Index: leahi_dialin/fp/modules/pressure_sensors.py =================================================================== diff -u -r5b9473d9ca6a66d4d03c509fae6051710895b498 -re873a8e3cd071f814923bd7530ac87ccf27f9b4f --- leahi_dialin/fp/modules/pressure_sensors.py (.../pressure_sensors.py) (revision 5b9473d9ca6a66d4d03c509fae6051710895b498) +++ leahi_dialin/fp/modules/pressure_sensors.py (.../pressure_sensors.py) (revision e873a8e3cd071f814923bd7530ac87ccf27f9b4f) @@ -7,34 +7,25 @@ # # @file pressure_sensors.py # -# @author (last) Vinayakam Mani -# @date (last) 02-May-2024 +# @author (last) Zoltan Miskolci +# @date (last) 09-Jan-2026 # @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.constants import NO_RESET +from leahi_dialin.common.fp_defs import fp_enum_repository, BETA_IOFP_PRES_SENSOR_OFFSET 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.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 -@unique -class FPPressureSensorNames(DialinEnum): - M1_PRES = 0 - M3_PRES = 1 - P8_PRES = 2 - P13_PRES = 3 - P17_PRES = 4 - X1_PRES = 5 - - class FPPressureSensors(AbstractSubSystem): """ Dialin API sub-class for FP pressure sensor related commands. @@ -43,48 +34,29 @@ 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 - msg_id = MsgIds.MSG_ID_RO_PRESSURES_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_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 = { + fp_enum_repository.FPPressureSensorNames.M3_PRES.name: 0.0, + fp_enum_repository.FPPressureSensorNames.P8_PRES.name: 0.0, + fp_enum_repository.FPPressureSensorNames.P13_PRES.name: 0.0, + fp_enum_repository.FPPressureSensorNames.P17_PRES.name: 0.0, + fp_enum_repository.FPPressureSensorNames.P46_PRES.name: 0.0 + } + self.fp_pressure_timestamp = 0.0 - self.m1_pres = 0.0 - self.m3_pres = 0.0 - self.p8_pres = 0.0 - self.p13_pres = 0.0 - self.p17_pres = 0.0 - self.x1_pres = 0.0 - self.m1_pres_temp = 0.0 - self.m3_pres_temp = 0.0 - self.p8_pres_temp = 0.0 - self.p13_pres_temp = 0.0 - self.p17_pres_temp = 0.0 - self.x1_pres_temp = 0.0 - @publish([ - "fp_pressure_timestamp", - "m1_pres", - "m3_pres", - "p8_pres", - "p13_pres", - "p17_pres", - "x1_pres", - "m1_pres_temp", - "m3_pres_temp", - "p8_pres_temp", - "p13_pres_temp", - "p17_pres_temp", - "x1_pres_temp" - ]) + @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 @@ -93,128 +65,94 @@ @param message: published FP pressure sensor data message @return: none """ + self.fp_pressures[fp_enum_repository.FPPressureSensorNames.M3_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] + self.fp_pressures[fp_enum_repository.FPPressureSensorNames.P8_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] + self.fp_pressures[fp_enum_repository.FPPressureSensorNames.P13_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] + self.fp_pressures[fp_enum_repository.FPPressureSensorNames.P17_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] + self.fp_pressures[fp_enum_repository.FPPressureSensorNames.P46_PRES.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] - pre_reg_wi = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) - post_reg_wi = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) - pre_cond_wi = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) - pre_ro = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) - post_ro = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) - pre_pump = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) + self.fp_pressure_timestamp = timestamp - pre_reg_wi_temp = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) - post_reg_wi_temp = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) - pre_cond_wi_temp = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) - pre_ro_temp = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10])) - post_ro_temp = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11])) - pre_pump_temp = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12])) - self.m1_pres = pre_reg_wi[0] - self.m3_pres = post_reg_wi[0] - self.p8_pres = pre_cond_wi[0] - self.p13_pres = pre_ro[0] - self.p17_pres = post_ro[0] - self.x1_pres = pre_pump[0] + 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). - self.m1_pres_temp = pre_reg_wi_temp[0] - self.m3_pres_temp = post_reg_wi_temp[0] - self.p8_pres_temp = pre_cond_wi_temp[0] - self.p13_pres_temp = pre_ro_temp[0] - self.p17_pres_temp = post_ro_temp[0] - self.x1_pres_temp = pre_pump_temp[0] + @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_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'FP Pressure Sensors', + logger = self.logger, + can_interface = self.can_interface) - 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 sensor: int - pressure sensor index from FPPressureSensorNames @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 """ - + modified_index = sensor + BETA_IOFP_PRES_SENSOR_OFFSET rst = integer_to_bytearray(reset) - sen = integer_to_bytearray(sensor) + sen = integer_to_bytearray(modified_index) 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_RO_PRESSURE_OVERRIDE_REQUEST.value, - payload=payload) + sensor_name = fp_enum_repository.FPPressureSensorNames(sensor).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_PRESSURE_OVERRIDE_REQUEST, + entity_name = f'TD {sensor_name} Pressure Sensor pressure', + override_text = f'{str(pressure)} psi', + logger = self.logger, + can_interface = self.can_interface) - 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: + def cmd_pressure_sensor_filter_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: """ - Constructs and sends the FP pressure data broadcast interval override command. + Constructs and sends a filtered FP pressure override command message. 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 sensor: int - pressure sensor index from FPPressureSensorNames + @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 """ - - if not check_broadcast_interval_override_ms(ms): - return False - + modified_index = sensor + BETA_IOFP_PRES_SENSOR_OFFSET rst = integer_to_bytearray(reset) - mis = integer_to_bytearray(ms) - payload = rst + mis + sen = integer_to_bytearray(modified_index) + 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_RO_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) + sensor_name = fp_enum_repository.FPPressureSensorNames(sensor).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_PRESSURE_SENSOR_FILTER_READINGS_OVERRIDE_REQUEST, + entity_name = f'TD {sensor_name} Pressure Sensor filtered pressure', + override_text = f'{str(pressure)} psi', + logger = self.logger, + can_interface = self.can_interface) - 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 \ No newline at end of file