Index: leahi_dialin/fp/modules/valves.py =================================================================== diff -u -r71975b0c600fd9bd4b2a43cc707e6b0a2012f8b0 -r38e8dd31728056dbb7f9304c98ab16d7147b75a2 --- leahi_dialin/fp/modules/valves.py (.../valves.py) (revision 71975b0c600fd9bd4b2a43cc707e6b0a2012f8b0) +++ leahi_dialin/fp/modules/valves.py (.../valves.py) (revision 38e8dd31728056dbb7f9304c98ab16d7147b75a2) @@ -8,23 +8,22 @@ # @file valves.py # # @author (last) Zoltan Miskolci -# @date (last) 08-Dec-2025 +# @date (last) 09-Jan-2026 # @author (original) Peman Montazemi # @date (original) 19-May-2020 # ############################################################################ import struct -from enum import unique from logging import Logger from collections import OrderedDict -from .constants import NO_RESET +from leahi_dialin.common.constants import NO_RESET from leahi_dialin.common.fp_defs import fp_enum_repository, BETA_IOFP_VALVE_OFFSET from leahi_dialin.common.msg_defs import MsgIds +from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override 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.utils.base import AbstractSubSystem, publish from leahi_dialin.utils.conversions import integer_to_bytearray @@ -46,10 +45,8 @@ def __init__(self, can_interface, logger: Logger): """ - @param can_interface: Denali CAN Messenger object """ - super().__init__() self.can_interface = can_interface self.logger = logger @@ -77,6 +74,7 @@ for valve in fp_enum_repository.FPValveNames.__members__: self.valves_sensed_states[valve] = '' + def get_valve_states(self): """ Gets the valve states @@ -93,56 +91,8 @@ self.p39_valv.get("state"), self.p6_valv.get("state") ] - - @publish([ - "msg_id_fp_valves_states_data", - "valve_states_all", - "m4_valv", - "m12_valv", - "p11_valv", - "p33_valv", - "p34_valv", - "p37_valv", - "p39_valv", - "p6_valv", - "valve_states_enum", - "fp_valves_states_timestamp" - ]) - def _handler_valves_sync(self, message, timestamp=0.0): - """ - Handles published FP valves states message. - - @param message: published FP valves states message - @return: none - """ - - # Extract each valve state from U08 valves states using bit-masking - io_valves = struct.unpack('B', bytearray(message['message'][self.START_IO_VALVES_STATES:self.END_IO_VALVES_STATES])) - self.m4_valv["state"] = self._binary_to_valve_state(io_valves[0] & 1) - self.m12_valv["state"] = self._binary_to_valve_state(io_valves[0] & 2) - self.valve_states_all = io_valves[0] - - # Extract each valve state from U08 valves states using bit-masking - fp_valves = struct.unpack('B', bytearray(message['message'][self.START_FP_VALVES_STATES:self.END_FP_VALVES_STATES])) - self.p11_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 1) - self.p33_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 2) - self.p34_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 4) - self.p37_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 8) - self.p39_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 16) - self.p6_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 32) - self.valve_states_all += fp_valves[0] << 8 - - # Extract each valve sensed state from U08 valves states using bit-masking - start = self.END_FP_VALVES_STATES - end = start + 1 - for valve_id in self.valves_sensed_states: - valve_state_number = struct.unpack('B', bytearray(message['message'][start:end]))[0] - self.valves_sensed_states[valve_id] = fp_enum_repository.FPValveStates(valve_state_number).name - start = end - end += 1 - - self.fp_valves_states_timestamp = timestamp - + + @staticmethod def sort_by_id(observation): """ @@ -152,7 +102,6 @@ @param observation: dictionary of the observed valve states @return: a list of tuples of the valve states """ - result = [] for key, value in observation.items(): if isinstance(value, dict): @@ -161,18 +110,19 @@ result = sorted(result, key=lambda each: each[1]) return result + @staticmethod def _binary_to_valve_state(binary) -> bool: """ @param binary: binary value @return: 1 = energized, otherwise de-energized """ - if binary != 0: return ENERGIZED else: return DEENERGIZED + @publish([ "msg_id_fp_valves_states_data", "valve_states_all", @@ -194,29 +144,55 @@ @param message: published FP valves states message @return: none """ + # Extract each valve state from U08 valves states using bit-masking + io_valves = struct.unpack('B', bytearray(message['message'][self.START_IO_VALVES_STATES:self.END_IO_VALVES_STATES])) + self.m4_valv["state"] = self._binary_to_valve_state(io_valves[0] & 1) + self.m12_valv["state"] = self._binary_to_valve_state(io_valves[0] & 2) + self.valve_states_all = io_valves[0] - vst = struct.unpack('H', bytearray(message['message'][self.START_POS_VALVES_STATES:self.END_POS_VALVES_STATES])) - self.valve_states_all = vst[0] - # Extract each valve state from U16 valves states using bit-masking - self.m4_valv["state"] = self._binary_to_valve_state(vst[0] & 1) - self.m12_valv["state"] = self._binary_to_valve_state(vst[0] & 2) - self.p11_valv["state"] = self._binary_to_valve_state(vst[0] & 4) - self.p33_valv["state"] = self._binary_to_valve_state(vst[0] & 8) - self.p34_valv["state"] = self._binary_to_valve_state(vst[0] & 16) - self.p37_valv["state"] = self._binary_to_valve_state(vst[0] & 32) - self.p39_valv["state"] = self._binary_to_valve_state(vst[0] & 64) - self.p6_valv["state"] = self._binary_to_valve_state(vst[0] & 128) + # Extract each valve state from U08 valves states using bit-masking + fp_valves = struct.unpack('B', bytearray(message['message'][self.START_FP_VALVES_STATES:self.END_FP_VALVES_STATES])) + self.p11_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 1) + self.p33_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 2) + self.p34_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 4) + self.p37_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 8) + self.p39_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 16) + self.p6_valv["state"] = self._binary_to_valve_state(fp_valves[0] & 32) + self.valve_states_all += fp_valves[0] << 8 - start = self.END_POS_VALVES_STATES + # Extract each valve sensed state from U08 valves states using bit-masking + start = self.END_FP_VALVES_STATES end = start + 1 for valve_id in self.valves_sensed_states: valve_state_number = struct.unpack('B', bytearray(message['message'][start:end]))[0] - self.valves_sensed_states[valve_id] = FPValveStates(valve_state_number).name + self.valves_sensed_states[valve_id] = fp_enum_repository.FPValveStates(valve_state_number).name start = end end += 1 self.fp_valves_states_timestamp = timestamp + + def cmd_valve_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the FP valve state 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: 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_fp_ch_id, + msg_id = MsgIds.MSG_ID_FP_VALVE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'FP Valves', + logger = self.logger, + can_interface = self.can_interface) + + def cmd_valve_sensed_state_override(self, valve: int, state: bool, reset: int = NO_RESET) -> int: """ Constructs and sends the valve sensed state override command. @@ -229,29 +205,23 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) ste = integer_to_bytearray(int(state)) vlv = integer_to_bytearray(valve) payload = rst + ste + vlv - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_FP_VALVE_SENSED_STATE_OVERRIDE_REQUEST.value, - payload=payload) + valve_name = fp_enum_repository.FPValveNames(valve).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_VALVE_SENSED_STATE_OVERRIDE_REQUEST, + entity_name = f'FP {valve_name} Valve sensed state', + override_text = str(state), + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("Override valve sensed state") - # 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_valve_override(self, valve: int, state: int, reset: int = NO_RESET) -> int: """ Constructs and sends the FP valve state override command. @@ -264,62 +234,18 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) ste = integer_to_bytearray(int(state)) vlv = integer_to_bytearray(valve + BETA_IOFP_VALVE_OFFSET) payload = rst + ste + vlv - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_FP_VALVE_CMD_STATE_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("Override valve state") - - # 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_valve_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: - """ - Constructs and sends the FP valve state 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: unsigned int - broadcast interval (in ms) - @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) - ivl = integer_to_bytearray(ms) - payload = rst + ivl - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_FP_VALVE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override FP valves states publish interval") - - # Send message - received_message = self.can_interface.send(message) - - # If there is content in message - if received_message is not None: - # Response payload is OK or not - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False + valve_name = fp_enum_repository.FPValveNames(valve).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_VALVE_CMD_STATE_OVERRIDE_REQUEST, + entity_name = f'FP {valve_name} Valve state', + override_text = str(state), + logger = self.logger, + can_interface = self.can_interface)