From 7e31eeaf56e96fec12c960f6fb2fdedf0aa61299 Mon Sep 17 00:00:00 2001
From: Kyohei YAMADA <38639108+ykyohei@users.noreply.github.com>
Date: Tue, 18 Jun 2024 23:09:59 -0400
Subject: [PATCH] hwp-supervisor: make  IBootState compatible with synaccess.
 (#693)

* make IBootState compatible with synaccess

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* add gripper-power-agent-type

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 socs/agents/hwp_supervisor/agent.py | 33 +++++++++++++++++++++++------
 1 file changed, 26 insertions(+), 7 deletions(-)

diff --git a/socs/agents/hwp_supervisor/agent.py b/socs/agents/hwp_supervisor/agent.py
index 2d4f2ee4a..a0a7a96bd 100644
--- a/socs/agents/hwp_supervisor/agent.py
+++ b/socs/agents/hwp_supervisor/agent.py
@@ -118,12 +118,12 @@ class HWPClients:
 class IBootState:
     instance_id: str
     outlets: List[int]
+    agent_type: Literal['iboot, synaccess']
     outlet_state: Dict[int, Optional[int]] = None
     op_data: Optional[Dict] = None
 
     def __post_init__(self):
         self.outlet_state = {o: None for o in self.outlets}
-        self.outlet_labels = {o: f'outletStatus_{o}' for o in self.outlets}
 
     def update(self):
         op = get_op_data(self.instance_id, 'acq', test_mode=False)
@@ -132,10 +132,23 @@ def update(self):
             self.outlet_state = {o: None for o in self.outlets}
             return
 
-        self.outlet_state = {
-            outlet: op['data'][label]['status']
-            for outlet, label in self.outlet_labels.items()
-        }
+        if self.agent_type == 'iboot':
+            self.outlet_labels = {o: f'outletStatus_{o}' for o in self.outlets}
+            self.outlet_state = {
+                outlet: op['data'][label]['status']
+                for outlet, label in self.outlet_labels.items()
+            }
+        elif self.agent_type == 'synaccess':
+            self.outlet_labels = {o: str(o - 1) for o in self.outlets}
+            self.outlet_state = {
+                outlet: op['data']['fields'][label]['status']
+                for outlet, label in self.outlet_labels.items()
+            }
+        else:
+            raise ValueError(
+                f"Invalid agent_type: {self.agent_type}. "
+                "Must be in ['iboot', 'synaccess']"
+            )
 
 
 @dataclass
@@ -179,9 +192,11 @@ def from_args(cls, args: argparse.Namespace):
             ups_minutes_remaining_thresh=args.ups_minutes_remaining_thresh,
         )
         if args.gripper_iboot_id is not None:
-            self.gripper_iboot = IBootState(args.gripper_iboot_id, args.gripper_iboot_outlets)
+            self.gripper_iboot = IBootState(args.gripper_iboot_id, args.gripper_iboot_outlets,
+                                            args.gripper_power_agent_type)
         if args.driver_iboot_id is not None:
-            self.driver_iboot = IBootState(args.driver_iboot_id, args.driver_iboot_outlets)
+            self.driver_iboot = IBootState(args.driver_iboot_id, args.driver_iboot_outlets,
+                                           args.driver_power_agent_type)
         return self
 
     def _update_from_keymap(self, op, keymap):
@@ -205,6 +220,7 @@ def update_enc_state(self, op):
         """
         self._update_from_keymap(op, {
             'enc_freq': 'approx_hwp_freq',
+            'encoder_last_updated': 'encoder_last_updated',
             'last_quad': 'last_quad',
             'last_quad_time': 'last_quad_time',
         })
@@ -1456,6 +1472,9 @@ def make_parser(parser=None):
     pgroup.add_argument(
         '--gripper-iboot-outlets', nargs='+', type=int,
         help="Outlets for gripper iboot power")
+    pgroup.add_argument(
+        '--gripper-power-agent-type', choices=['iboot', 'synaccess'], default=None,
+        help="Type of agent used for controlling the gripper power")
 
     pgroup.add_argument('--forward-dir', choices=['cw', 'ccw'], default="cw",
                         help="Whether the PID 'forward' direction is cw or ccw")