Index: leahi_dialin/td/modules/valves.py =================================================================== diff -u -rd27c40205e18118f4689f62463a266da1f91dba6 -r6c90336ac2cd8cf34ac620cff431a847d9ddf557 --- leahi_dialin/td/modules/valves.py (.../valves.py) (revision d27c40205e18118f4689f62463a266da1f91dba6) +++ leahi_dialin/td/modules/valves.py (.../valves.py) (revision 6c90336ac2cd8cf34ac620cff431a847d9ddf557) @@ -7,82 +7,56 @@ # # @file valves.py # -# @author (last) James Walter Taylor -# @date (last) 03-Aug-2023 +# @author (last) Zoltan Miskolci +# @date (last) 05-May-2026 # @author (original) Dara Navaei # @date (original) 19-Aug-2020 # ############################################################################ - -import struct -from enum import unique +# Module imports from logging import Logger -from .constants import NO_RESET -from leahi_dialin.common import MsgIds -from leahi_dialin.common.td_defs import td_enum_repository -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 +# Project imports +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common.generic_defs import DataTypes +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 import td_enum_repository +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 class TDValves(AbstractSubSystem): """ - Treatment Delivery (TD) Dialin API sub-class for valves related commands. """ - # Valves states publish message field positions - # Note the MsgFieldPosition was not used since some of the published data are S16 - START_POS_VALVES_ID = DenaliMessage.PAYLOAD_START_INDEX - END_POS_VALVES_ID = START_POS_VALVES_ID + 4 - START_VALVES_STATE = END_POS_VALVES_ID - END_VALVES_STATE = START_VALVES_STATE + 4 - - START_POS_VALVES_CURR_POS_ID = END_VALVES_STATE - END_POS_VALVES_CURR_POS_ID = START_POS_VALVES_CURR_POS_ID + 4 - - START_POS_VALVES_CURR_POS = END_POS_VALVES_CURR_POS_ID - END_POS_VALVES_CURR_POS = START_POS_VALVES_CURR_POS + 2 - - START_POS_VALVES_NEXT_POS = END_POS_VALVES_CURR_POS - END_POS_VALVES_NEXT_POS = START_POS_VALVES_NEXT_POS + 2 - - START_POS_A = END_POS_VALVES_NEXT_POS - END_POS_A = START_POS_A + 2 - START_POS_B = END_POS_A - END_POS_B = START_POS_B + 2 - START_POS_C = END_POS_B - END_POS_C = START_POS_C + 2 - START_POS_D = END_POS_C - END_POS_D = START_POS_D + 2 - START_MAX_HOMING_ENC = END_POS_D - END_MAX_HOMING_ENC = START_MAX_HOMING_ENC + 2 - - def __init__(self, can_interface, logger: Logger): + def __init__(self, can_interface: CanMessenger, logger: Logger): """ TDValves constructor - @param can_interface: (DenaliCanMessenger) - Denali CAN messenger object. + @param can_interface: (CanMessenger) - Can Messenger object. @param logger: (Logger) - Dialin logger """ 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_valves_data = MsgIds.MSG_ID_TD_VALVES_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_valves_data, - self._handler_valves_sync) + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_VALVES_DATA.value, + function = self._handler_valves_sync) - self.td_valves_timestamp = 0.0 - # A dictionary of the valves with the status + self.td_valves_timestamp = 0.0 #: The timestamp of the latest message + + # The Valves data in dictionary format self.valves_status = {td_enum_repository.TDValveNames.H1_VALV.name: {}, td_enum_repository.TDValveNames.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: """ @@ -92,33 +66,32 @@ @param message: published TD valves data message @returns none """ - vlv_id = struct.unpack('i', bytearray( - message['message'][self.START_POS_VALVES_ID:self.END_POS_VALVES_ID]))[0] - state_id = struct.unpack('i', bytearray( - message['message'][self.START_VALVES_STATE:self.END_VALVES_STATE]))[0] - pos_id = struct.unpack('i', bytearray( - message['message'][self.START_POS_VALVES_CURR_POS_ID:self.END_POS_VALVES_CURR_POS_ID]))[0] - pos_cnt = struct.unpack('h', bytearray( - message['message'][self.START_POS_VALVES_CURR_POS:self.END_POS_VALVES_CURR_POS]))[0] - cmd_pos = struct.unpack('h', bytearray( - message['message'][self.START_POS_VALVES_NEXT_POS:self.END_POS_VALVES_NEXT_POS]))[0] + msg_list = [] + msg_list.append(('Valve', DataTypes.U32)) + msg_list.append(('State', DataTypes.U32)) + msg_list.append(('PosID', DataTypes.U32)) + msg_list.append(('PosCnt', DataTypes.S16)) + msg_list.append(('Cmd', DataTypes.S16)) + msg_list.append(('PosA', DataTypes.S16)) + msg_list.append(('PosB', DataTypes.S16)) + msg_list.append(('PosC', DataTypes.S16)) + msg_list.append(('PosD', DataTypes.S16)) + msg_list.append(('Max_homing_enc', DataTypes.S16)) - pos_a = struct.unpack('h', bytearray(message['message'][self.START_POS_A:self.END_POS_A]))[0] - pos_b = struct.unpack('h', bytearray(message['message'][self.START_POS_B:self.END_POS_B]))[0] - pos_c = struct.unpack('h', bytearray(message['message'][self.START_POS_C:self.END_POS_C]))[0] - pos_d = struct.unpack('h', bytearray(message['message'][self.START_POS_D:self.END_POS_D]))[0] - max_homing_enc = struct.unpack('h', bytearray( - message['message'][self.START_MAX_HOMING_ENC:self.END_MAX_HOMING_ENC]))[0] + result = self.process_into_vars(decoder_list = msg_list, + message = message) # To make sure values of the enums are not out of range - if td_enum_repository.TDValveNames.has_value(vlv_id) and td_enum_repository.TDValvePositions.has_value(pos_id) and td_enum_repository.TDValveStates.has_value(pos_id): - vlv_name = td_enum_repository.TDValveNames(vlv_id).name + if td_enum_repository.TDValveNames.has_value(result['Valve']) and td_enum_repository.TDValvePositions.has_value(result['PosID']) and td_enum_repository.TDValveStates.has_value(result['State']): + # Updating fields + result['Valve'] = td_enum_repository.TDValveNames(result['Valve']).name + result['State'] = td_enum_repository.TDValveStates(result['State']).name + result['PosID'] = td_enum_repository.TDValvePositions(result['PosID']).name # Update the valves dictionary - self.valves_status[vlv_name] = {'Valve': vlv_name, 'PosID': td_enum_repository.TDValvePositions(pos_id).name, 'PosCnt': pos_cnt, - 'Cmd': cmd_pos, 'State': td_enum_repository.TDValveStates(state_id).name, 'PosA': pos_a, - 'PosB': pos_b, 'PosC': pos_c, 'PosD': pos_d, 'Max_homing_enc': max_homing_enc} + self.valves_status[result['Valve']] = result 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 +103,16 @@ @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 = CanChannels.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 +126,17 @@ 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 = td_enum_repository.TDValveNames(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.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 +151,19 @@ 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 = td_enum_repository.TDValveNames(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_PINCH_VALVE_HOME_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 +178,18 @@ 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 = td_enum_repository.TDValveNames(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.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(td_enum_repository.TDValveNames(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 +204,18 @@ 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 = td_enum_repository.TDValveNames(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.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(td_enum_repository.TDValveNames(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 +229,13 @@ 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(td_enum_repository.TDValveNames(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 = td_enum_repository.TDValveNames(valve).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.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)