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Update topics for each device when creating Remotes. #159

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Merged
menanteau merged 1 commit into from
May 2, 2025
Merged

Update topics for each device when creating Remotes. #159

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72 changes: 58 additions & 14 deletions python/HeaderService/hslib_salobj.py
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Original file line number Diff line number Diff line change
Expand Up @@ -522,8 +522,12 @@ def create_Remotes(self):
self.devices.append(devname)
self.Remote[devname] = salobj.Remote(domain=self.domain,
name=c['device'],
index=c['device_index'])
index=c['device_index'],
include=self.device_topics[devname],
)
self.log.info(f"Created Remote for {devname}")
self.log.info(f"with include topics: {self.device_topics[devname]}")

# capture the evt.get() function for the channel
if c['Stype'] == 'Event':
self.Remote_get[channel_name] = getattr(self.Remote[devname], f"evt_{c['topic']}").get
Expand All @@ -547,12 +551,13 @@ def load_enums_xml(self):

def get_channels(self):
"""Extract the unique channels by topic/device"""
self.log.info("Extracting Telemetry channels from telemetry dictionary")
self.channels = extract_telemetry_channels(self.config.telemetry,
start_collection_event=self.config.start_collection_event,
end_collection_event=self.config.end_collection_event,
imageParam_event=self.config.imageParam_event,
cameraConf_event=self.config.cameraConf_event)
self.log.info("Extracting Telemetry channels and topics from telemetry dictionary")
self.channels, self.device_topics = extract_telemetry_channels(
self.config.telemetry,
start_collection_event=self.config.start_collection_event,
end_collection_event=self.config.end_collection_event,
imageParam_event=self.config.imageParam_event,
cameraConf_event=self.config.cameraConf_event)

# Get the events where we want to collect telemetry
self.log.info("Extracting collection events from telemetry dictionary")
Expand Down Expand Up @@ -1277,6 +1282,24 @@ def get_channel_devname(c):
return "{}_{}".format(c['device'], c['device_index'])


def get_channel_topic(c):
""" Standard formatting for the topic of a channel across modules"""
return c['topic']


def collect_device_topics(c, device_topics):
"""
Collect and update/augment topics for each device in the input
device_topics dictionary
"""
devname = get_channel_devname(c)
topic = get_channel_topic(c)
device_topics.setdefault(devname, [])
if topic not in device_topics[devname]:
device_topics[devname].append(topic)
return device_topics


def get_enum_cscs(telem):
"""
Get only the enumerated devices described
Expand All @@ -1302,12 +1325,10 @@ def get_collection_events(config):
for key in telem:
# Extract the string or dictionary that for 'collect_after_event'
collect_after_event = telem[key]['collect_after_event']

# Case 1: it is one of the fixed collection events, so we get the info
# from the config section
if isinstance(collect_after_event, str) and collect_after_event in FIXED_COLLECTION_EVENTS:
collect_dict = getattr(config, collect_after_event)

# Case 2: it is a custom collection event, defined as a dictionary in
# the telemetry section of the config.
elif isinstance(collect_after_event, dict):
Expand Down Expand Up @@ -1374,11 +1395,22 @@ def extract_telemetry_channels(telem, start_collection_event=None,
define the topics that we need to subscribe to
"""
channels = {}
device_topics = {}
for key in telem:
collect_name = telem[key]['collect_after_event']
# Make sure telemetry as a valid collection event definition
if isinstance(collect_name, str) and collect_name not in FIXED_COLLECTION_EVENTS:
raise ValueError(f"Wrong collection_event in telemetry definition for keyword:{key}")
# Extract the string or dictionary that for 'collect_after_event'
collect_after_event = telem[key]['collect_after_event']
# Case 1: it is one of the fixed collection events
print(f"{key} -- collect_after_event: {collect_after_event}")
if isinstance(collect_after_event, str) and collect_after_event in FIXED_COLLECTION_EVENTS:
collect_dict = None

# Case 2: it is a custom collection event, defined as a dictionary in
# the telemetry section of the config.
elif isinstance(collect_after_event, dict):
collect_dict = telem[key]['collect_after_event']
else:
msg = f"Wrong definition 'collect_after_event' for keyword:{key}"
raise ValueError(msg)

# Add array qualifier -- REVISE or replace by array
if 'type' not in telem[key]:
Expand All @@ -1390,6 +1422,10 @@ def extract_telemetry_channels(telem, start_collection_event=None,
# Make sure we don't create extra channels
if name not in channels.keys():
channels[name] = telem[key]
# Store the topics for the device
if collect_dict is not None:
device_topics = collect_device_topics(collect_dict, device_topics)
device_topics = collect_device_topics(telem[key], device_topics)

# We also need to make sure that we subscribe to the start/end
# collection Events in case these were not contained by the
Expand All @@ -1404,6 +1440,8 @@ def extract_telemetry_channels(telem, start_collection_event=None,
if name not in channels.keys():
c['Stype'] = 'Event'
channels[name] = c
# Store the topics for the device
device_topics = collect_device_topics(c, device_topics)

if end_collection_event:
# Shortcut to variable c, note that when we update c
Expand All @@ -1416,6 +1454,8 @@ def extract_telemetry_channels(telem, start_collection_event=None,
if name not in list(channels.keys()):
c['Stype'] = 'Event'
channels[name] = c
# Store the topics for the device
device_topics = collect_device_topics(c, device_topics)

# The imageParam event
if imageParam_event:
Expand All @@ -1427,6 +1467,8 @@ def extract_telemetry_channels(telem, start_collection_event=None,
if name not in channels.keys():
c['Stype'] = 'Event'
channels[name] = c
# Store the topics for the device
device_topics = collect_device_topics(c, device_topics)

# The cameraConf_event event
if cameraConf_event:
Expand All @@ -1438,5 +1480,7 @@ def extract_telemetry_channels(telem, start_collection_event=None,
if name not in channels.keys():
c['Stype'] = 'Event'
channels[name] = c
# Store the topics for the device
device_topics = collect_device_topics(c, device_topics)

return channels
return channels, device_topics