Use enumerator for the actuator packet ID (#1152)

* Use enumerator for the actuator packet ID * Fix tests
uf-mil · Mar 6, 2024 · 444af15 · 444af15
1 parent e58b169
commit 444af15
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Showing 4 changed files with 26 additions and 8 deletions.
diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/__init__.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/__init__.py
@@ -1,5 +1,6 @@
 from .handle import ActuatorBoard
 from .packets import (
+    ActuatorPacketId,
     ActuatorPollRequestPacket,
     ActuatorPollResponsePacket,
     ActuatorSetPacket,

diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py
@@ -1,20 +1,34 @@
 from dataclasses import dataclass
+from enum import IntEnum
 
 from mil_usb_to_can.sub9 import Packet
 
 
+class ActuatorPacketId(IntEnum):
+    """
+    Enumerator representing each controllable actuator.
+    """
+
+    #: The dropper actuator.
+    DROPPER = 0
+    #: The torpedo launcher actuator.
+    TORPEDO_LAUNCHER = 1
+    #: The ball drop actuator. Only one actuator is used for both balls.
+    BALL_DROP = 2
+
+
 @dataclass
 class ActuatorSetPacket(Packet, msg_id=0x03, subclass_id=0x00, payload_format="BB"):
     """
     Packet used by the actuator board to set a specific valve.
 
     Attributes:
-        address (int): The actuator ID to set.
+        address (ActuatorPacketId): The actuator ID to set.
         open (bool): Whether to open the specified actuator. ``True`` requests opening,
             ``False`` requests closing.
     """
 
-    address: int
+    address: ActuatorPacketId
     open: bool
 
 
@@ -29,8 +43,6 @@ class ActuatorPollRequestPacket(
     Packet used by the actuator board to request the status of all valves.
     """
 
-    pass
-
 
 @dataclass
 class ActuatorPollResponsePacket(

diff --git a/SubjuGator/drivers/sub_actuator_board/test/simulated_board_test.py b/SubjuGator/drivers/sub_actuator_board/test/simulated_board_test.py
@@ -28,11 +28,11 @@ def test_correct_response(self):
         self.assertFalse(self.get_srv(GetValveRequest(0)).opened)
         self.assertTrue(self.set_srv(SetValveRequest(0, False)).success)
         self.assertFalse(self.get_srv(GetValveRequest(0)).opened)
-        self.assertTrue(self.set_srv(SetValveRequest(3, True)).success)
-        self.assertTrue(self.get_srv(GetValveRequest(3)).opened)
+        self.assertTrue(self.set_srv(SetValveRequest(1, True)).success)
+        self.assertTrue(self.get_srv(GetValveRequest(1)).opened)
         self.assertFalse(self.get_srv(GetValveRequest(0)).opened)
-        self.assertTrue(self.set_srv(SetValveRequest(4, False)).success)
-        self.assertFalse(self.get_srv(GetValveRequest(4)).opened)
+        self.assertTrue(self.set_srv(SetValveRequest(2, False)).success)
+        self.assertFalse(self.get_srv(GetValveRequest(2)).opened)
         self.assertFalse(self.get_srv(GetValveRequest(0)).opened)
 
 

diff --git a/docs/subjugator/reference.rst b/docs/subjugator/reference.rst
@@ -100,6 +100,11 @@ ActuatorBoardSimulation
 .. autoclass:: sub_actuator_board.ActuatorBoardSimulation
     :members:
 
+ActuatorPacketId
+^^^^^^^^^^^^^^^^
+.. autoclass:: sub_actuator_board.ActuatorPacketId
+    :members:
+
 ActuatorSetPacket
 ^^^^^^^^^^^^^^^^^
 .. attributetable:: sub_actuator_board.ActuatorSetPacket