Index: leahi_dialin/td/modules/ejector.py =================================================================== diff -u -re5c5e1a8c10903e8caa793694b8f309125b2f6d8 -rfc671af6d1a18c900812e68c42ca14da3280e4f1 --- leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision e5c5e1a8c10903e8caa793694b8f309125b2f6d8) +++ leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision fc671af6d1a18c900812e68c42ca14da3280e4f1) @@ -17,11 +17,13 @@ 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.protocols.CAN import DenaliMessage, DenaliChannels +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.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray @@ -34,7 +36,6 @@ def __init__(self, can_interface, logger: Logger): """ - @param can_interface: Denali Can Messenger object """ super().__init__() @@ -43,30 +44,43 @@ if self.can_interface is not None: channel_id = DenaliChannels.td_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_TD_EJECTOR_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_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.td_ejector_timestamp = 0 #: The timestamp of the last message - self.h5_state = 0 - self.h5_set_speed = 0.0 - self.td_ejector_timestamp = 0 + #: The TD Ejector data in dictionary format + self.h5_motor = { + td_enum_repository.TDEjectorNames.H5_MOTOR.name: { + td_enum_repository.TDEjectorAttributes.STATE.name: 0, + 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 + } + } - @publish(["td_ejector_timestamp", "h5_state", "h5_set_speed"]) + + @publish(["msg_id_td_ejector_data", "h5_motor", "td_ejector_timestamp"]) def _handler_ejector_sync(self, message, timestamp=0.0): """ Handles published ejector data messages. @param message: published ejector data message as: ejector state @return: None """ - self.h5_state = struct.unpack('i', bytearray( + 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_set_speed = struct.unpack('f', bytearray( + 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] 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 @@ -78,75 +92,42 @@ @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. - EJECTOR_STATE_INIT = 0, ///< Ejector Initial (un-homed) state - EJECTOR_STATE_HOMING, ///< Ejector Homing state - EJECTOR_STATE_RETRACTED, ///< Ejector Retracted state - EJECTOR_STATE_EXTENDED, ///< Ejector Extended state - EJECTOR_STATE_RETRACTING, ///< Ejector Retracting state - EJECTOR_STATE_EXTENDING, ///< Ejector Extending state - EJECTOR_STATE_DIR_CHANGE_STOP, ///< Ejector Direction Change Stop state - EJECTOR_STATE_RETRACT_BACKOFF, ///< Ejector Backing Off Retracted state + EJECTOR_OPERATION_HOME = 0, ///< Ejector home operation + EJECTOR_OPERATION_RETRACT, ///< Ejector retract operation + EJECTOR_OPERATION_EXTEND, ///< Ejector extend operation Constraints: Must be logged into TD. @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. @@ -157,23 +138,49 @@ @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) + 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 + . + Constraints: + Must be logged into TD. + Optical sensor retract ID = 0 + Optical sensor engage ID = 1 - # 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 \ No newline at end of file + Sensor active (engage) = 0 + Sensor inactive (retract) = 1 + + @param sensor: int - sensor ID + @param sensor_active: int - override to be active or inactive + @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 + + 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)