cell_loader_ctrl/robot_control/src/robot/pump_controller.py

import time
import pigpio
from robot_control.src.utils.config import RobotConfig
from robot_control.src.api.gpio import GPIOInterface

class PumpController:
    def __init__(self, config:RobotConfig, gpio:GPIOInterface, logger):
        self.logger = logger
        self.pressure_threshold_on = config.vacuum.min_pressure_bar
        self.pressure_threshold_off = config.vacuum.max_pressure_bar 
        self.pump_watchdog_timeout = config.vacuum.pump_watchdog_timeout_s
        self.gripping_threshold = config.vacuum.gripping_threshold_bar

        gpio_config = config.gpio
        self.pump_pin = gpio_config.pump_pin
        self.pump_last_activated = None
        self.pump_active = False
        self.gpio = gpio

    def check_endeffector_state(self, value) -> bool:
        return value < self.gripping_threshold        

    def handle_tank_reading(self, value):
        current_time = time.time()

        # Check if pump needs to be deactivated due to watchdog timeout
        if self.pump_active and self.pump_last_activated and \
           (current_time - self.pump_last_activated > self.pump_watchdog_timeout):
            self.logger.warning("Pump deactivated due to watchdog timeout")
            self.gpio.set_pin(self.pump_pin, 0)  # Turn off pump
            self.pump_active = False
            self.pump_last_activated = None
            return

        # Activate pump if pressure is above the threshold (lower value is more vacuum)
        if not self.pump_active and value > self.pressure_threshold_on:
            self.logger.info("Activating pump due to pressure threshold")
            self.gpio.set_pin(self.pump_pin, 1)  # Turn on pump
            self.pump_active = True
            self.pump_last_activated = current_time

        # Deactivate pump if pressure is below the threshold
        elif self.pump_active and value < self.pressure_threshold_off:
            self.logger.info("Deactivating pump due to pressure threshold")
            self.gpio.set_pin(self.pump_pin, 0)  # Turn off pump
            self.pump_active = False
            self.pump_last_activated = None

    def cleanup(self):
        self.pi.write(self.pump_pin, 0)  # Ensure pump is off
        self.pi.stop()  # Disconnect from pigpio daemon
        self.logger.info("Pigpio cleanup completed")