Index: leahi_dialin/td/modules/ejector.py =================================================================== diff -u -r71975b0c600fd9bd4b2a43cc707e6b0a2012f8b0 -r38e8dd31728056dbb7f9304c98ab16d7147b75a2 --- leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision 71975b0c600fd9bd4b2a43cc707e6b0a2012f8b0) +++ leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision 38e8dd31728056dbb7f9304c98ab16d7147b75a2) @@ -17,12 +17,12 @@ import struct from logging import Logger -from .constants import RESET, NO_RESET +from leahi_dialin.common.constants import NO_RESET 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.common.td_defs import td_enum_repository -from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels +from leahi_dialin.protocols.CAN import DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish -from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray @@ -35,7 +35,6 @@ def __init__(self, can_interface, logger: Logger): """ - @param can_interface: Denali Can Messenger object """ super().__init__() @@ -58,6 +57,7 @@ } self.td_ejector_timestamp = 0 + @publish(["msg_id_td_ejector_data", "h5_motor", "td_ejector_timestamp"]) def _handler_ejector_sync(self, message, timestamp=0.0): """ @@ -77,6 +77,7 @@ self.td_ejector_timestamp = timestamp + def cmd_ejector_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the ejector motor data broadcast interval override command @@ -88,37 +89,16 @@ @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_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_EJECTOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'TD Ejector', + logger = self.logger, + can_interface = self.can_interface) - if not check_broadcast_interval_override_ms(ms): - return False - rst = integer_to_bytearray(reset) - mis = integer_to_bytearray(ms) - payload = rst + mis - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_EJECTOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override TD ejector data broadcast interval") - - # 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(ms) + " ms: " - self.logger.debug("ejector data 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 - def cmd_ejector_request_command(self, cmd: int) -> int: """ Constructs and sends the ejector request command. @@ -131,27 +111,20 @@ @param cmd: integer - ID of an ejector operation that is being requested @return: 1 if successful, zero otherwise """ - idx = integer_to_bytearray(cmd) payload = idx - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_EJECTOR_COMMAND.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_EJECTOR_COMMAND, + entity_name = f'TD Ejector state', + override_text = f'{str(cmd)}', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("setting ejector state to" + str(cmd)) - # 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_ejector_set_motor_speed_request(self, speed: int) -> int: """ Constructs and sends the ejector set speed command. Negative values imply reverse ( retract ) direction. @@ -162,27 +135,20 @@ @return: 1 if successful, zero otherwise """ - spd = float_to_bytearray(speed) payload = spd - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_EJECTOR_MOTOR_SET_SPEED_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_EJECTOR_MOTOR_SET_SPEED_REQUEST, + entity_name = f'TD Ejector speed', + override_text = f'{str(speed)}', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("setting ejector set speed to" + str(spd)) - # 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_ejector_optical_sensor_override(self, sensor: int, sensor_active: int, reset: int = NO_RESET) -> int: """ Constructs and sends the ejector optical sensor override command @@ -200,30 +166,18 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) sen = integer_to_bytearray(sensor) active = integer_to_bytearray(sensor_active) payload = rst + active + sen - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_EJECTOR_OPT_SENSOR_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("Override sensor ID {} to {}".format(sen, active)) - - # 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 = "Override sensor {} to {}".format(sen, active) - self.logger.debug(str_res) - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False + sensor_name = 'H25 Retract' if sensor == 0 else 'H24 Engage' + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_EJECTOR_OPT_SENSOR_OVERRIDE_REQUEST, + entity_name = f'TD Ejector {sensor_name} Optical Sensor', + override_text = f'{str(sensor_active)}', + logger = self.logger, + can_interface = self.can_interface)