Fixed feed valve class integration for control

classCAN.py

@@ -32,7 +32,6 @@ class CANBackend:
                 1: 0x02,
                 2: 0x04,
                 3: 0x127,
-                4: 0xF
             }
 
             for pu_number, node_id in node_map.items():
@@ -166,18 +165,6 @@ class CANBackend:
         except Exception as e:
             print(f"[SDO WRITE ERROR] PU{pu_number}: {e}")
             raise
-    
-    def send_command(self, opening :int):
-        try:
-            node = self.nodes.get(4)
-            if node is None:
-                raise ValueError(f"Feed valve is not connected")
-            
-            node.sdo[0x6000].raw = opening
-        
-        except Exception as e:
-            print(f"[SDO WRITE ERROR] Valve Board: {e}")
-        raise
 
     def send_thermal_loop_cleaning(self, mode: str, pu_number: int):
         if not self.connected:

main.py

@@ -17,6 +17,7 @@ from typing import Optional, Dict, Any
 from fastapi import Query
 import asyncio
 import datetime
+from valveBackend import ValveBackend
 
 if platform.system() in ["Darwin"]:  # macOS or Windows
     from MockCAN import CANBackend
@@ -29,7 +30,7 @@ router = APIRouter()
 templates = Jinja2Templates(directory="templates")
 logging.basicConfig(level=logging.INFO)
 can_backend = CANBackend()
-valve_backend = CANBackend(eds_file="/home/hmi/Desktop/HMI/eds_file/inletvalveboard.eds")
+valve_backend = ValveBackend(eds_file="/home/hmi/Desktop/HMI/eds_file/inletvalveboard.eds")
 
 # Serve static files (HTML, JS, CSS)
 app.mount("/static", StaticFiles(directory="static"), name="static")
@@ -224,7 +225,7 @@ def can_status():
 @app.post("/command/feed_valve")
 def feedvalve_control(MV01_opening: int = Query(...)):
     """Control MV01 feed valve"""
-    valve_backend.send_command(MV01_opening) # TODO: TODO
+    valve_backend.send_command(MV01_opening)
     logging.info(f"Feed valve opening to {MV01_opening}")
     return {"status": "ok"}
 

valveBackend.py

@@ -0,0 +1,30 @@
+import canopen
+import os
+
+
+class ValveBackend:
+    def __init__(self, eds_file: str, node_id: int = 0x0F):
+        self.eds_file = eds_file
+        self.node_id = node_id
+        self.network = None
+        self.node = None
+
+    def connect(self):
+        try:
+            self.network = canopen.Network()
+            self.network.connect(channel='can0', bustype='socketcan')
+            self.node = canopen.RemoteNode(self.node_id, self.eds_file)
+            self.network.add_node(self.node)
+            return True
+        except Exception as e:
+            print(f"[VALVE CONNECT ERROR] {e}")
+            return False
+
+    def send_command(self, opening: int):
+        try:
+            if self.node is None:
+                raise RuntimeError("Valve node not initialized")
+            self.node.sdo[0x6000].raw = opening
+            print(f"[VALVE] Opening set to {opening}")
+        except Exception as e:
+            print(f"[VALVE CMD ERROR] {e}")