Index: leahi_dialin/fp/filtration_purification.py =================================================================== diff -u -r1d7d95e8ec37a124e2ccfeb4b462aa023dfffba7 -r5da31bc941a76297a8285323af9ff5d497ebe230 --- leahi_dialin/fp/filtration_purification.py (.../filtration_purification.py) (revision 1d7d95e8ec37a124e2ccfeb4b462aa023dfffba7) +++ leahi_dialin/fp/filtration_purification.py (.../filtration_purification.py) (revision 5da31bc941a76297a8285323af9ff5d497ebe230) @@ -7,18 +7,18 @@ # # @file filtration_purification.py # -# @author (last) Dara Navaei -# @date (last) 26-Feb-2024 +# @author (last) Zoltan Miskolci +# @date (last) 09-Jan-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ + import struct from .modules.alarms import FPAlarms from .modules.boost_pump import FPBoostPump from .modules.conductivity_sensors import FPConductivitySensors -from .modules.constants import NO_RESET, RESET from .modules.events import FPEvents from .modules.flow_sensors import FPFlowSensors from .modules.levels import FPLevels @@ -32,13 +32,13 @@ from .proxies.dd_proxy import DDProxy +from ..common.constants import NO_RESET +from ..common import fp_enum_repository from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions -from ..common.fp_defs import FPOpModes +from ..common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager -from ..utils.checks import check_broadcast_interval_override_ms -from ..utils.conversions import integer_to_bytearray, unsigned_short_to_bytearray, bytearray_to_integer, \ - bytearray_to_byte +from ..utils.conversions import integer_to_bytearray, bytearray_to_byte class FP(AbstractSubSystem): @@ -66,7 +66,6 @@ @param can_interface: (str) CANBus interface name, e.g. "can0" @param log_level: (str) Logging level, defaults to None """ - super().__init__() self._log_manager = LogManager(log_level=log_level, log_filepath=self.__class__.__name__ + ".log") self.logger = self._log_manager.logger @@ -79,50 +78,70 @@ # register handler for FP operation mode broadcast messages if self.can_interface is not None: channel_id = DenaliChannels.fp_sync_broadcast_ch_id - self.msg_id_fp_op_mode_data = MsgIds.MSG_ID_FP_OP_MODE_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_fp_op_mode_data, + self.can_interface.register_receiving_publication_function(channel_id, + MsgIds.MSG_ID_FP_OP_MODE_DATA.value, self._handler_fp_op_mode_sync) - self.msg_id_fp_version_response = MsgIds.MSG_ID_FP_VERSION_RESPONSE.value - self.can_interface.register_receiving_publication_function(channel_id, - self.msg_id_fp_version_response, + # FP's version is DD's version since they are the same FW. + self.can_interface.register_receiving_publication_function(DenaliChannels.dd_sync_broadcast_ch_id, + MsgIds.MSG_ID_DD_VERSION_RESPONSE.value, self._handler_fp_version_response_sync) - self.msg_id_fp_debug_event = MsgIds.MSG_ID_FP_DEBUG_EVENT.value self.can_interface.register_receiving_publication_function(channel_id, - self.msg_id_fp_debug_event, + MsgIds.MSG_ID_FP_DEBUG_EVENT.value, self._handler_fp_debug_event_sync) + + self.can_interface.register_receiving_publication_function(channel_id, + MsgIds.MSG_ID_FP_DEF_STATUS_RESPONSE.value, + self._handler_fp_defeatured_response) + # Dialin will send a login message during construction. This is for the leahi subsystems to start + # publishing CAN data when there is no UI connected as the UI typically does this job. + self.cmd_log_in_to_fp() # create properties - self.fp_op_mode_timestamp = 0.0 - self.fp_debug_events_timestamp = 0.0 - self.fp_version_response_timestamp = 0.0 - self.fp_operation_mode = FPOpModes.MODE_INIT.value - self.fp_operation_sub_mode = 0 - self.fp_logged_in = False + self.fp_defeatured = False #: The FP is defeaturized or not + self.fp_defeatured_timestamp = 0.0 #: The timestamp of the latest defeatured message + self.fp_op_mode_timestamp = 0.0 #: The timestamp of the latest operation mode message + self.fp_debug_events_timestamp = 0.0 #: The timestamp of the latest events message + self.fp_version_response_timestamp = 0.0 #: The timestamp of the latest FP version info message + self.fp_operation_mode = fp_enum_repository.FPOpModes.MODE_INIT.value #: The Operation Mode's value + self.fp_operation_sub_mode = 0 #: The Operation Sub-Mode's value + self.fp_logged_in = False #: The value showing if the user is logged in or not self.fp_set_logged_in_status(False) - self.fp_version = None - self.fp_fpga_version = None - self.fp_debug_events = [''] * self._FP_DEBUG_EVENT_LIST_COUNT - self.fp_debug_event_index = 0 - self.fp_last_debug_event = '' + self.fp_version = None #: The FP's version value + self.fp_fpga_version = None #: The FP's FPGA version value + self.fp_debug_events = [''] * self._FP_DEBUG_EVENT_LIST_COUNT #: The Debug Event's list + self.fp_debug_event_index = 0 #: The index of the last Event + self.fp_last_debug_event = '' #: The name of the last Event # Create command groups - self.alarms = FPAlarms(self.can_interface, self.logger) - self.boost_pump = FPBoostPump(self.can_interface, self.logger) - self.conductivity = FPConductivitySensors(self.can_interface, self.logger) - self.events = FPEvents(self.can_interface, self.logger) - self.flows = FPFlowSensors(self.can_interface, self.logger) - self.fluid_pumps = FPPumps(self.can_interface, self.logger) - self.levels = FPLevels(self.can_interface, self.logger) - self.permeate_tank = FPPermeateTank(self.can_interface, self.logger) - self.pressures = FPPressureSensors(self.can_interface, self.logger) - self.ro_pump = FPROPump(self.can_interface, self.logger) - self.temperatures = FPTemperatureSensors(self.can_interface, self.logger) - self.test_configs = FPTestConfig(self.can_interface, self.logger) - self.valves = FPValves(self.can_interface, self.logger) - self.dd_proxy = DDProxy(self.can_interface, self.logger) + self.alarms = FPAlarms(self.can_interface, self.logger) #: The Alarms module + self.boost_pump = FPBoostPump(self.can_interface, self.logger) #: The Boost Pump module + self.conductivity = FPConductivitySensors(self.can_interface, self.logger) #: The Conductivity Sensors module + self.events = FPEvents(self.can_interface, self.logger) #: The Events module + self.flows = FPFlowSensors(self.can_interface, self.logger) #: The Flows module + self.fluid_pumps = FPPumps(self.can_interface, self.logger) #: The Fluid Pumps module + self.levels = FPLevels(self.can_interface, self.logger) #: The Levels module + self.permeate_tank = FPPermeateTank(self.can_interface, self.logger) #: The Permeate Tank module + self.pressures = FPPressureSensors(self.can_interface, self.logger) #: The Pressure Sensors module + self.ro_pump = FPROPump(self.can_interface, self.logger) #: The RO Pump module + self.temperatures = FPTemperatureSensors(self.can_interface, self.logger) #: The Temperature Sensors module + self.test_configs = FPTestConfig(self.can_interface, self.logger) #: The Test Configs module + self.valves = FPValves(self.can_interface, self.logger) #: The Valves module + self.dd_proxy = DDProxy(self.can_interface, self.logger, fp = self) #: The DD Proxy module (imitates commands sent by DD) + + + def fp_set_logged_in_status(self, logged_in: bool = False): + """ + Callback for fp logged in status change. + + @param logged_in: Logged in status for FP + @return: None + """ + self.fp_logged_in = logged_in + + @publish(["msg_id_fp_debug_event", "fp_debug_events_timestamp","fp_debug_events"]) def _handler_fp_debug_event_sync(self, message, timestamp = 0.0): """ @@ -150,14 +169,6 @@ if self.fp_debug_event_index == self._FP_DEBUG_EVENT_LIST_COUNT: self.fp_debug_event_index = 0 - @publish(["fp_logged_in"]) - def fp_set_logged_in_status(self, logged_in: bool = False): - """ - Callback for fp logged in status change. - @param logged_in boolean logged in status for FP - @return: none - """ - self.fp_logged_in = logged_in @publish(["msg_id_fp_version_response", "fp_version, fp_fpga_version"]) def _handler_fp_version_response_sync(self,message, timestamp = 0.0): @@ -197,6 +208,7 @@ self.fp_version_response_timestamp = timestamp + @publish(["msg_id_fp_op_mode_data", "fp_op_mode_timestamp","fp_operation_mode", "fp_operation_sub_mode"]) def _handler_fp_op_mode_sync(self, message, timestamp = 0.0): """ @@ -215,6 +227,61 @@ self.fp_operation_sub_mode = smode[0] self.fp_op_mode_timestamp = timestamp + + @publish(["msg_id_fp_def_status_response", "fp_defeatured"]) + def _handler_fp_defeatured_response(self, message, timestamp = 0.0): + """ + Handler for response from FP regarding its defeatured status. + + @param message: defeatured respnse from FP + @return: None + """ + self.fp_defeatured = struct.unpack('?', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) + + self.fp_defeatured_timestamp = timestamp + + + def cmd_request_defeatured_status(self) -> int: + """ + Constructs and sends the FP defeatured status request + Constraints: + Must be logged into FP. + + @return: 1 if successful, zero otherwise + """ + return cmd_generic_override( + payload = None, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_DEF_STATUS_REQUEST, + entity_name = 'FP Defeatured Status', + override_text = '', + logger = self.logger, + can_interface = self.can_interface) + + + def cmd_op_mode_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured op mode 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 + """ + return cmd_generic_broadcast_interval_override( + ms = ms, + reset = reset, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_OPERATION_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'FP Operation Mode', + logger = self.logger, + can_interface = self.can_interface) + + def cmd_log_in_to_fp(self, resend: bool = False) -> int: """ Constructs and sends a login command via CAN bus. Login required before \n @@ -223,7 +290,6 @@ @param resend: (bool) if False (default), try to login once. Otherwise, tries to login indefinitely @return: 1 if logged in, 0 if log in failed """ - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, message_id=MsgIds.MSG_ID_FP_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.FP_LOGIN_PASSWORD)))) @@ -237,6 +303,7 @@ if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Success: Logged In") self.fp_set_logged_in_status(True) + self.cmd_request_defeatured_status() #self._send_ro_checkin_message() # Timer starts