIDE_REQUEST # DD Conductivity Sensors' Average Temperature Reading Override elif dd_enum_repository.DDTemperatureSensorNames.FIRST_AVERAGE_SENSOR.value <= sensor_index <= dd_enum_repository.DDTemperatureSensorNames.LAST_AVERAGE_SENSOR.value: modified_index= sensor_index - dd_enum_repository.DDTemperatureSensorNames.FIRST_AVERAGE_SENSOR.value message_id = 'Unknown' self.logger.info('No Msg ID is present for Conductivity sensor Average override! Skipping...') return False # DD Pressure Sensors' Temperature Reading Override elif dd_enum_repository.DDTemperatureSensorNames.FIRST_PRESSURE_SENSOR.value <= sensor_index <= dd_enum_repository.DDTemperatureSensorNames.LAST_PRESSURE_SENSOR.value: modified_index= sensor_index - dd_enum_repository.DDTemperatureSensorNames.FIRST_PRESSURE_SENSOR.value message_id = MsgIds.MSG_ID_DD_PRESSURE_SENSOR_TEMPERATURE_OVERRIDE_REQUEST # DD Temperature Sensors' Temperature Reading Override else: modified_index= sensor_index message_id = MsgIds.MSG_ID_DD_TEMPERATURE_SENSOR_MEASURED_TEMPERATURE_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 = dd_enum_repository.DDTemperatureSensorNames(sensor_index).name.split('_')[0] return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = message_id, entity_name = f'DD {sensor_name} Temperature Sensor temperature', override_text = f'{str(sensor_value)} Celsius', logger = self.logger, can_interface = self.can_interface) def cmd_temperature_sensor_read_counter_override(self, sensor: int, counter: int, reset: int = NO_RESET) -> int: """ Constructs and sends the temperature read counter override command @param sensor: unsigned int - sensor ID @param counter: int - read counter 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 sensor_name = dd_enum_repository.DDTemperatureSensorNames(sensor).name.split('_')[0] return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_TEMPERATURE_SENSOR_READ_COUNTER_OVERRIDE_REQUEST, entity_name = f'DD {sensor_name} Temperature Sensor read counter', override_text = str(counter), logger = self.logger, can_interface = self.can_interface) def cmd_baro_sensor_read_counter_override(self, counter: int, reset: int = NO_RESET) -> int: """ Constructs and sends the barometer sensor read counter override command @param counter: int - barometer sensor read counter 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) payload = reset_byte_array + read_byte_array return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_TEMPERATURE_SENSOR_BARO_READ_COUNTER_OVERRIDE_REQUEST, entity_name = f'DD Barometer Sensor read counter', override_text = str(counter), logger = self.logger, can_interface = self.can_interface) def cmd_baro_sensor_crc_override(self, crc: int, reset: int = NO_RESET) -> int: """ Constructs and sends the barometer sensor CRC override command @param crc: int - the crc 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(crc) payload = reset_byte_array + read_byte_array return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_TEMPERATURE_SENSOR_BARO_CRC_OVERRIDE_REQUEST, entity_name = f'DD Barometer Sensor CRC', override_text = str(crc), logger = self.logger, can_interface = self.can_interface) def cmd_pressure_filtered_temperature_override(self, sensor: int, temperature: float, reset: int = NO_RESET) -> int: """ Constructs and sends the filtered temperature override command. Constraints: Must be logged into DD. @param sensor: unsigned int - sensor ID, use the index of dd_enum_repository.DDTemperatureSensorNames @param temperature: float - temperature to override the sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) tmp = float_to_bytearray(temperature) idx = integer_to_bytearray(sensor - dd_enum_repository.DDTemperatureSensorNames.FIRST_PRESSURE_SENSOR.value) payload = rst + tmp + idx sensor_name = dd_enum_repository.DDTemperatureSensorNames(sensor).name.split('_')[0] return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_PRESSURE_SENSOR_FILTER_TEMPERATURE_OVERRIDE_REQUEST, entity_name = f'DD {sensor_name} Temperature Sensor filtered temperature', override_text = f'{str(temperature)} Celsius', logger = self.logger, can_interface = self.can_interface)