Index: leahi_dialin/fp/modules/pressure_sensors.py =================================================================== diff -u -rd2774cbe954e861f6ec31d44134e74c8e9d66f22 -ra291930ba38e329e2b373f6d2b2a7564a6b7a09a --- leahi_dialin/fp/modules/pressure_sensors.py (.../pressure_sensors.py) (revision d2774cbe954e861f6ec31d44134e74c8e9d66f22) +++ leahi_dialin/fp/modules/pressure_sensors.py (.../pressure_sensors.py) (revision a291930ba38e329e2b373f6d2b2a7564a6b7a09a) @@ -7,22 +7,22 @@ # # @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.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.common.constants import NO_RESET 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.common.msg_defs import MsgIds, MsgFieldPositions +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 @@ -34,7 +34,6 @@ def __init__(self, can_interface, logger: Logger): """ FPPressureSensors constructor - """ super().__init__() self.can_interface = can_interface @@ -56,6 +55,7 @@ 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): """ @@ -65,7 +65,6 @@ @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( @@ -79,85 +78,51 @@ self.fp_pressure_timestamp = timestamp - def cmd_pressure_sensor_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: + + def cmd_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ - Constructs and sends a measured FP pressure override command message. + 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 sensor: int - switch between filtered override and raw override - @param pressure: float - measured pressure (in PSI) to override with + @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) - 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: + def cmd_pressure_sensor_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 measured 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 - 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 """ - - if not check_broadcast_interval_override_ms(ms): - return False - rst = integer_to_bytearray(reset) - mis = integer_to_bytearray(ms) - payload = rst + mis + 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_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 \ No newline at end of file + sensor_name = 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)