Index: leahi_dialin/td/modules/valves.py =================================================================== diff -u -r175101bed0d998f3e0c6ff24d90603acb0106e4d -r1813f6556e8a726a6e300caffe0bcafc40010aa9 --- leahi_dialin/td/modules/valves.py (.../valves.py) (revision 175101bed0d998f3e0c6ff24d90603acb0106e4d) +++ leahi_dialin/td/modules/valves.py (.../valves.py) (revision 1813f6556e8a726a6e300caffe0bcafc40010aa9) @@ -7,30 +7,27 @@ # # @file valves.py # -# @author (last) James Walter Taylor -# @date (last) 03-Aug-2023 +# @author (last) Zoltan Miskolci +# @date (last) 08-Jan-2026 # @author (original) Dara Navaei # @date (original) 19-Aug-2020 # ############################################################################ - import struct -from enum import unique from logging import Logger -from .constants import NO_RESET -from leahi_dialin.common import MsgIds +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common.msg_defs import MsgIds +from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.common.td_defs import TDValvesEnum, TDValvesPositions, TDValvesStates 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.utils.conversions import integer_to_bytearray, short_to_bytearray +from leahi_dialin.utils.base import AbstractSubSystem, publish +from leahi_dialin.utils.conversions import integer_to_bytearray class TDValves(AbstractSubSystem): """ - Treatment Delivery (TD) Dialin API sub-class for valves related commands. """ # Valves states publish message field positions @@ -83,6 +80,7 @@ self.valves_status = {TDValvesEnum.H1_VALV.name: {}, TDValvesEnum.H19_VALV.name: {}} + @publish(["msg_id_td_valves_data", "valves_status", "td_valves_timestamp"]) def _handler_valves_sync(self, message: dict, timestamp=0.0) -> None: """ @@ -119,6 +117,7 @@ 'PosB': pos_b, 'PosC': pos_c, 'PosD': pos_d, 'Max_homing_enc': max_homing_enc} self.td_valves_timestamp = timestamp + def cmd_valves_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends broadcast time interval @@ -130,29 +129,16 @@ @param reset: integer - 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ - if not check_broadcast_interval_override_ms(ms): - return False + return cmd_generic_broadcast_interval_override( + ms = ms, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_VALVES_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'TD Valves', + logger = self.logger, + can_interface = self.can_interface) - reset_value = integer_to_bytearray(reset) - interval_value = integer_to_bytearray(ms) - payload = reset_value + interval_value - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_VALVES_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("Sending {} ms publish interval to the HD valves module".format(ms)) - # 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 - def cmd_set_valve_position(self, valve: int, position: int) -> int: """ Constructs and sends the TD valves set position for a valve @@ -166,19 +152,17 @@ pos = integer_to_bytearray(position) payload = vlv + pos - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_PINCH_VALVE_SET_POSITION_REQUEST.value, - payload=payload) - # Send message - received_message = self.can_interface.send(message) + valve_name = TDValvesEnum(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_PINCH_VALVE_SET_POSITION_REQUEST, + entity_name = f'TD {valve_name} Valve position', + override_text = str(position), + logger = self.logger, + can_interface = self.can_interface) - # 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("TD cmd_valve_override Timeout!!!") - return False def cmd_home_valve(self, valve: int, force_home: int, cartridge: int) -> int: """ @@ -193,20 +177,19 @@ frc = integer_to_bytearray(force_home) cart = integer_to_bytearray(cartridge) payload = vlv + frc + cart - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_PINCH_VALVE_HOME_REQUEST.value, - payload=payload) - # 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("TD Homing Valve Timeout!!!") - return False + valve_name = TDValvesEnum(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_PINCH_VALVE_SET_POSITION_REQUEST, + entity_name = f'TD {valve_name} Valve homing', + override_text = 'Forcefully' if force_home == 1 else 'Normally', + logger = self.logger, + can_interface = self.can_interface) + def cmd_valve_encoder_position_override(self, valve: int, position_count: int, reset: int = NO_RESET) -> int: """ Constructs and sends the TD valves set position for a valve @@ -221,23 +204,18 @@ pos = integer_to_bytearray(position_count) payload = reset_value + pos + vlv - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_ROTARY_PINCH_VALVE_POSITION_OVERRIDE_REQUEST.value, - payload=payload) - # Send message - received_message = self.can_interface.send(message) + valve_name = TDValvesEnum(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_ROTARY_PINCH_VALVE_POSITION_OVERRIDE_REQUEST, + entity_name = f'TD {valve_name} Valve position', + override_text = f'move by {str(position_count)}', + logger = self.logger, + can_interface = self.can_interface) - # If there is content... - if received_message is not None: - self.logger.debug("Setting {} position to {} ".format(str(TDValvesEnum(valve).name), position_count)) - - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("TD valve position override Timeout!!!") - return False - def cmd_valve_status_override(self, valve: int, status: int, reset: int = NO_RESET) -> int: """ Constructs and sends the TD valves set position for a valve @@ -252,23 +230,18 @@ sts = integer_to_bytearray(status) payload = reset_value + sts + vlv - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_ROTARY_PINCH_VALVE_STATUS_OVERRIDE_REQUEST.value, - payload=payload) - # Send message - received_message = self.can_interface.send(message) + valve_name = TDValvesEnum(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_ROTARY_PINCH_VALVE_STATUS_OVERRIDE_REQUEST, + entity_name = f'TD {valve_name} Valve status', + override_text = str(status), + logger = self.logger, + can_interface = self.can_interface) - # If there is content... - if received_message is not None: - self.logger.debug("Setting {} status to {} ".format(str(TDValvesEnum(valve).name), status)) - - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("TD valve status override Timeout!!!") - return False - def cmd_valve_modify_encoder_position_by_offset(self, valve: int, counts: int) -> int: """ Constructs and sends a given valve to change position by a @@ -282,20 +255,13 @@ pos = integer_to_bytearray(counts) payload = pos + vlv - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_ROTARY_PINCH_VALVE_POSITION_OVERRIDE_REQUEST.value, - payload=payload) - # Send message - received_message = self.can_interface.send(message) - - # If there is content... - if received_message is not None: - - self.logger.debug("Setting {} position by {} ".format(str(TDValvesEnum(valve).name), counts)) - - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("TD valve position override Timeout!!!") - return False - + valve_name = TDValvesEnum(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_ROTARY_PINCH_VALVE_POSITION_OVERRIDE_REQUEST, + entity_name = f'TD {valve_name} Valve encoder position offset', + override_text = str(counts), + logger = self.logger, + can_interface = self.can_interface)