fischertechnik-factory-twin/simulator/devs_models/dso.py

from data_models.mqtt_message import MqttMessage
from pypdevs.DEVS import AtomicDEVS
from pypdevs.infinity import INFINITY
from dataclasses import dataclass
from loguru import logger

from data_models.workpiece import Workpiece
from utils.get_timestamp import get_timestamp
from utils.timed_phase_enum import TimedPhaseEnum


class DsoPhase(TimedPhaseEnum):
    """ Steps in order, along with their timings """
    IDLE = ('IDLE', INFINITY)
    WP_RECEIVED = ('WP_RECEIVED', 0.2) # delay before sending a message
    AWAIT_PICKUP = ('AWAIT_PICKUP', INFINITY) # await pickup by user
    PICKUP = ('PICKUP', 0.0) # immediately handover wp to collector

@dataclass
class DsoState:
    delta_t: float = INFINITY
    phase: DsoPhase = DsoPhase.IDLE
    workpiece: Workpiece | None = None
    status_requested = True # if true, publish status
    visual_update_pending: bool = False


class DSO(AtomicDEVS):
    """ Output bay which holds a single workpiece """

    def __init__(self, name: str):
        super(DSO, self).__init__(name)
        self.inp = self.addInPort("inp")
        self.out = self.addOutPort("out")

        self.mqtt_in = self.addInPort("mqtt_in") # to receive 'pickup' simulation message to clear output
        self.mqtt_out = self.addOutPort("mqtt_out")

        self.state = DsoState()

    def change_phase(self, new_phase: DsoPhase):
        """ Wrapper for changing the phase and time associated with it, helps with logging """
        self.state.phase = new_phase
        self.state.delta_t = new_phase.timing
        logger.trace(f"{type(self).__name__} '{self.name}' phase changed to {new_phase}")
        self.state.visual_update_pending = True

    def get_visual_update_data(self) -> MqttMessage:
        """ Get visual update data for the animation, contains the action taken and the duration of that action left """
        message = MqttMessage()
        message.topic = "visualization/dso"
        duration = self.state.delta_t
        if duration == INFINITY: duration = None
        message.payload = {
            "action": self.state.phase.value,
            "duration": duration,  # should be equal to the timing of the phase
            "workpiece": self.state.workpiece.to_dict() if self.state.workpiece else None,
        }
        return message

    def get_status_message(self, use_next_phase=True) -> MqttMessage:
        """ Get the status message for the input bay """
        phase = self.state.phase.next() if use_next_phase else self.state.phase
        active = 1 if (self.state.workpiece is not None) else 0
        code = 1 if (phase == DsoPhase.IDLE) else 0 # TODO: figure out this logic

        message = MqttMessage()
        message.topic = "f/i/state/dso"
        message.payload = {
            "active": active,
            "code": code,
            "description": '',
            "station": 'dso',
            "ts": get_timestamp(),
        }
        return message

    def extTransition(self, inputs):
        self.state.delta_t -= self.elapsed

        if self.inp in inputs:
            if not self.state.phase == DsoPhase.IDLE:
                logger.error(f"{type(self).__name__} '{self.name}' received workpiece while not Idle!")
                return self.state
            wp = inputs[self.inp][0]
            logger.trace(f"{type(self).__name__} '{self.name}' received: {wp}")
            self.change_phase(DsoPhase.WP_RECEIVED)
            self.state.workpiece = wp

        if self.mqtt_in in inputs:
            msg: MqttMessage = inputs[self.mqtt_in][0]
            if msg.topic == "simulation/ctrl/dso" and msg.payload["action"] == "clear":
                self.change_phase(DsoPhase.PICKUP)
            elif msg.topic == "simulation/ctrl/all" and msg.payload.get("action") == "refresh":
                self.state.status_requested = True
                self.state.visual_update_pending = True
                return self.state

        return self.state # important, return state

    def timeAdvance(self):
        if self.state.visual_update_pending or self.state.status_requested:
            return 0.0
        return self.state.delta_t

    def outputFnc(self):
        if self.state.visual_update_pending:
            return {self.mqtt_out: [self.get_visual_update_data()]}

        if self.state.status_requested or self.state.phase == DsoPhase.WP_RECEIVED:
            return {self.mqtt_out: [self.get_status_message(use_next_phase=False)]}
        
        if self.state.phase == DsoPhase.PICKUP:
            return {self.out: [self.state.workpiece]} # output the workpiece to the collector

        return {}

    def intTransition(self):
        if self.state.visual_update_pending:
            self.state.visual_update_pending = False
            return self.state

        if self.state.status_requested:
            self.state.status_requested = False # if requested, we've handled, so unset
            return self.state
        
        if self.state.phase == DsoPhase.PICKUP:
            self.state.workpiece = None # clear the workpiece after handing it over

        # Transition to next state
        self.change_phase(self.state.phase.next())
        return self.state