hil2.component

  1from typing import Callable, Optional
  2
  3from . import can_helper
  4
  5
  6# Shutdownable component interface ----------------------------------------------------#
  7class ShutdownableComponent:
  8    """Interface for components that need to be 'shutdown' when HIL is stopped"""
  9
 10    def shutdown(self) -> None:
 11        raise NotImplementedError()
 12
 13
 14# DO ----------------------------------------------------------------------------------#
 15class DO(ShutdownableComponent):
 16    """Digital Output"""
 17
 18    def __init__(self, set_fn: Callable[[bool], None], hiZ_fn: Callable[[], None]):
 19        """
 20        :param set_fn: Function to set the digital output value
 21        :param hiZ_fn: Function to set the digital output to high impedance (HiZ)
 22        """
 23        self._set_fn: Callable[[bool], None] = set_fn
 24        self._hiZ_fn: Callable[[], None] = hiZ_fn
 25
 26    def set(self, value: bool) -> None:
 27        """
 28        Sets the digital output value.
 29
 30        :param value: The value to set the digital output to (low = false, high = true)
 31        """
 32        self._set_fn(value)
 33
 34    def hiZ(self) -> None:
 35        """
 36        Sets the digital output to high impedance (HiZ) mode.
 37        """
 38        self._hiZ_fn()
 39
 40    def shutdown(self) -> None:
 41        """
 42        Shuts down the digital output by setting it to high impedance (HiZ) mode.
 43        """
 44        self._hiZ_fn()
 45
 46
 47# DI ----------------------------------------------------------------------------------#
 48class DI:
 49    """Digital Input"""
 50
 51    def __init__(self, get_fn: Callable[[], bool]):
 52        """
 53        :param get_fn: Function to get the digital input value
 54        """
 55        self._get_fn: Callable[[], bool] = get_fn
 56
 57    def get(self) -> bool:
 58        """
 59        Gets the digital input value.
 60
 61        :return: The digital input value
 62        """
 63        return self._get_fn()
 64
 65
 66# AO ----------------------------------------------------------------------------------#
 67class AO(ShutdownableComponent):
 68    """Analog Output"""
 69
 70    def __init__(self, set_fn: Callable[[float], None], hiZ_fn: Callable[[], None]):
 71        """
 72        :param set_fn: Function to set the analog output value
 73        :param hiZ_fn: Function to set the analog output to high impedance (HiZ)
 74        """
 75        self._set_fn: Callable[[float], None] = set_fn
 76        self._hiZ_fn: Callable[[], None] = hiZ_fn
 77
 78    def set(self, value: float) -> None:
 79        """
 80        Sets the analog output value.
 81
 82        :param value: The value to set the analog output to in volts
 83        """
 84        self._set_fn(value)
 85
 86    def hiZ(self) -> None:
 87        """
 88        Sets the analog output to high impedance (HiZ) mode.
 89        """
 90        self._hiZ_fn()
 91
 92    def shutdown(self) -> None:
 93        """
 94        Shuts down the analog output by setting it to high impedance (HiZ) mode.
 95        """
 96        self._hiZ_fn()
 97
 98
 99# AI ----------------------------------------------------------------------------------#
100class AI:
101    """Analog Input"""
102
103    def __init__(self, get_fn: Callable[[], float]):
104        """
105        :param get_fn: Function to get the analog input value
106        """
107        self._get_fn: Callable[[], float] = get_fn
108
109    def get(self) -> float:
110        """
111        Gets the analog input value.
112
113        :return: The analog input value in volts.
114        """
115        return self._get_fn()
116
117
118# POT ---------------------------------------------------------------------------------#
119class POT:
120    """Potentiometer"""
121
122    def __init__(self, set_fn: Callable[[float], None]):
123        """
124        :param set_fn: Function to set the potentiometer value
125        """
126        self._set_fn: Callable[[float], None] = set_fn
127
128    def set(self, value: float) -> None:
129        """
130        Sets the potentiometer value.
131
132        :param value: The value to set the potentiometer to in ohms
133        """
134        self._set_fn(value)
135
136
137# CAN ---------------------------------------------------------------------------------#
138class CAN:
139    """CAN Bus Interface"""
140
141    def __init__(
142        self,
143        send_fn: Callable[[str | int, dict], None],
144        get_last_fn: Callable[[Optional[str | int]], Optional[can_helper.CanMessage]],
145        get_all_fn: Callable[[Optional[str | int]], list[can_helper.CanMessage]],
146        clear_fn: Callable[[Optional[str | int]], None],
147    ):
148        """
149        :param send_fn: Function to send CAN messages
150        :param get_last_fn: Function to get the last received CAN message
151        :param get_all_fn: Function to get all received CAN messages
152        :param clear_fn: Function to clear CAN messages
153        """
154        self._send_fn: Callable[[str | int, dict], None] = send_fn
155        self._get_last_fn: Callable[[Optional[str | int]], Optional[dict]] = get_last_fn
156        self._get_all_fn: Callable[[Optional[str | int]], list[dict]] = get_all_fn
157        self._clear_fn: Callable[[Optional[str | int]], None] = clear_fn
158
159    def send(self, signal: str | int, data: dict) -> None:
160        """
161        Sends a CAN message.
162
163        :param signal: The signal identifier or message id
164        :param data: The data to send. Will later be encoded to raw bytes
165        """
166        self._send_fn(signal, data)
167
168    def get_last(
169        self, signal: Optional[str | int] = None
170    ) -> Optional[can_helper.CanMessage]:
171        """
172        Gets the last received CAN message.
173
174        :param signal: The signal identifier or message id. If not specified, the last
175                       message for any signal will be returned.
176        :return: The last received CAN message or None if not found
177        """
178        return self._get_last_fn(signal)
179
180    def get_all(
181        self, signal: Optional[str | int] = None
182    ) -> list[can_helper.CanMessage]:
183        """
184        Gets all received CAN messages.
185
186        :param signal: The signal identifier or message id. If not specified, all
187                       messages for any signal will be returned.
188        :return: A list of all received CAN messages
189        """
190        return self._get_all_fn(signal)
191
192    def clear(self, signal: Optional[str | int] = None) -> None:
193        """
194        Clears the received CAN messages.
195
196        :param signal: The signal identifier or message id. If not specified, all
197                       messages for any signal will be cleared.
198        """
199        self._clear_fn(signal)