Index: leahi_dialin/td/modules/ejector.py =================================================================== diff -u -rc93ef62631552b2ba3ffb77006d29f902e7a1128 -re45b20cdc5d4c5dcff8cef530b173ca94cb2e422 --- leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision c93ef62631552b2ba3ffb77006d29f902e7a1128) +++ leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision e45b20cdc5d4c5dcff8cef530b173ca94cb2e422) @@ -7,23 +7,25 @@ # # @file ejector.py # -# @author (last) Micahel Garthwaite -# @date (last) 10-Mar-2023 +# @author (last) Zoltan Miskolci +# @date (last) 05-May-2026 # @author (original) Micahel Garthwaite # @date (original) 01-Nov-2024 # ############################################################################ -import struct +# Module imports from logging import Logger +# Project imports from leahi_dialin.common.constants import NO_RESET -from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.common.generic_defs import DataTypes +from leahi_dialin.common.msg_ids import MsgIds from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.common import td_enum_repository -from leahi_dialin.protocols.CAN import DenaliChannels -from leahi_dialin.protocols.CAN import DenaliChannels -from leahi_dialin.utils.base import AbstractSubSystem, publish +from leahi_dialin.protocols.CAN import CanMessenger, 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, float_to_bytearray @@ -34,19 +36,18 @@ Treatment Delivery (TD) Dialin API sub-class for ejector motor related commands. """ - 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 if self.can_interface is not None: - channel_id = DenaliChannels.td_sync_broadcast_ch_id - self.msg_id_td_ejector_data = MsgIds.MSG_ID_TD_EJECTOR_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_ejector_data, - self._handler_ejector_sync) + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_EJECTOR_DATA.value, + function = self._handler_ejector_sync) self.td_ejector_timestamp = 0 #: The timestamp of the last message @@ -55,8 +56,8 @@ td_enum_repository.TDEjectorNames.H5_MOTOR.name: { td_enum_repository.TDEjectorAttributes.STATE.name: td_enum_repository.TDEjectorStates.EJECTOR_STATE_INIT.value, td_enum_repository.TDEjectorAttributes.SET_SPEED.name: 0.0, - td_enum_repository.TDEjectorAttributes.OPT_SNSR_RETRACT: 0, # H25 Optical Sensor - td_enum_repository.TDEjectorAttributes.OPT_SNSR_ENGAGE: 0 # H24 Optical Sensor + td_enum_repository.TDEjectorAttributes.OPT_SNSR_RETRACT.name: 0, # H25 Optical Sensor + td_enum_repository.TDEjectorAttributes.OPT_SNSR_ENGAGE.name: 0 # H24 Optical Sensor } } @@ -69,15 +70,15 @@ @param message: published ejector data message as: ejector state @return: None """ - self.h5_motor[td_enum_repository.TDEjectorNames.H5_MOTOR.name][td_enum_repository.TDEjectorAttributes.STATE.name] = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] - self.h5_motor[td_enum_repository.TDEjectorNames.H5_MOTOR.name][td_enum_repository.TDEjectorAttributes.SET_SPEED.name] = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] - self.h5_motor[td_enum_repository.TDEjectorNames.H5_MOTOR.name][td_enum_repository.TDEjectorAttributes.OPT_SNSR_RETRACT.name] = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] - self.h5_motor[td_enum_repository.TDEjectorNames.H5_MOTOR.name][td_enum_repository.TDEjectorAttributes.OPT_SNSR_ENGAGE.name] = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] + sensor_list =[] + sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.STATE.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.SET_SPEED.name, DataTypes.F32)) + sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.OPT_SNSR_RETRACT.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.OPT_SNSR_ENGAGE.name, DataTypes.U32)) + self.process_into_dict(dict_to_update = self.h5_motor, + decoder_list = sensor_list, + message = message) self.td_ejector_timestamp = timestamp @@ -95,7 +96,7 @@ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_EJECTOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'TD Ejector', logger = self.logger, @@ -120,7 +121,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_EJECTOR_COMMAND, entity_name = f'TD Ejector state', override_text = f'{str(cmd)}', @@ -144,7 +145,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.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)}', @@ -178,7 +179,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.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)}',