def __init__(self, uart_driver):
self._channel = McuChannel(uart_driver, owner=self)
self._capacitor_voltage = None
self._secret_code = None
self._treasure_completion = None
self._motor_1_setpoint_completion = None
self._motor_2_setpoint_completion = None
self._motor_3_setpoint_completion = None
self._motor_4_setpoint_completion = None
self._out_message_queue = queue.Queue(0)
self._last_command = None
self._command_sent_delay_timer = 0
self._init_mcu_controller_threads()
class McuController:
__metaclass__ = abc.ABCMeta
DELAY_WHEN_COMMAND_SENT = 6
COMPLETED = 100
def __init__(self, uart_driver):
self._channel = McuChannel(uart_driver, owner=self)
self._capacitor_voltage = None
self._secret_code = None
self._treasure_completion = None
self._motor_1_setpoint_completion = None
self._motor_2_setpoint_completion = None
self._motor_3_setpoint_completion = None
self._motor_4_setpoint_completion = None
self._out_message_queue = queue.Queue(0)
self._last_command = None
self._command_sent_delay_timer = 0
self._init_mcu_controller_threads()
def _init_mcu_controller_threads(self):
out_message_process_thread = threading.Thread(group=None, target=self._out_message_process_thread, name='out_message_process_thread', daemon=True)
out_message_process_thread.start()
def send_message(self, command):
while not self._out_message_queue.empty():
self._out_message_queue.get(True, timeout=None)
self._out_message_queue.put(command)
self._channel.send_message(command)
self._treasure_completion = 0
self._motor_1_setpoint_completion = 0
self._motor_2_setpoint_completion = 0
self._motor_3_setpoint_completion = 0
self._motor_4_setpoint_completion = 0
self._command_sent_delay_timer = self.DELAY_WHEN_COMMAND_SENT
def process_message(self, message):
if isinstance(message, InMessageHeartbeat):
self._update_mcu_state(message)
else:
raise CommunicationException("Received a different type of message than the expected InMessageHeartbeat from the MCU")
def _out_message_process_thread(self):
while True:
if not self._out_message_queue.empty():
self._last_command = self._out_message_queue.get(True, timeout=None)
if self._last_command is not None and self.get_overall_completion() < self.COMPLETED:
self._channel.send_message(self._last_command)
time.sleep(Constants.THREAD_SLEEP_DELAY)
def _update_mcu_state(self, message):
self._capacitor_voltage = message.get_capacitor_voltage()
self._secret_code = message.get_secret_code()
if self._command_sent_delay_timer > 0:
self._treasure_completion = 0
self._motor_1_setpoint_completion = 0
self._motor_2_setpoint_completion = 0
self._motor_3_setpoint_completion = 0
self._motor_4_setpoint_completion = 0
self._command_sent_delay_timer -= 1
else:
self._treasure_completion = message.get_treasure_manipulation_completion()
self._motor_1_setpoint_completion = message.get_motor_completion(MotorIdentifier.FIRST_MOTOR)
self._motor_2_setpoint_completion = message.get_motor_completion(MotorIdentifier.SECOND_MOTOR)
self._motor_3_setpoint_completion = message.get_motor_completion(MotorIdentifier.THIRD_MOTOR)
self._motor_4_setpoint_completion = message.get_motor_completion(MotorIdentifier.FOURTH_MOTOR)
def get_capacitor_voltage(self):
return self._capacitor_voltage
def get_secret_code(self):
return self._secret_code
def get_motors_completion(self):
motors_completion = [self._motor_1_setpoint_completion, self._motor_2_setpoint_completion,
self._motor_3_setpoint_completion, self._motor_4_setpoint_completion]
return motors_completion
def get_treasure_completion(self):
return self._treasure_completion
def get_overall_completion(self):
minimal_completion = self.COMPLETED
completion_list = self.get_motors_completion()
completion_list.append(self.get_treasure_completion())
for motor_completion in self.get_motors_completion():
if not isinstance(motor_completion, int):
minimal_completion = None
else:
minimal_completion = min(minimal_completion, motor_completion)
return minimal_completion
