Index: dialin/hd/accelerometer.py =================================================================== diff -u --- dialin/hd/accelerometer.py (revision 0) +++ dialin/hd/accelerometer.py (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) @@ -0,0 +1,303 @@ +########################################################################### +# +# Copyright (c) 2020-2020 Diality Inc. - All Rights Reserved. +# +# THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN +# WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. +# +# @file accelerometer.py +# +# @date 28-Jul-2020 +# @author S. Nash +# +# @brief +# Provides access to accelerometer readings and commands to override the +# accelerometer sensor readings. +# +############################################################################ +import struct +from ..protocols.CAN import (DenaliMessage, + DenaliChannels) +from ..utils.conversions import integer_to_bytearray, float_to_bytearray +from .constants import RESET, NO_RESET +from ..utils.base import _AbstractSubSystem, _publish + + +class HDAccelerometer(_AbstractSubSystem): + """ + Hemodialysis Delivery (HD) Dialin API sub-class for accelerometer related commands. + """ + + # Pressure/Occlusion message IDs + MSG_ID_HD_ACCELEROMETER_DATA = 0x0033 + MSG_ID_HD_ACCEL_OVERRIDE = 0x8027 + MSG_ID_HD_ACCEL_MAX_OVERRIDE = 0x8028 + MSG_ID_HD_ACCEL_SEND_INTERVAL_OVERRIDE = 0x8029 + MSG_ID_HD_ACCEL_SET_CALIBRATION = 0x802A + + # Vector axes + class AccelerometerVector: + def __init__(self, x=0.0, y=0.0, z=0.0): + """ + HDAccelerometer constructor + + """ + self.x = x + self.y = y + self.z = z + + # Vector axes + VECTOR_AXIS_X = 0 + VECTOR_AXIS_Y = 1 + VECTOR_AXIS_Z = 2 + + # Pressure/Occlusion broadcast message field positions + START_POS_X = DenaliMessage.PAYLOAD_START_INDEX + END_POS_X = START_POS_X + 4 + START_POS_Y = END_POS_X + END_POS_Y = START_POS_Y + 4 + START_POS_Z = END_POS_Y + END_POS_Z = START_POS_Z + 4 + START_POS_MAX_X = END_POS_Z + END_POS_MAX_X = START_POS_MAX_X + 4 + START_POS_MAX_Y = END_POS_MAX_X + END_POS_MAX_Y = START_POS_MAX_Y + 4 + START_POS_MAX_Z = END_POS_MAX_Y + END_POS_MAX_Z = START_POS_MAX_Z + 4 + START_POS_TILT_X = END_POS_MAX_Z + END_POS_TILT_X = START_POS_TILT_X + 4 + START_POS_TILT_Y = END_POS_TILT_X + END_POS_TILT_Y = START_POS_TILT_Y + 4 + START_POS_TILT_Z = END_POS_TILT_Y + END_POS_TILT_Z = START_POS_TILT_Z + 4 + + def __init__(self, can_interface=None): + """ + HDAccelerometer constructor + + """ + super().__init__() + self.can_interface = can_interface + + if self.can_interface is not None: + channel_id = DenaliChannels.hd_sync_broadcast_ch_id + msg_id = self.MSG_ID_HD_ACCELEROMETER_DATA + self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self._handler_accelerometer_sync) + + self.vector = self.AccelerometerVector() + self.vector_max = self.AccelerometerVector() + self.tilts = self.AccelerometerVector() + + def get_accel_vector(self): + """ + Gets the arterial pressure. + @return: (int) The arterial pressure + """ + return self.vector + + def get_accel_max_vector(self): + """ + Gets the venous pressure + + @return: (float) The venous pressure + """ + return self.vector_max + + def get_accel_tilts(self): + """ + Gets the blood pump occlusion + + @return: (float) The blood pump occlusion + """ + return self.tilts + + @_publish([ + "vector", + "vector_max", + "tilts" + ]) + def _handler_accelerometer_sync(self, message): + """ + Handles published accelerometer data messages. Accelerometer data are captured + for reference. + + @param message: published accelerometer data message + @return: none + """ + + x = struct.unpack('f', bytearray( + message['message'][self.START_POS_X:self.END_POS_X])) + y = struct.unpack('f', bytearray( + message['message'][self.START_POS_Y:self.END_POS_Y])) + z = struct.unpack('f', bytearray( + message['message'][self.START_POS_Z:self.END_POS_Z])) + self.vector = self.AccelerometerVector( x[0], y[0], z[0] ) + + x = struct.unpack('f', bytearray( + message['message'][self.START_POS_MAX_X:self.END_POS_MAX_X])) + y = struct.unpack('f', bytearray( + message['message'][self.START_POS_MAX_Y:self.END_POS_MAX_Y])) + z = struct.unpack('f', bytearray( + message['message'][self.START_POS_MAX_Z:self.END_POS_MAX_Z])) + self.vector_max = self.AccelerometerVector( x[0], y[0], z[0] ) + + x = struct.unpack('f', bytearray( + message['message'][self.START_POS_TILT_X:self.END_POS_TILT_X])) + y = struct.unpack('f', bytearray( + message['message'][self.START_POS_TILT_Y:self.END_POS_TILT_Y])) + z = struct.unpack('f', bytearray( + message['message'][self.START_POS_TILT_Z:self.END_POS_TILT_Z])) + self.tilts = self.AccelerometerVector( x[0], y[0], z[0] ) + + def cmd_accel_vector_override(self, mag, axis, reset=NO_RESET): + """ + Constructs