from dataclasses import dataclass
from enum import IntEnum
from mil_usb_to_can.sub9 import Packet
[docs]@dataclass
class HeartbeatSetPacket(Packet, msg_id=0x02, subclass_id=0x00, payload_format=""):
"""
Heartbeat packet sent by the motherboard to the thrust/kill board.
"""
[docs]@dataclass
class HeartbeatReceivePacket(Packet, msg_id=0x02, subclass_id=0x01, payload_format=""):
"""
Heartbeat packet sent by the thrust/kill board to the motherboard.
"""
[docs]class ThrusterId(IntEnum):
"""
Enum to represent the thruster ID.
"""
#: Front left horizontal thruster.
FLH = 0
#: Front right horizontal thruster.
FRH = 1
#: Front left vertical thruster.
FLV = 2
#: Front right vertical thruster.
FRV = 3
#: Back left horizontal thruster.
BLH = 4
#: Back right horizontal thruster.
BRH = 5
#: Back left vertical thruster.
BLV = 6
#: Back right vertical thruster.
BRV = 7
[docs]@dataclass
class ThrustSetPacket(Packet, msg_id=0x02, subclass_id=0x02, payload_format="<Bf"):
"""
Packet to set the speed of a specific thruster.
Attributes:
thruster_id (ThrusterId): The ID of the thruster to set the speed of. The ID of
the thruster corresponds to a specific thruster:
speed (float): The speed to set the thruster to.
"""
thruster_id: ThrusterId
speed: float
[docs]class KillStatus(IntEnum):
"""
Enum to represent the purpose behind a kill.
"""
#: A software user manually requested a kill on the sub.
SOFTWARE_REQUESTED = 0
#: The board reported that it stopped hearing the heartbeat from the motherboard.
MOBO_HEARTBEAT_LOST = 1
#: The motherboard reported that it stopped hearing the heartbeat from the board.
BOARD_HEARTBEAT_LOST = 2
#: The physical kill switch was pulled, requesting an immediate kill.
KILL_SWITCH = 3
#: The battery is too low to continue operation.
BATTERY_LOW = 4
[docs]@dataclass
class KillSetPacket(Packet, msg_id=0x02, subclass_id=0x03, payload_format="<BB"):
"""
Packet sent by the motherboard to set/unset the kill.
Attributes:
set (bool): Whether the kill is set or unset.
status (KillStatus): The reason for the kill.
"""
set: bool
status: KillStatus
[docs]@dataclass
class KillReceivePacket(Packet, msg_id=0x02, subclass_id=0x04, payload_format="<BB"):
"""
Packet sent by the motherboard to set/unset the kill.
Attributes:
set (bool): Whether the kill is set or unset.
status (KillStatus): The reason for the kill.
"""
set: bool
status: KillStatus