stepper: reduce method size
This commit is contained in:
Romain Bazile
parent
12712c241e
commit
98c51828e0
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@ -254,6 +254,92 @@ class StepperProcess(multiprocessing.Process):
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logger.info(f"Stepper initialisation is over")
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logger.info(f"Stepper initialisation is over")
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def __message_pump(self, last_message):
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logger.debug("We have received a pumping command")
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if last_message["action"] == "stop":
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logger.debug("We have received a stop pump command")
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self.pump_stepper.shutdown()
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# Print status
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logger.info("The pump has been interrupted")
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# Publish the status "Interrupted" to via MQTT to Node-RED
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self.actuator_client.client.publish(
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"status/pump", '{"status":"Interrupted"}'
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)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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elif last_message["action"] == "move":
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logger.debug("We have received a move pump command")
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# Set the LEDs as Blue
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planktoscope.light.setRGB(0, 0, 255)
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if (
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"direction" not in last_message
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or "volume" not in last_message
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or "flowrate" not in last_message
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):
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logger.error(
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f"The received message has the wrong argument {last_message}"
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)
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self.actuator_client.client.publish("status/pump", '{"status":"Error"}')
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return
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# Get direction from the different received arguments
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direction = last_message["direction"]
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# Get delay (in between steps) from the different received arguments
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volume = float(last_message["volume"])
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# Get number of steps from the different received arguments
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flowrate = float(last_message["flowrate"])
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# Print status
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logger.info("The pump is started.")
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self.pump(direction, volume, flowrate)
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else:
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logger.warning(f"The received message was not understood {last_message}")
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def __message_focus(self, last_message):
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logger.debug("We have received a focusing request")
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# If a new received command is "focus" but args contains "stop" we stop!
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if last_message["action"] == "stop":
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logger.debug("We have received a stop focus command")
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self.focus_stepper.shutdown()
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# Print status
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logger.info("The focus has been interrupted")
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# Publish the status "Interrupted" to via MQTT to Node-RED
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self.actuator_client.client.publish(
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"status/focus", '{"status":"Interrupted"}'
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)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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elif last_message["action"] == "move":
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logger.debug("We have received a move focus command")
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# Set the LEDs as Yellow
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planktoscope.light.setRGB(255, 255, 0)
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if "direction" not in last_message or "distance" not in last_message:
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logger.error(
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f"The received message has the wrong argument {last_message}"
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)
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self.actuator_client.client.publish(
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"status/focus", '{"status":"Error"}'
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)
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# Get direction from the different received arguments
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direction = last_message["direction"]
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# Get number of steps from the different received arguments
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distance = float(last_message["distance"])
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# Print status
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logger.info("The focus movement is started.")
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self.focus(direction, distance)
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else:
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logger.warning(f"The received message was not understood {last_message}")
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def treat_command(self):
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def treat_command(self):
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command = ""
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command = ""
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if self.actuator_client.new_message_received():
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if self.actuator_client.new_message_received():
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@ -266,100 +352,11 @@ class StepperProcess(multiprocessing.Process):
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# If the command is "pump"
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# If the command is "pump"
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if command == "pump":
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if command == "pump":
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logger.debug("We have received a pumping command")
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self.__message_pump(last_message)
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if last_message["action"] == "stop":
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logger.debug("We have received a stop pump command")
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self.pump_stepper.shutdown()
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# Print status
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logger.info("The pump has been interrupted")
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# Publish the status "Interrupted" to via MQTT to Node-RED
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self.actuator_client.client.publish(
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"status/pump", '{"status":"Interrupted"}'
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)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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elif last_message["action"] == "move":
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logger.debug("We have received a move pump command")
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# Set the LEDs as Blue
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planktoscope.light.setRGB(0, 0, 255)
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if (
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"direction" not in last_message
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or "volume" not in last_message
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or "flowrate" not in last_message
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):
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logger.error(
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f"The received message has the wrong argument {last_message}"
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)
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self.actuator_client.client.publish(
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"status/pump", '{"status":"Error"}'
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)
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return
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# Get direction from the different received arguments
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direction = last_message["direction"]
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# Get delay (in between steps) from the different received arguments
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volume = float(last_message["volume"])
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# Get number of steps from the different received arguments
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flowrate = float(last_message["flowrate"])
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# Print status
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logger.info("The pump is started.")
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self.pump(direction, volume, flowrate)
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else:
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logger.warning(
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f"The received message was not understood {last_message}"
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)
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# If the command is "focus"
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# If the command is "focus"
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elif command == "focus":
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elif command == "focus":
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logger.debug("We have received a focusing request")
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self.__message_focus(last_message)
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# If a new received command is "focus" but args contains "stop" we stop!
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if last_message["action"] == "stop":
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logger.debug("We have received a stop focus command")
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self.focus_stepper.shutdown()
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# Print status
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logger.info("The focus has been interrupted")
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# Publish the status "Interrupted" to via MQTT to Node-RED
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self.actuator_client.client.publish(
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"status/focus", '{"status":"Interrupted"}'
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)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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elif last_message["action"] == "move":
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logger.debug("We have received a move focus command")
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# Set the LEDs as Yellow
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planktoscope.light.setRGB(255, 255, 0)
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if (
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"direction" not in last_message
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or "distance" not in last_message
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):
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logger.error(
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f"The received message has the wrong argument {last_message}"
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)
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self.actuator_client.client.publish(
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"status/focus", '{"status":"Error"}'
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)
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# Get direction from the different received arguments
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direction = last_message["direction"]
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# Get number of steps from the different received arguments
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distance = float(last_message["distance"])
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# Print status
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logger.info("The focus movement is started.")
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self.focus(direction, distance)
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else:
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logger.warning(
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f"The received message was not understood {last_message}"
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)
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elif command != "":
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elif command != "":
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logger.warning(
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logger.warning(
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f"We did not understand the received request {command} - {last_message}"
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f"We did not understand the received request {command} - {last_message}"
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@ -518,7 +515,6 @@ class StepperProcess(multiprocessing.Process):
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"status/focus",
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"status/focus",
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'{"status":"Done"}',
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'{"status":"Done"}',
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)
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)
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time.sleep(0)
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logger.info("Shutting down the stepper process")
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logger.info("Shutting down the stepper process")
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self.actuator_client.client.publish("status/pump", '{"status":"Dead"}')
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self.actuator_client.client.publish("status/pump", '{"status":"Dead"}')
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self.actuator_client.client.publish("status/focus", '{"status":"Dead"}')
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self.actuator_client.client.publish("status/focus", '{"status":"Dead"}')
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