Index: leahi_dialin/fp/modules/water_pumps.py =================================================================== diff -u -r4b1e41d69f00c40e84664f6581376d9c8db102c8 -rfe37f0a0f2c683696f41f6a349cf2756ed09d5d7 --- leahi_dialin/fp/modules/water_pumps.py (.../water_pumps.py) (revision 4b1e41d69f00c40e84664f6581376d9c8db102c8) +++ leahi_dialin/fp/modules/water_pumps.py (.../water_pumps.py) (revision fe37f0a0f2c683696f41f6a349cf2756ed09d5d7) @@ -34,7 +34,7 @@ class FPPumps(AbstractSubSystem): """ - Dialin API sub-class for RO pump related commands. + Dialin API sub-class for FP water pump driver related commands. """ def __init__(self, can_interface, logger: Logger): @@ -45,53 +45,8 @@ 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_PUMP_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, - self._handler_pump_sync) - self.ro_pump_timestamp = 0.0 - self.p12_pump_state = 0 - self.p12_pump_duty_cycle = 0.0 - self.p12_pump_fb_duty_cycle = 0.0 - self.p12_pump_speed = 0.0 - self.p40_pump_state = 0 - self.p40_pump_duty_cycle = 0.0 - self.p40_pump_fb_duty_cycle = 0.0 - self.p40_pump_speed = 0.0 + # no current registered call back methods - - @publish(["ro_pump_timestamp", "p12_pump_state", "p12_pump_duty_cycle", "p12_pump_fb_duty_cycle", - "p12_pump_speed", "p40_pump_state", "p40_pump_duty_cycle", - "p40_pump_fb_duty_cycle", "p40_pump_speed"]) - def _handler_pump_sync(self, message, timestamp=0.0): - """ - Handles published RO pump data messages. RO pump data is captured - for reference. - - @param message: published RO pump data message - @return: none - """ - - self.p12_pump_state = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] - self.p12_pump_duty_cycle = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] - self.p12_pump_fb_duty_cycle = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] - self.p12_pump_speed = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] - self.p40_pump_state = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] - self.p40_pump_duty_cycle = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] - self.p40_pump_fb_duty_cycle = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] - self.p40_pump_speed = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] - - self.ro_pump_timestamp = timestamp - def cmd_pump_set_speed_rate_override(self, pump: int, rpm: int, reset: int = NO_RESET) -> int: """ Constructs and sends the boost pump set speed rate command @@ -107,7 +62,7 @@ payload = rst + rpm + pmp message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SPEED_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_SPEED_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override pump set speed rate point") @@ -131,7 +86,7 @@ def cmd_pump_set_pwm_request(self, pump: int, pwm: int) -> int: """ - Constructs and sends set pwm request for RO pumps \n + Constructs and sends set pwm request for FP pumps \n command. Constraints: Must be logged into FP. @@ -146,7 +101,7 @@ payload = pmp + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SET_PWM_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_SET_PWM_REQUEST.value, payload=payload) self.logger.debug("setting pump {} to pwm count {}".format(pump,pwm)) @@ -166,7 +121,7 @@ def cmd_pump_read_pwm_override(self, pump: int, pwm: float, reset: int = NO_RESET) -> int: """ - Constructs and sends the read pwm override for the RO pumps \n + Constructs and sends the read pwm override for the FP pumps \n command. Constraints: Must be logged into FP. @@ -182,7 +137,7 @@ payload = rst + rpwm + pmp message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override read pwm for pump".format(pump)) @@ -206,7 +161,7 @@ def cmd_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ - Constructs and sends the RO pump broadcast interval override command + Constructs and sends the FP pump 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). @@ -224,7 +179,7 @@ payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override FP pump broadcast interval")