kamil_adc support added

python_app/hardware_full/laser_control/controller.py

@@ -33,6 +33,7 @@ logger = logging.getLogger(__name__)
 # Default PI regulator coefficients (match firmware defaults)
 DEFAULT_PI_P = 2560   # 10 * 256
 DEFAULT_PI_I = 128    # 0.5 * 256
+DEVICE_MAIN_MESSAGE_ID = 0x00FF
 
 
 class LaserController:
@@ -121,6 +122,7 @@ class LaserController:
         temp2: float,
         current1: float,
         current2: float,
+        message_id: Optional[int] = None,
     ) -> None:
         """
         Set manual control parameters for both lasers.
@@ -134,6 +136,9 @@ class LaserController:
                       Valid range: [15.0 … 60.0] mA.
             current2: Drive current for laser 2, mA.
                       Valid range: [15.0 … 60.0] mA.
+            message_id: Optional fixed DECODE_ENABLE message id.  When
+                        omitted, the id is incremented for backward
+                        compatibility with the refactored API.
 
         Raises:
             ValidationError: If any parameter is out of range.
@@ -142,7 +147,10 @@ class LaserController:
         validated = ParameterValidator.validate_manual_mode_params(
             temp1, temp2, current1, current2
         )
-        self._message_id = (self._message_id + 1) & 0xFFFF
+        if message_id is None:
+            self._message_id = (self._message_id + 1) & 0xFFFF
+        else:
+            self._message_id = int(message_id) & 0xFFFF
 
         cmd = Protocol.encode_decode_enable(
             temp1=validated['temp1'],
@@ -244,7 +252,7 @@ class LaserController:
                     validated['max_value'],
                     validated['step'])
 
-    def stop_task(self) -> None:
+    def stop_task(self, restore_message_id: Optional[int] = None) -> None:
         """Stop the current task and restore manual mode.
 
         Sends DEFAULT_ENABLE (reset) followed by DECODE_ENABLE with the last
@@ -257,20 +265,13 @@ class LaserController:
         self._send_and_read_state(cmd_reset)
         logger.info("Task stopped (DEFAULT_ENABLE sent)")
 
-        # Restore manual mode so the board is ready for TRANS_ENABLE requests
-        self._message_id = (self._message_id + 1) & 0xFFFF
-        cmd_restore = Protocol.encode_decode_enable(
+        self.set_manual_mode(
             temp1=self._last_temp1,
             temp2=self._last_temp2,
             current1=self._last_current1,
             current2=self._last_current2,
-            pi_coeff1_p=self._pi1_p,
-            pi_coeff1_i=self._pi1_i,
-            pi_coeff2_p=self._pi2_p,
-            pi_coeff2_i=self._pi2_i,
-            message_id=self._message_id,
+            message_id=restore_message_id,
         )
-        self._send_and_read_state(cmd_restore)
         logger.info("Manual mode restored after task stop")
 
     def get_measurements(self) -> Optional[Measurements]:
@@ -380,4 +381,4 @@ class LaserController:
             except Exception:
                 pass
         self.disconnect()
-        return False
+        return False