########################################################################### # # 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 pressure_sensors.py # # @author (last) Vinayakam Mani # @date (last) 02-May-2024 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from enum import unique from logging import Logger from .constants import RESET, NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.common.fp_defs import FPPressureSensorNames 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 FPPressureSensors(AbstractSubSystem): """ Dialin API sub-class for FP pressure sensor related commands. """ def __init__(self, can_interface, logger: Logger): """ FPPressureSensors 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 self.msg_id_fp_pressures_data = MsgIds.MSG_ID_FP_PRESSURES_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_fp_pressures_data, self._handler_pressure_sync) self.fp_pressures = { FPPressureSensorNames.M3_PRES.name: 0.0, FPPressureSensorNames.P8_PRES.name: 0.0, FPPressureSensorNames.P13_PRES.name: 0.0, FPPressureSensorNames.P17_PRES.name: 0.0, FPPressureSensorNames.P46_PRES.name: 0.0 } self.fp_pressure_timestamp = 0.0 @publish(["msg_id_fp_pressures_data", "fp_pressures", "fp_pressure_timestamp"]) def _handler_pressure_sync(self, message, timestamp=0.0): """ Handles published FP pressure sensor data messages. Pressure data are captured for reference. @param message: published FP pressure sensor data message @return: none """ self.fp_pressures[FPPressureSensorNames.M3_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.fp_pressures[FPPressureSensorNames.P8_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.fp_pressures[FPPressureSensorNames.P13_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.fp_pressures[FPPressureSensorNames.P17_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.fp_pressures[FPPressureSensorNames.P46_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.fp_pressure_timestamp = timestamp def cmd_pressure_sensor_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends a measured FP pressure override command message. Constraints: Must be logged into FP. @param sensor: int - switch between filtered override and raw override @param pressure: float - measured pressure (in PSI) 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) sen = integer_to_bytearray(sensor) prs = float_to_bytearray(pressure) payload = rst + prs + sen message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_FP_PRESSURE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override FP pressure sensor") # 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(pressure) + " PSI. " self.logger.debug("FP pressure 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.debug("Timeout!!!!") return False def cmd_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the FP pressure data 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_FP_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override FP pressure 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(ms) + " ms: " self.logger.debug("FP pressure 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.debug("Timeout!!!!") return False