Changes related to dual pu control

classCAN.py

@@ -339,6 +339,9 @@ class CANBackend:
             print(f"[DEBUG] Writing ploop_setpoint {ploop_setpoint} to master OD 0x{setpoint_index:04X}:{pu_number:02X}")
             master_node.sdo[setpoint_index][1].raw = int(ploop_setpoint * 100)
 
+            print(f"[DEBUG] Writing qperm_setpoint {ploop_setpoint} to master OD 0x{setpoint_index:04X}:{pu_number:02X}")
+            master_node.sdo[setpoint_index][5].raw = int(qperm_setpoint)
+
         except Exception as e:
             print(f"[MASTER SDO WRITE ERROR] PU{pu_number}: {e}")
             raise

main.py

@@ -257,7 +257,7 @@ def send_command(state: str, pu_number: int, ploop_setpoint: float = Query(...),
     logging.info(f"Sending state '{state}' to PU {pu_number}")
 
     pu_number = [pu_number] if pu_number !=3 else [1,2] # Temporary way of starting two pus
-    print("pu_number", pu_number)
+
     if state == "IDLE":
         set_patient_skid_users(0)
         url = f"http://192.168.1.28:8000/stop_test"
@@ -270,16 +270,19 @@ def send_command(state: str, pu_number: int, ploop_setpoint: float = Query(...),
 
     try:
         for pu in pu_number:
+            # current_state = can_backend.read_current_state(pu)
+            # while current_state != state:
             can_backend.send_state_command(state, pu, ploop_setpoint, qperm_setpoint)
             current_state = can_backend.read_current_state(pu)
-            return {
-                "status": "success",
-                "command": state,
-                "pu": pu,
-                "ploop_setpoint": ploop_setpoint,
-                "qperm_setpoint": qperm_setpoint,
-                "current_state": current_state,
-            }
+
+        return {
+            "status": "success",
+            "command": state,
+            "pu": pu,
+            "ploop_setpoint": ploop_setpoint,
+            "qperm_setpoint": qperm_setpoint,
+            "current_state": current_state,
+        }
 
     except Exception as e:
         raise HTTPException(status_code=500, detail=str(e))