########################################################################### # # 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 water_pumps.py # # @author (last) Micahel Garthwaite # @date (last) 17-Aug-2023 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from enum import unique from logging import Logger from enum import unique from leahi_dialin.utils.base import DialinEnum 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 FPPumpNames(DialinEnum): P12_PUMP_RO = 0 P40_PUMP_BOOSTER = 1 class FPPumps(AbstractSubSystem): """ Dialin API sub-class for RO pump related commands. """ def __init__(self, can_interface, logger: Logger): """ FPPumps constructor """ 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 msg_id = MsgIds.MSG_ID_RO_PUMP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_pump_sync) self.ro_pump_timestamp = 0.0 self.p12_pump_state = 0 self.p12_pump_duty_cycle = 0.0 self.p12_pump_fb_duty_cycle = 0.0 self.p12_pump_speed = 0.0 self.p40_pump_state = 0 self.p40_pump_duty_cycle = 0.0 self.p40_pump_fb_duty_cycle = 0.0 self.p40_pump_speed = 0.0 @publish(["ro_pump_timestamp", "p12_pump_state", "p12_pump_duty_cycle", "p12_pump_fb_duty_cycle", "p12_pump_speed", "p40_pump_state", "p40_pump_duty_cycle", "p40_pump_fb_duty_cycle", "p40_pump_speed"]) def _handler_pump_sync(self, message, timestamp=0.0): """ Handles published RO pump data messages. RO pump data is captured for reference. @param message: published RO pump data message @return: none """ self.p12_pump_state = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.p12_pump_duty_cycle = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.p12_pump_fb_duty_cycle = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.p12_pump_speed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.p40_pump_state = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.p40_pump_duty_cycle = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.p40_pump_fb_duty_cycle = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.p40_pump_speed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.ro_pump_timestamp = timestamp def cmd_pump_set_speed_rate_override(self, pump: int, rpm: int, reset: int = NO_RESET) -> int: """ Constructs and sends the boost pump set speed rate command Constraints: Must be logged into FP. @param rpm: integer - speed set point (in rpm) @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) rpm = integer_to_bytearray(rpm) pmp = integer_to_bytearray(pump) payload = rst + rpm + pmp message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SPEED_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override pump set speed rate point") # 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(rpm) self.logger.debug("rpm overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_pump_set_pwm_request(self, pump: int, pwm: int) -> int: """ Constructs and sends set pwm request for RO pumps \n command. Constraints: Must be logged into FP. @param pump: integer - the pump id to set pwm @param pwm: integer - counts to override the pwm ( 0 - 500 ) @return: 1 if successful, zero otherwise """ spd = integer_to_bytearray(pwm) pmp = integer_to_bytearray(pump) payload = pmp + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SET_PWM_REQUEST.value, payload=payload) self.logger.debug("setting pump {} to pwm count {}".format(pump,pwm)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug("pwm set to " + str(pwm)) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_pump_read_pwm_override(self, pump: int, pwm: float, reset: int = NO_RESET) -> int: """ Constructs and sends the read pwm override for the RO pumps \n command. Constraints: Must be logged into FP. @param pwm: float - pwm in percentage to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) rpwm = float_to_bytearray(pwm) pmp = integer_to_bytearray(pump) payload = rst + rpwm + pmp message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override read pwm for pump".format(pump)) # 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(rpwm) self.logger.debug("pwm overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the RO pump broadcast interval override command 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: 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 rst = integer_to_bytearray(reset) mis = integer_to_bytearray(ms) payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override FP pump broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(mis) self.logger.debug("broadcast overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False