curious.bio/planktoscope
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stepper: reduce method size

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This commit is contained in:
Romain Bazile 2020-11-16 17:34:00 +01:00
parent 12712c241e
commit 98c51828e0
1 changed files with 88 additions and 92 deletions
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52
scripts/planktoscope/stepper.py
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@ -254,18 +254,7 @@ class StepperProcess(multiprocessing.Process):
logger.info(f"Stepper initialisation is over") logger.info(f"Stepper initialisation is over")
def treat_command(self): def __message_pump(self, last_message):
command = ""
if self.actuator_client.new_message_received():
logger.info("We received a new message")
last_message = self.actuator_client.msg["payload"]
logger.debug(last_message)
command = self.actuator_client.msg["topic"].split("/", 1)[1]
logger.debug(command)
self.actuator_client.read_message()
# If the command is "pump"
if command == "pump":
logger.debug("We have received a pumping command") logger.debug("We have received a pumping command")
if last_message["action"] == "stop": if last_message["action"] == "stop":
logger.debug("We have received a stop pump command") logger.debug("We have received a stop pump command")
@ -295,9 +284,7 @@ class StepperProcess(multiprocessing.Process):
logger.error( logger.error(
f"The received message has the wrong argument {last_message}" f"The received message has the wrong argument {last_message}"
) )
self.actuator_client.client.publish( self.actuator_client.client.publish("status/pump", '{"status":"Error"}')
"status/pump", '{"status":"Error"}'
)
return return
# Get direction from the different received arguments # Get direction from the different received arguments
direction = last_message["direction"] direction = last_message["direction"]
@ -310,12 +297,9 @@ class StepperProcess(multiprocessing.Process):
logger.info("The pump is started.") logger.info("The pump is started.")
self.pump(direction, volume, flowrate) self.pump(direction, volume, flowrate)
else: else:
logger.warning( logger.warning(f"The received message was not understood {last_message}")
f"The received message was not understood {last_message}"
)
# If the command is "focus" def __message_focus(self, last_message):
elif command == "focus":
logger.debug("We have received a focusing request") logger.debug("We have received a focusing request")
# If a new received command is "focus" but args contains "stop" we stop! # If a new received command is "focus" but args contains "stop" we stop!
if last_message["action"] == "stop": if last_message["action"] == "stop":
@ -338,10 +322,7 @@ class StepperProcess(multiprocessing.Process):
# Set the LEDs as Yellow # Set the LEDs as Yellow
planktoscope.light.setRGB(255, 255, 0) planktoscope.light.setRGB(255, 255, 0)
if ( if "direction" not in last_message or "distance" not in last_message:
"direction" not in last_message
or "distance" not in last_message
):
logger.error( logger.error(
f"The received message has the wrong argument {last_message}" f"The received message has the wrong argument {last_message}"
) )
@ -357,9 +338,25 @@ class StepperProcess(multiprocessing.Process):
logger.info("The focus movement is started.") logger.info("The focus movement is started.")
self.focus(direction, distance) self.focus(direction, distance)
else: else:
logger.warning( logger.warning(f"The received message was not understood {last_message}")
f"The received message was not understood {last_message}"
) def treat_command(self):
command = ""
if self.actuator_client.new_message_received():
logger.info("We received a new message")
last_message = self.actuator_client.msg["payload"]
logger.debug(last_message)
command = self.actuator_client.msg["topic"].split("/", 1)[1]
logger.debug(command)
self.actuator_client.read_message()
# If the command is "pump"
if command == "pump":
self.__message_pump(last_message)
# If the command is "focus"
elif command == "focus":
self.__message_focus(last_message)
elif command != "": elif command != "":
logger.warning( logger.warning(
f"We did not understand the received request {command} - {last_message}" f"We did not understand the received request {command} - {last_message}"
@ -518,7 +515,6 @@ class StepperProcess(multiprocessing.Process):
"status/focus", "status/focus",
'{"status":"Done"}', '{"status":"Done"}',
) )
time.sleep(0)
logger.info("Shutting down the stepper process") logger.info("Shutting down the stepper process")
self.actuator_client.client.publish("status/pump", '{"status":"Dead"}') self.actuator_client.client.publish("status/pump", '{"status":"Dead"}')
self.actuator_client.client.publish("status/focus", '{"status":"Dead"}') self.actuator_client.client.publish("status/focus", '{"status":"Dead"}')