Index: leahi_dialin/fp/modules/valves.py =================================================================== diff -u -ra6fe9a549d8152617eadf2a70062195615a23c3e -r9eeeeb3a8bc94c59e506254b088493fd69c3b1e1 --- leahi_dialin/fp/modules/valves.py (.../valves.py) (revision a6fe9a549d8152617eadf2a70062195615a23c3e) +++ leahi_dialin/fp/modules/valves.py (.../valves.py) (revision 9eeeeb3a8bc94c59e506254b088493fd69c3b1e1) @@ -20,35 +20,19 @@ from collections import OrderedDict from .constants import NO_RESET +from leahi_dialin.common.fp_defs import FPValveStates, FPValveNames, BETA_IOFP_VALVE_OFFSET from leahi_dialin.common.msg_defs import MsgIds 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.conversions import integer_to_bytearray + # Valve states ENERGIZED = True DEENERGIZED = False -@unique -class FPValveStates(DialinEnum): - VALVE_STATE_CLOSED = 0 - VALVE_STATE_OPEN = 1 - - -@unique -class FPValveNames(DialinEnum): - M4_VWI = 0 # Valve (M4 VWi) - P39_VROD = 1 # Valve (P39 VROd) - P6_VFF = 2 # Valve (P6 VFF) - P11_VPI = 3 # Valve (P11 VPi) - P33_VCR = 4 # Valve (P33 VCr) - P34_VCB = 5 # Valve (P34 VCb) - P37_VCD = 6 # Valve (P37 VCd) - M7_VFB = 7 # Valve (M7 VFB) - P20_SPP = 8 # Valve (P20 SPP) - class FPValves(AbstractSubSystem): """ Dialin API sub-class for FP valve related commands. @@ -72,22 +56,20 @@ if self.can_interface is not None: channel_id = DenaliChannels.fp_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_RO_VALVES_STATES_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_valves_sync) + self.msg_id_fp_valves_states_data = MsgIds.MSG_ID_FP_VALVES_STATES_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_fp_valves_states_data, self._handler_valves_sync) self.valve_states_all = 0x0000 - self.m4_vwi_state= {"id": FPValveNames.M4_VWI.value, "state": DEENERGIZED} - self.p39_vrod_state = {"id": FPValveNames.P39_VROD.value, "state": DEENERGIZED} - self.p6_vff_state = {"id": FPValveNames.P6_VFF.value, "state": DEENERGIZED} - self.p11_vpi_state = {"id": FPValveNames.P11_VPI.value, "state": DEENERGIZED} - self.p33_vcr_state = {"id": FPValveNames.P33_VCR.value, "state": DEENERGIZED} - self.p34_vcb_state = {"id": FPValveNames.P34_VCB.value, "state": DEENERGIZED} - self.p37_vcd_state = {"id": FPValveNames.P37_VCD.value, "state": DEENERGIZED} - self.m7_vfb_state = {"id": FPValveNames.M7_VFB.value, "state": DEENERGIZED} - self.p20_spp_state = {"id": FPValveNames.P20_SPP.value, "state": DEENERGIZED} + self.m4_valv = {"id": FPValveNames.M4_VALV.value, "state": DEENERGIZED} + self.m12_valv = {"id": FPValveNames.M12_VALV.value, "state": DEENERGIZED} + self.p11_valv = {"id": FPValveNames.P11_VALV.value, "state": DEENERGIZED} + self.p33_valv = {"id": FPValveNames.P33_VALV.value, "state": DEENERGIZED} + self.p34_valv = {"id": FPValveNames.P34_VALV.value, "state": DEENERGIZED} + self.p37_valv = {"id": FPValveNames.P37_VALV.value, "state": DEENERGIZED} + self.p39_valv = {"id": FPValveNames.P39_VALV.value, "state": DEENERGIZED} + self.p6_valv = {"id": FPValveNames.P6_VALV.value, "state": DEENERGIZED} - # NOTE: The len function counts the enums with the same number only once. This is not the case in the DG valves - # class because each valve must have a unique ID. + # NOTE: The len function counts the enums with the same number only once. self.valve_states_enum = [0 for _ in range(len(FPValveNames))] for valve in FPValveNames.__members__: @@ -100,15 +82,14 @@ @return: All valve states """ return [ - self.m4_vwi_state.get("state"), - self.p39_vrod_state.get("state"), - self.p6_vff_state.get("state"), - self.p11_vpi_state.get("state"), - self.p33_vcr_state.get("state"), - self.p34_vcb_state.get("state"), - self.p37_vcd_state.get("state"), - self.m7_vfb_state.get("state"), - self.p20_spp_state.get("state") + self.m4_valv.get("state"), + self.m12_valv.get("state"), + self.p11_valv.get("state"), + self.p33_valv.get("state"), + self.p34_valv.get("state"), + self.p37_valv.get("state"), + self.p39_valv.get("state"), + self.p6_valv.get("state") ] @staticmethod @@ -142,18 +123,18 @@ return DEENERGIZED @publish([ - "fp_valves_states_timestamp", + "msg_id_fp_valves_states_data", "valve_states_all", - "m4_vwi_state", - "p39_vrod_state", - "p6_vff_state", - "p11_vpi_state", - "p33_vcr_state", - "p34_vcb_state", - "p37_vcd_state", - "m7_vfb_state", - "p20_spp_state", - "valve_states_enum" + "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): """ @@ -166,15 +147,14 @@ 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_vwi_state["state"] = self._binary_to_valve_state(vst[0] & 1) - self.p39_vrod_state["state"] = self._binary_to_valve_state(vst[0] & 2) - self.p6_vff_state["state"] = self._binary_to_valve_state(vst[0] & 4) - self.p11_vpi_state["state"] = self._binary_to_valve_state(vst[0] & 8) - self.p33_vcr_state["state"] = self._binary_to_valve_state(vst[0] & 16) - self.p34_vcb_state["state"] = self._binary_to_valve_state(vst[0] & 32) - self.p37_vcd_state["state"] = self._binary_to_valve_state(vst[0] & 64) - self.m7_vfb_state["state"] = self._binary_to_valve_state(vst[0] & 128) - self.p20_spp_state["state"] = self._binary_to_valve_state(vst[0] & 256) + 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) start = self.END_POS_VALVES_STATES end = start + 1 @@ -205,7 +185,7 @@ payload = rst + ste + vlv message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_VALVE_SENSED_STATE_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_VALVE_SENSED_STATE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Override valve sensed state") @@ -229,18 +209,18 @@ Given valve ID must be one of the valve IDs listed below. @param valve: unsigned int - valve ID - @param state: int - valve state + @param state: int - valve state (0=de-energized/closed, 1=energized/open) @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) + 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_RO_VALVE_CMD_STATE_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_VALVE_CMD_STATE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Override valve state") @@ -277,7 +257,7 @@ payload = rst + ivl message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_VALVE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_VALVE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override FP valves states publish interval")