Index: leahi_dialin/dd/modules/pressure_sensors.py =================================================================== diff -u -r4c41400037a9da1afe303601bd960b30de3d79da -r38e8dd31728056dbb7f9304c98ab16d7147b75a2 --- leahi_dialin/dd/modules/pressure_sensors.py (.../pressure_sensors.py) (revision 4c41400037a9da1afe303601bd960b30de3d79da) +++ leahi_dialin/dd/modules/pressure_sensors.py (.../pressure_sensors.py) (revision 38e8dd31728056dbb7f9304c98ab16d7147b75a2) @@ -7,22 +7,24 @@ # # @file pressure_sensors.py # -# @author (last) Micahel Garthwaite -# @date (last) 07-Mar-2023 +# @author (last) Zoltan Miskolci +# @date (last) 07-Jan-2026 # @author (original) Sean # @date (original) 14-Apr-2020 # ############################################################################ + + import struct -from enum import unique from logging import Logger -from .constants import NO_RESET, RESET +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common.dd_defs import dd_enum_repository +from leahi_dialin.common.global_vars import GlobalVariables from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions -from leahi_dialin.common.dd_defs import DDPressureNames -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.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 @@ -31,13 +33,10 @@ DD interface containing pressure related commands. """ - def __init__(self, can_interface, logger: Logger): """ - @param can_interface: The DenaliCANMessenger object """ - super().__init__() self.can_interface = can_interface self.logger = logger @@ -49,15 +48,18 @@ self._handler_pressures_sync) self.dd_pressures = { - DDPressureNames.D9_PRES.name: 0.0, - DDPressureNames.D66_PRES.name: 0.0, - DDPressureNames.D51_PRES.name: 0.0, - DDPressureNames.D18_PRES.name: 0.0, - DDPressureNames.D41_PRES.name: 0.0 + dd_enum_repository.DDPressureSensorNames.D9_PRES.name: 0.0, + dd_enum_repository.DDPressureSensorNames.D66_PRES.name: 0.0, + dd_enum_repository.DDPressureSensorNames.D51_PRES.name: 0.0, + dd_enum_repository.DDPressureSensorNames.D18_PRES.name: 0.0, + dd_enum_repository.DDPressureSensorNames.D41_PRES.name: 0.0 } + if GlobalVariables().HW_BETA_1_9: + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D87_PRES.name] = 0.0 self.dd_pressures_timestamp = 0 + @publish(["msg_id_dd_pressures_data", "dd_pressures", "dd_pressures_timestamp"]) def _handler_pressures_sync(self, message,timestamp=0.0): """ @@ -67,19 +69,27 @@ @param message: published DD pressure data message @return: none """ - self.dd_pressures[DDPressureNames.D9_PRES.name] = struct.unpack('f', bytearray( + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D9_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D66_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D51_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] - self.dd_pressures[DDPressureNames.D66_PRES.name] = struct.unpack('f', bytearray( + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D18_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] - self.dd_pressures[DDPressureNames.D51_PRES.name] = struct.unpack('f', bytearray( + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D41_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] - self.dd_pressures[DDPressureNames.D18_PRES.name] = struct.unpack('f', bytearray( + + if GlobalVariables().HW_BETA_1_9: + if dd_enum_repository.DDPressureSensorNames.D87_PRES.name not in self.dd_pressures: + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D87_PRES.name] = 0.0 + + self.dd_pressures[dd_enum_repository.DDPressureSensorNames.D87_PRES.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] - self.dd_pressures[DDPressureNames.D41_PRES.name] = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.dd_pressures_timestamp = timestamp + def cmd_pressure_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the pressure broadcast interval override command. @@ -90,33 +100,17 @@ @param ms: unsigned int - broadcast interval (in ms) @param reset: integer - 1 to reset a previous override, 0 to override @return: 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_PRESSURE_SENSOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'DD Pressure Sensors', + logger = self.logger, + can_interface = self.can_interface) - if not check_broadcast_interval_override_ms(ms): - return False - rst = integer_to_bytearray(reset) - ivl = integer_to_bytearray(ms) - payload = rst + ivl - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override pressure data broadcast interval") - - # 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.debug("Timeout!!!!") - return False - def cmd_pressure_readings_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends the pressure readings override command. @@ -128,63 +122,23 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) prs = float_to_bytearray(pressure) idx = integer_to_bytearray(sensor) payload = rst + prs + idx - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_READINGS_OVERRIDE_REQUEST.value, - payload=payload) + sensor_name = dd_enum_repository.DDPressureSensorNames(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_READINGS_OVERRIDE_REQUEST, + entity_name = f'DD {sensor_name} Pressure Sensors pressure', + override_text = f'{str(pressure)} psi', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override pressure reading") - # 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.debug("Timeout!!!!") - return False - - def cmd_pressure_temperature_override(self, sensor: int, temperature: float, reset: int = NO_RESET) -> int: - """ - Constructs and sends the pressure temperature override command. - Constraints: - Must be logged into DD. - - @param sensor: unsigned int - sensor ID - @param temperature: float - pressure (in PSI) - @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) - payload = rst + tmp + idx - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_TEMPERATURE_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override pressure temperature") - - # 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.debug("Timeout!!!!") - return False - def cmd_pressure_sensor_read_counter_override(self, sensor: int, counter: int, reset: int = NO_RESET) -> int: """ Constructs and sends the pressure sensor read counter override command @@ -195,35 +149,24 @@ @param counter: integer - read count 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_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_READ_COUNTER_OVERRIDE_REQUEST.value, - payload=payload) + sensor_name = dd_enum_repository.DDPressureSensorNames(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_READ_COUNTER_OVERRIDE_REQUEST, + entity_name = f'DD {sensor_name} Pressure Sensors read counter', + override_text = str(counter), + logger = self.logger, + can_interface = self.can_interface) - if reset == RESET: - str_res = "reset back to normal" - else: - str_res = str(sensor) + " psi" - self.logger.debug("override read counter value for pressure 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_pressure_sensor_error_counter_override(self, sensor: int, counter: int, reset: int = NO_RESET) -> int: """ Constructs and sends the pressure sensor error counter override command. @@ -234,35 +177,24 @@ @param counter: integer - error count 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) 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_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_ERROR_COUNTER_OVERRIDE_REQUEST.value, - payload=payload) + sensor_name = dd_enum_repository.DDPressureSensorNames(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_ERROR_COUNTER_OVERRIDE_REQUEST, + entity_name = f'DD {sensor_name} Pressure Sensors error counter', + override_text = str(counter), + logger = self.logger, + can_interface = self.can_interface) - if reset == RESET: - str_res = "reset back to normal" - else: - str_res = str(sensor) + " psi" - self.logger.debug("override error counter value for pressure 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_pressure_filtered_readings_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends the pressure filtered readings override command. @@ -274,59 +206,18 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) prs = float_to_bytearray(pressure) idx = integer_to_bytearray(sensor) payload = rst + prs + idx - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_FILTER_READINGS_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override pressure reading") - - # 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.debug("Timeout!!!!") - return False - - 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 - @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) - payload = rst + tmp + idx - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_PRESSURE_SENSOR_FILTER_TEMPERATURE_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override pressure temperature") - - # 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.debug("Timeout!!!!") - return False \ No newline at end of file + sensor_name = dd_enum_repository.DDPressureSensorNames(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_READINGS_OVERRIDE_REQUEST, + entity_name = f'DD {sensor_name} Pressure Sensors filtered pressure', + override_text = f'{str(pressure)} psi', + logger = self.logger, + can_interface = self.can_interface)