Index: leahi_dialin/fp/filtration_purification.py =================================================================== diff -u -rf5ff90469cd1520361a823923ad0b58ab4a23a45 -rfbf45324b6ee88bcdd20c1a3e4ba77bf6723b13e --- leahi_dialin/fp/filtration_purification.py (.../filtration_purification.py) (revision f5ff90469cd1520361a823923ad0b58ab4a23a45) +++ leahi_dialin/fp/filtration_purification.py (.../filtration_purification.py) (revision fbf45324b6ee88bcdd20c1a3e4ba77bf6723b13e) @@ -15,17 +15,21 @@ ############################################################################ 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.flow_sensors import FPFlowSensors from .modules.levels import FPLevels from .modules.pressure_sensors import FPPressureSensors +from .modules.ro_pump import FPROPump from .modules.temperatures import FPTemperatureSensors from .modules.valves import FPValves from .modules.water_pumps import FPPumps +from .proxies.dd_proxy import DDProxy -from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions from ..common.fp_defs import FPOpModes from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager @@ -46,18 +50,6 @@ # FP login password FP_LOGIN_PASSWORD = '123' - # UI version message field positions - START_POS_MAJOR = DenaliMessage.PAYLOAD_START_INDEX - END_POS_MAJOR = START_POS_MAJOR + 1 - START_POS_MINOR = END_POS_MAJOR - END_POS_MINOR = START_POS_MINOR + 1 - START_POS_MICRO = END_POS_MINOR - END_POS_MICRO = START_POS_MICRO + 1 - START_POS_BUILD = END_POS_MICRO - END_POS_BUILD = START_POS_BUILD + 2 - START_POS_COMPATIBILITY_REV = END_POS_BUILD - END_POS_COMPATIBILITY_REV = START_POS_COMPATIBILITY_REV + 4 - def __init__(self, can_interface="can0", log_level=None): """ FP object provides test/service commands for the FP sub-system. @@ -84,36 +76,44 @@ # register handler for FP operation mode broadcast messages if self.can_interface is not None: channel_id = DenaliChannels.fp_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_RO_OP_MODE_DATA.value + msg_id = MsgIds.MSG_ID_FP_OP_MODE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_fp_op_mode_sync) self.can_interface.register_receiving_publication_function(channel_id, - MsgIds.MSG_ID_RO_DEBUG_EVENT.value, + MsgIds.MSG_ID_FP_VERSION_RESPONSE.value, + self._handler_fp_version_response_sync) + + self.can_interface.register_receiving_publication_function(channel_id, + MsgIds.MSG_ID_FP_DEBUG_EVENT.value, self._handler_fp_debug_event_sync) # create properties self.fp_op_mode_timestamp = 0.0 self.fp_debug_events_timestamp = 0.0 - self.ui_version_info_response_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_set_logged_in_status(False) - self.ui_version = None + 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 = '' # 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.flows = FPFlowSensors(self.can_interface, self.logger) - self.pumps = FPPumps(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.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.valves = FPValves(self.can_interface, self.logger) + self.dd_proxy = DDProxy(self.can_interface, self.logger) @publish(["fp_debug_events_timestamp","fp_debug_events"]) def _handler_fp_debug_event_sync(self, message, timestamp = 0.0): @@ -151,6 +151,44 @@ """ self.fp_logged_in = logged_in + @publish(["fp_version, fp_fpga_version"]) + def _handler_fp_version_response_sync(self,message, timestamp = 0.0): + """ + Handler for response from FP regarding its version. + + @param message: version response message from FP.\n + + @return: None if not successful, the version string if unpacked successfully + """ + major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): + self.fp_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" + self.logger.debug(f"FP VERSION: {self.fp_version}") + + if all([len(each) > 0 for each in [fpga_id, fpga_major, fpga_minor, fpga_lab]]): + self.fp_fpga_version = f"v{fpga_id[0]}.{fpga_major[0]}.{fpga_minor[0]}-{fpga_lab[0]}" + self.logger.debug(f"FP FPGA VERSION: {self.fp_fpga_version}") + + self.fp_version_response_timestamp = timestamp + @publish(["fp_op_mode_timestamp","fp_operation_mode", "fp_operation_sub_mode"]) def _handler_fp_op_mode_sync(self, message, timestamp = 0.0): """ @@ -179,7 +217,7 @@ """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_TESTER_LOGIN_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.FP_LOGIN_PASSWORD)))) self.logger.debug("Logging in...") @@ -217,7 +255,7 @@ payload = integer_to_bytearray(new_mode) message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_SET_OP_MODE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_SET_OP_MODE_REQUEST.value, payload=payload) self.logger.debug("Requesting FP mode change to " + str(new_mode)) @@ -246,7 +284,7 @@ """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_SOFTWARE_RESET_REQUEST.value) + message_id=MsgIds.MSG_ID_FP_SOFTWARE_RESET_REQUEST.value) self.logger.debug("requesting FP software reset") @@ -275,7 +313,7 @@ payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_OPERATION_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_OPERATION_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override op mode broadcast interval") @@ -298,4 +336,37 @@ 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. + Constraints: + Must be logged into FP. + @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