interval first #self.can_interface.transmit_interval_dictionary[self.callback_id].start() else: @@ -246,6 +313,7 @@ self.logger.debug("Login Timeout!!!!") return False + def cmd_fp_set_operation_mode(self, new_mode: int = 0) -> int: """ Constructs and sends a set operation mode request command via CAN bus. @@ -257,31 +325,62 @@ @param new_mode: ID of operation mode to transition to @return: 1 if successful, zero otherwise - """ - payload = integer_to_bytearray(new_mode) + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_SET_OP_MODE_REQUEST, + entity_name = 'FP Operation Mode', + override_text = fp_enum_repository.FPOpModes(new_mode).name, + logger = self.logger, + can_interface = self.can_interface) - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_FP_SET_OP_MODE_REQUEST.value, - payload=payload) - self.logger.debug("Requesting FP mode change to " + str(new_mode)) + def cmd_fp_set_operation_sub_mode(self, new_mode: int = 0, new_sub_mode: int = 0) -> int: + """ + Constructs and sends a set operation sub mode request command via CAN bus. + Constraints: + Must be logged into FP. + Transition from current to requested op sub mode must be legal. + NOTE: for POST the FP device shall be in Standby Mode - # Send message - received_message = self.can_interface.send(message) + @param new_mode: ID of operation mode to transition to + @param new_sub_mode: ID of operation sub mode to transition to - if received_message is not None: - if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: - self.logger.debug("Success: Mode change accepted") - else: - self.logger.debug("Failure: Mode change rejected.") - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + @return: 1 if successful, zero otherwise + """ + mode = integer_to_bytearray(new_mode) + sub_mode = integer_to_bytearray(new_sub_mode) + payload = mode + sub_mode + + if new_mode == 0: + new_sub_mode_enum = fp_enum_repository.FPFaultStates(new_sub_mode) + elif new_mode == fp_enum_repository.FPOpModes.MODE_STAN.value: + new_sub_mode_enum = fp_enum_repository.FPStandbyStates(new_sub_mode) + elif new_mode == fp_enum_repository.FPOpModes.MODE_PRE_GENP.value: + new_sub_mode_enum = fp_enum_repository.FPPreGenPermeateStates(new_sub_mode) + elif new_mode == fp_enum_repository.FPOpModes.MODE_GENP.value: + new_sub_mode_enum = fp_enum_repository.FPGenPermeateStates(new_sub_mode) + elif new_mode == fp_enum_repository.FPOpModes.MODE_DPGP.value: + new_sub_mode_enum = fp_enum_repository.FPPreGenPDefStates(new_sub_mode) + elif new_mode == fp_enum_repository.FPOpModes.MODE_DEGP.value: + new_sub_mode_enum = fp_enum_repository.FPGenPermeateDefStates(new_sub_mode) else: - self.logger.debug("FP mode change request Timeout!!!!") - return False + new_sub_mode_enum = fp_enum_repository.FPOpModes.MODE_NLEG + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_SET_OP_SUB_MODE_REQUEST, + entity_name = 'FP Operation Sub Mode', + override_text = new_sub_mode_enum.name, + logger = self.logger, + can_interface = self.can_interface) + def cmd_fp_software_reset_request(self) -> None: """ Constructs and sends an FP software reset request via CAN bus. @@ -290,60 +389,17 @@ @return: None """ + return cmd_generic_override( + payload = None, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_SOFTWARE_RESET_REQUEST, + entity_name = 'FP Software Reset', + override_text = '', + logger = self.logger, + can_interface = self.can_interface) - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_FP_SOFTWARE_RESET_REQUEST.value) - self.logger.debug("requesting FP software reset") - - # Send message - self.can_interface.send(message, 0) - self.logger.debug("Sent request to FP to reset...") - self.fp_set_logged_in_status(False) - - def cmd_op_mode_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: - """ - Constructs and sends the measured op mode 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_OPERATION_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override op mode 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("operation mode 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 - def cmd_fp_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: """ Constructs and sends an FP safety shutdown override command via CAN bus. @@ -353,28 +409,17 @@ @param active: int - True to activate safety shutdown, False to deactivate @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise - """ - rst = integer_to_bytearray(reset) saf = integer_to_bytearray(active) payload = rst + saf - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_FP_SAFETY_SHUTDOWN_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("overriding FP safety shutdown") - - # Send message - received_message = self.can_interface.send(message) - - if received_message is not None: - if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: - self.logger.debug("Safety shutdown signal overridden") - else: - self.logger.debug("Safety shutdown signal override failed.") - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_SAFETY_SHUTDOWN_OVERRIDE_REQUEST, + entity_name = 'FP Safety Shutdown', + override_text = str(active), + logger = self.logger, + can_interface = self.can_interface)