Index: leahi_dialin/ui/fp_messaging.py =================================================================== diff -u -rcb3b4b4cffc07204d74bb502bc25205780ec4f57 -r1f2bf6d939eb4033dbedb7d7005494cc12fccbc6 --- leahi_dialin/ui/fp_messaging.py (.../fp_messaging.py) (revision cb3b4b4cffc07204d74bb502bc25205780ec4f57) +++ leahi_dialin/ui/fp_messaging.py (.../fp_messaging.py) (revision 1f2bf6d939eb4033dbedb7d7005494cc12fccbc6) @@ -24,7 +24,7 @@ def info(a1, a2): pass - self.can_interface = CAN.DenaliCanMessenger(can_interface=self.can_Channel, logger=fakeLogger() ) + self.can_interface = CAN.CanMessenger(can_interface=self.can_Channel, logger=fakeLogger() ) self.can_interface.start() if self.can_interface is not None: @@ -60,8 +60,8 @@ payload += conversions.unsigned_byte_to_bytearray (fpga_lab ) payload += conversions.unsigned_integer_to_bytearray(compatibility_rev) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_VERSION_RESPONSE.value, payload=payload) @@ -100,66 +100,13 @@ payload += conversions.float_to_bytearray(x3Pressure ) payload += conversions.float_to_bytearray(x4Pressure ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_PRESSURES_DATA.value, payload=payload) self.can_interface.send(message, 0) - def fp_valves(self, M4_VALV : bool, - M12_VALV : bool, - P11_VALV : bool, - P33_VALV : bool, - P34_VALV : bool, - P37_VALV : bool, - P39_VALV : bool, - P6_VALV : bool, - valvesensedState: list): - """ - Broadcasts the current FP Valve data (Msg ID: 0x31, 49) - Args: - M4_VALV (bool ): Valves (M4) - M12_VALV (bool ): Valves (M12) - P11_VALV (bool ): Valves (P11) - P33_VALV (bool ): Valves (P33) - P34_VALV (bool ): Valves (P34) - P37_VALV (bool ): Valves (P37) - P39_VALV (bool ): Valves (P39) - P6_VALV (bool ): Valves (P6) - - valvesensedState[10] (list[int] ): Sense state of valves - @return: None - """ - # final 6 bits are unused and left as 0 - hydraulic_valves = (M4_VALV << 0 ) | \ - (M12_VALV << 1) | \ - (P11_VALV << 2 ) | \ - (P33_VALV << 3 ) | \ - (P34_VALV << 4 ) | \ - (P37_VALV << 5 ) | \ - (P39_VALV << 6) | \ - (P6_VALV << 7) | \ - (0 << 8) | \ - (0 << 9) | \ - (0 << 10) | \ - (0 << 11) | \ - (0 << 12) | \ - (0 << 13) | \ - (0 << 14) | \ - (0 << 15) - - payload = conversions.unsigned_short_to_bytearray(hydraulic_valves ) - for i in range(len(valvesensedState)): - payload += conversions.unsigned_byte_to_bytearray(valvesensedState[i]) - - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, - message_id=msg_ids.MsgIds.MSG_ID_FP_VALVES_STATES_DATA.value, - payload=payload) - - self.can_interface.send(message, 0) - def fp_ro_pump(self, p12PumpState : int , p12PumpDutyCycle : int , p12PumpFBDutyCycle : int , @@ -193,8 +140,8 @@ payload += conversions.float_to_bytearray (p12PumpDutyCyclePct ) payload += conversions.float_to_bytearray (p12PumpFBDutyCyclePct ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_RO_PUMP_DATA.value, payload=payload) @@ -209,8 +156,8 @@ """ payload = conversions.unsigned_integer_to_bytearray(p25Level ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_LEVEL_DATA.value, payload=payload) @@ -234,8 +181,8 @@ payload += conversions.float_to_bytearray(p7Temp ) payload += conversions.float_to_bytearray(p16Temp ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_FLOW_DATA.value, payload=payload) @@ -253,8 +200,8 @@ payload = conversions.float_to_bytearray(p9Conductivity ) payload += conversions.float_to_bytearray(p18Conductivity ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_CONDUCTIVITY_DATA.value, payload=payload) @@ -305,8 +252,8 @@ payload += conversions.float_to_bytearray(p7Temp ) payload += conversions.float_to_bytearray(p16Temp ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_TEMPERATURE_DATA.value, payload=payload) @@ -345,8 +292,8 @@ payload += conversions.float_to_bytearray (p40PumpDutyCyclePct ) payload += conversions.float_to_bytearray (p40PumpFBDutyCyclePct ) - message = CAN.DenaliMessage.build_message( - channel_id=CAN.DenaliChannels.fp_sync_broadcast_ch_id, + message = CAN.CanMessage.build_message( + channel_id=CAN.CanChannels.fp_sync_broadcast_ch_id, message_id=msg_ids.MsgIds.MSG_ID_FP_BOOST_PUMP_DATA.value, payload=payload)