From 98c51828e0378d37715358c444899fed85efd2ce Mon Sep 17 00:00:00 2001 From: Romain Bazile Date: Mon, 16 Nov 2020 17:34:00 +0100 Subject: [PATCH] stepper: reduce method size --- scripts/planktoscope/stepper.py | 180 ++++++++++++++++---------------- 1 file changed, 88 insertions(+), 92 deletions(-) diff --git a/scripts/planktoscope/stepper.py b/scripts/planktoscope/stepper.py index e051e8c..69ab134 100644 --- a/scripts/planktoscope/stepper.py +++ b/scripts/planktoscope/stepper.py @@ -254,6 +254,92 @@ class StepperProcess(multiprocessing.Process): logger.info(f"Stepper initialisation is over") + def __message_pump(self, last_message): + logger.debug("We have received a pumping command") + if last_message["action"] == "stop": + logger.debug("We have received a stop pump command") + self.pump_stepper.shutdown() + + # Print status + logger.info("The pump has been interrupted") + + # Publish the status "Interrupted" to via MQTT to Node-RED + self.actuator_client.client.publish( + "status/pump", '{"status":"Interrupted"}' + ) + + # Set the LEDs as Green + planktoscope.light.setRGB(0, 255, 0) + + elif last_message["action"] == "move": + logger.debug("We have received a move pump command") + # Set the LEDs as Blue + planktoscope.light.setRGB(0, 0, 255) + + if ( + "direction" not in last_message + or "volume" not in last_message + or "flowrate" not in last_message + ): + logger.error( + f"The received message has the wrong argument {last_message}" + ) + self.actuator_client.client.publish("status/pump", '{"status":"Error"}') + return + # Get direction from the different received arguments + direction = last_message["direction"] + # Get delay (in between steps) from the different received arguments + volume = float(last_message["volume"]) + # Get number of steps from the different received arguments + flowrate = float(last_message["flowrate"]) + + # Print status + logger.info("The pump is started.") + self.pump(direction, volume, flowrate) + else: + logger.warning(f"The received message was not understood {last_message}") + + def __message_focus(self, last_message): + logger.debug("We have received a focusing request") + # If a new received command is "focus" but args contains "stop" we stop! + if last_message["action"] == "stop": + logger.debug("We have received a stop focus command") + self.focus_stepper.shutdown() + + # Print status + logger.info("The focus has been interrupted") + + # Publish the status "Interrupted" to via MQTT to Node-RED + self.actuator_client.client.publish( + "status/focus", '{"status":"Interrupted"}' + ) + + # Set the LEDs as Green + planktoscope.light.setRGB(0, 255, 0) + + elif last_message["action"] == "move": + logger.debug("We have received a move focus command") + # Set the LEDs as Yellow + planktoscope.light.setRGB(255, 255, 0) + + if "direction" not in last_message or "distance" not in last_message: + logger.error( + f"The received message has the wrong argument {last_message}" + ) + self.actuator_client.client.publish( + "status/focus", '{"status":"Error"}' + ) + # Get direction from the different received arguments + direction = last_message["direction"] + # Get number of steps from the different received arguments + distance = float(last_message["distance"]) + + # Print status + logger.info("The focus movement is started.") + self.focus(direction, distance) + else: + logger.warning(f"The received message was not understood {last_message}") + def treat_command(self): command = "" if self.actuator_client.new_message_received(): @@ -266,100 +352,11 @@ class StepperProcess(multiprocessing.Process): # If the command is "pump" if command == "pump": - logger.debug("We have received a pumping command") - if last_message["action"] == "stop": - logger.debug("We have received a stop pump command") - self.pump_stepper.shutdown() - - # Print status - logger.info("The pump has been interrupted") - - # Publish the status "Interrupted" to via MQTT to Node-RED - self.actuator_client.client.publish( - "status/pump", '{"status":"Interrupted"}' - ) - - # Set the LEDs as Green - planktoscope.light.setRGB(0, 255, 0) - - elif last_message["action"] == "move": - logger.debug("We have received a move pump command") - # Set the LEDs as Blue - planktoscope.light.setRGB(0, 0, 255) - - if ( - "direction" not in last_message - or "volume" not in last_message - or "flowrate" not in last_message - ): - logger.error( - f"The received message has the wrong argument {last_message}" - ) - self.actuator_client.client.publish( - "status/pump", '{"status":"Error"}' - ) - return - # Get direction from the different received arguments - direction = last_message["direction"] - # Get delay (in between steps) from the different received arguments - volume = float(last_message["volume"]) - # Get number of steps from the different received arguments - flowrate = float(last_message["flowrate"]) - - # Print status - logger.info("The pump is started.") - self.pump(direction, volume, flowrate) - else: - logger.warning( - f"The received message was not understood {last_message}" - ) + self.__message_pump(last_message) # If the command is "focus" elif command == "focus": - logger.debug("We have received a focusing request") - # If a new received command is "focus" but args contains "stop" we stop! - if last_message["action"] == "stop": - logger.debug("We have received a stop focus command") - self.focus_stepper.shutdown() - - # Print status - logger.info("The focus has been interrupted") - - # Publish the status "Interrupted" to via MQTT to Node-RED - self.actuator_client.client.publish( - "status/focus", '{"status":"Interrupted"}' - ) - - # Set the LEDs as Green - planktoscope.light.setRGB(0, 255, 0) - - elif last_message["action"] == "move": - logger.debug("We have received a move focus command") - # Set the LEDs as Yellow - planktoscope.light.setRGB(255, 255, 0) - - if ( - "direction" not in last_message - or "distance" not in last_message - ): - logger.error( - f"The received message has the wrong argument {last_message}" - ) - self.actuator_client.client.publish( - "status/focus", '{"status":"Error"}' - ) - # Get direction from the different received arguments - direction = last_message["direction"] - # Get number of steps from the different received arguments - distance = float(last_message["distance"]) - - # Print status - logger.info("The focus movement is started.") - self.focus(direction, distance) - else: - logger.warning( - f"The received message was not understood {last_message}" - ) + self.__message_focus(last_message) elif command != "": logger.warning( f"We did not understand the received request {command} - {last_message}" @@ -518,7 +515,6 @@ class StepperProcess(multiprocessing.Process): "status/focus", '{"status":"Done"}', ) - time.sleep(0) logger.info("Shutting down the stepper process") self.actuator_client.client.publish("status/pump", '{"status":"Dead"}') self.actuator_client.client.publish("status/focus", '{"status":"Dead"}')