Index: leahi_dialin/fp/modules/valves.py =================================================================== diff -u -raa57954b051832ccde447e46463baf87487c316b -r1f2bf6d939eb4033dbedb7d7005494cc12fccbc6 --- leahi_dialin/fp/modules/valves.py (.../valves.py) (revision aa57954b051832ccde447e46463baf87487c316b) +++ leahi_dialin/fp/modules/valves.py (.../valves.py) (revision 1f2bf6d939eb4033dbedb7d7005494cc12fccbc6) @@ -7,113 +7,80 @@ # # @file valves.py # -# @author (last) Micahel Garthwaite -# @date (last) 17-Aug-2023 +# @author (last) Zoltan Miskolci +# @date (last) 05-May-2026 # @author (original) Peman Montazemi # @date (original) 19-May-2020 # ############################################################################ +# Module imports import struct -from enum import unique from logging import Logger from collections import OrderedDict -from .constants import NO_RESET +# Project imports +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common import fp_enum_repository +from leahi_dialin.common.generic_defs import DataTypes +from leahi_dialin.common.fp_defs import 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.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override +from leahi_dialin.protocols.CAN import CanMessenger, CanMessage, CanChannels +from leahi_dialin.utils.abstract_classes import AbstractSubSystem +from leahi_dialin.utils.base import publish 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_VALV = 0 # Valve (M4 VWi) - P39_VALV = 1 # Valve (P39 VROd) - P6_VALV = 2 # Valve (P6 VFF) - P11_VALV = 3 # Valve (P11 VPi) - P33_VALV = 4 # Valve (P33 VCr) - P34_VALV = 5 # Valve (P34 VCb) - P37_VALV = 6 # Valve (P37 VCd) - M7_VALV = 7 # Valve (M7) - P20_VALV = 8 # Valve (P20) - P43_VALV = 9 # Valve (P43) - NUM_OF_VALVES = 10 # Number of valves - class FPValves(AbstractSubSystem): """ Dialin API sub-class for FP valve related commands. """ # Valves states publish message field positions - START_POS_VALVES_STATES = DenaliMessage.PAYLOAD_START_INDEX - END_POS_VALVES_STATES = START_POS_VALVES_STATES + 2 # Valves States come in as a U16 value (2 bytes) + START_IO_VALVES_STATES = CanMessage.PAYLOAD_START_INDEX + END_IO_VALVES_STATES = START_IO_VALVES_STATES + 1 # IO Valves States come in as a U08 value (1 byte) + START_FP_VALVES_STATES = END_IO_VALVES_STATES + END_FP_VALVES_STATES = START_FP_VALVES_STATES + 1 # FP Valves States come in as a U08 value (1 byte) - def __init__(self, can_interface, logger: Logger): + def __init__(self, can_interface: CanMessenger, logger: Logger): """ - - @param can_interface: Denali CAN Messenger object + @param can_interface: Can Messenger object """ - super().__init__() self.can_interface = can_interface self.logger = logger - self.valves_sensed_states = OrderedDict() - self.fp_valves_states_timestamp = 0.0 if self.can_interface is not None: - channel_id = DenaliChannels.fp_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_FP_VALVES_STATES_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_valves_sync) + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.fp_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_FP_VALVES_STATES_DATA.value, + function = self._handler_valves_sync) - self.valve_states_all = 0x0000 - self.m4_valv = {"id": FPValveNames.M4_VALV.value, "state": DEENERGIZED} - self.m7_valv = {"id": FPValveNames.M7_VALV.value, "state": DEENERGIZED} - self.p6_valv = {"id": FPValveNames.P6_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.p20_valv = {"id": FPValveNames.P20_VALV.value, "state": DEENERGIZED} - self.p43_valv = {"id": FPValveNames.P43_VALV.value, "state": DEENERGIZED} + self.fp_valves_states_timestamp = 0.0 #: The timestamp of the last message + self.valve_states_all = 0x0000 #: States of all the vales in binary format + self.valves_sensed_states = OrderedDict() #: The Valve's Sensed State data in dictionary format + self.m4_valv = {"id": fp_enum_repository.FPValveNames.M4_VALV.value, "state": DEENERGIZED} #: The M4 valve's value + self.m12_valv = {"id": fp_enum_repository.FPValveNames.M12_VALV.value, "state": DEENERGIZED} #: The M12 valve's value + self.p11_valv = {"id": fp_enum_repository.FPValveNames.P11_VALV.value, "state": DEENERGIZED} #: The P11 valve's value + self.p33_valv = {"id": fp_enum_repository.FPValveNames.P33_VALV.value, "state": DEENERGIZED} #: The P33 valve's value + self.p34_valv = {"id": fp_enum_repository.FPValveNames.P34_VALV.value, "state": DEENERGIZED} #: The P34 valve's value + self.p37_valv = {"id": fp_enum_repository.FPValveNames.P37_VALV.value, "state": DEENERGIZED} #: The P37 valve's value + self.p39_valv = {"id": fp_enum_repository.FPValveNames.P39_VALV.value, "state": DEENERGIZED} #: The P39 valve's value + self.p6_valv = {"id": fp_enum_repository.FPValveNames.P6_VALV.value, "state": DEENERGIZED} #: The P6 valve's value - # 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__: - self.valves_sensed_states[valve] = '' - - def get_valve_states(self): - """ - Gets the valve states - - @return: All valve states - """ - return [ - self.m4_valv.get("state"), - self.p39_valv.get("state"), - self.p6_valv.get("state"), - self.p11_valv.get("state"), - self.p33_valv.get("state"), - self.p34_valv.get("state"), - self.p37_valv.get("state"), - self.m7_valv.get("state"), - self.p20_valv.get("state"), - self.p43_valv.get("state") - ] - + #: States of all the vales in list format + self.valve_states_enum = {} + for i in range(0, fp_enum_repository.FPValveNames.NUM_OF_FP_VALVES.value): + valve_name = fp_enum_repository.FPValveNames(i).name + self.valve_states_enum[valve_name] = 0 + self.valves_sensed_states[valve_name] = '' + + @staticmethod def sort_by_id(observation): """ @@ -123,7 +90,6 @@ @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): @@ -132,32 +98,32 @@ 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([ - "fp_valves_states_timestamp", + "msg_id_fp_valves_states_data", "valve_states_all", "m4_valv", - "m7_valv", - "p6_valv", + "m12_valv", "p11_valv", "p33_valv", "p34_valv", "p37_valv", "p39_valv", - "p20_valv", - "p43_valv", - "valve_states_enum" + "p6_valv", + "valve_states_enum", + "fp_valves_states_timestamp" ]) def _handler_valves_sync(self, message, timestamp=0.0): """ @@ -166,32 +132,58 @@ @param message: published FP valves states message @return: none """ + # Extract each valve state from U08 valves states using bit-masking + io_valves = struct.unpack(DataTypes.U08.unpack_attrib(), 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.p39_valv["state"] = self._binary_to_valve_state(vst[0] & 2) - self.p6_valv["state"] = self._binary_to_valve_state(vst[0] & 4) - self.p11_valv["state"] = self._binary_to_valve_state(vst[0] & 8) - self.p33_valv["state"] = self._binary_to_valve_state(vst[0] & 16) - self.p34_valv["state"] = self._binary_to_valve_state(vst[0] & 32) - self.p37_valv["state"] = self._binary_to_valve_state(vst[0] & 64) - self.m7_valv["state"] = self._binary_to_valve_state(vst[0] & 128) - self.p20_valv["state"] = self._binary_to_valve_state(vst[0] & 256) - self.p43_valv["state"] = self._binary_to_valve_state(vst[0] & 512) + # Extract each valve state from U08 valves states using bit-masking + fp_valves = struct.unpack(DataTypes.U08.unpack_attrib(), 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 + # Updating Valve_states_enum + for i in range(0, fp_enum_repository.FPValveNames.NUM_OF_FP_VALVES.value): + valve_name = fp_enum_repository.FPValveNames(i).name + self.valve_states_enum[valve_name] = eval(f'self.{valve_name.lower()}["state"]') + + # 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] = struct.unpack(DataTypes.U08.unpack_attrib(), bytearray(message['message'][start:end]))[0] 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 = CanChannels.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. @@ -204,29 +196,23 @@ @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 = CanChannels.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. @@ -239,62 +225,18 @@ @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) + 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 = CanChannels.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)