and sends the accelerometer vector override command + Constraints: + Must be logged into HD. + + @param mag: float - axis magnitude (in g) to override with + @param axis: integer - accelerometer axis to override + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + rst = integer_to_bytearray(reset) + sta = float_to_bytearray(mag) + idx = integer_to_bytearray(axis) + payload = rst + sta + idx + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, + message_id=self.MSG_ID_HD_ACCEL_OVERRIDE, + payload=payload) + + print("override accelerometer axis magnitude") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + if reset == RESET: + str_res = "reset back to normal. " + else: + str_res = str(mag) + " g. " + print("Accelerometer axis " + str(axis) + " overridden to " + str_res + + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + print("Timeout!!!!") + return False + + def cmd_accel_max_vector_override(self, mag, axis, reset=NO_RESET): + """ + Constructs and sends the accelerometer maximum vector override command + Constraints: + Must be logged into HD. + + @param mag: float - axis magnitude (in g) to override with + @param axis: integer - accelerometer axis to override + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + rst = integer_to_bytearray(reset) + sta = float_to_bytearray(mag) + idx = integer_to_bytearray(axis) + payload = rst + sta + idx + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, + message_id=self.MSG_ID_HD_ACCEL_MAX_OVERRIDE, + payload=payload) + + print("override accelerometer axis maximum magnitude") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + if reset == RESET: + str_res = "reset back to normal. " + else: + str_res = str(mag) + " g. " + print("Accelerometer max. axis " + str(axis) + " overridden to " + str_res + + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + print("Timeout!!!!") + return False + + def cmd_accel_broadcast_interval_override(self, ms, reset=NO_RESET): + """ + Constructs and sends the accelerometer broadcast interval override command + Constraints: + Must be logged into HD. + Given interval must be non-zero and a multiple of the HD priority task interval (10 ms). + + @param ms: integer - interval (in ms) to override with + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + rst = integer_to_bytearray(reset) + mis = integer_to_bytearray(ms) + payload = rst + mis + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, + message_id=self.MSG_ID_HD_ACCEL_SEND_INTERVAL_OVERRIDE, + payload=payload) + + print("override HD accelerometer broadcast interval") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + if reset == RESET: + str_res = "reset back to normal: " + else: + str_res = str(ms) + " ms: " + print("Accelerometer broadcast interval overridden to " + str_res + + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + print("Timeout!!!!") + return False + + def cmd_set_accel_calibration(self, x_offset, y_offset, z_offset): + """ + Constructs and sends the HD accelerometer axis calibration offsets message to the HD. + + @return: 1 if successful, zero otherwise + """ + x = integer_to_bytearray(x_offset) + y = integer_to_bytearray(y_offset) + z = integer_to_bytearray(z_offset) + payload = x + y + z + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, + message_id=self.MSG_ID_HD_ACCEL_SET_CALIBRATION, + payload=payload) + + print("Setting HD accelerometer axis calibration offsets") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + print(received_message) + # str_res = str(flow) + print("HD accelerometer calibration axis offsets set to : " + str(x_offset) + ", " + str(y_offset) + ", " + + str(z_offset) + ". " + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + print("Timeout!!!!") + return False + Index: dialin/hd/alarms.py =================================================================== diff -u -r98be8e8e674df17d358ae22b77c59639e8c1b365 -r50e6e3b5859850f154cbd59976f0f94565efcddc --- dialin/hd/alarms.py (.../alarms.py) (revision 98be8e8e674df17d358ae22b77c59639e8c1b365) +++ dialin/hd/alarms.py (.../alarms.py) (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) @@ -218,14 +218,6 @@ """ return self.alarms_flags - def get_alarm_states(self): - """ - Alarm states based on received HD alarm activation and alarm clear messages - - @return: - """ - self.alarm_states = [False] * 500 - def get_alarm_ids(self): """ Returns a dictionary of the alarm short name and the corresponding id Index: dialin/hd/blood_flow.py =================================================================== diff -u -rde84f2977320059c68913d3cd6bbeb7837433c0c -r50e6e3b5859850f154cbd59976f0f94565efcddc --- dialin/hd/blood_flow.py (.../blood_flow.py) (revision de84f2977320059c68913d3cd6bbeb7837433c0c) +++ dialin/hd/blood_flow.py (.../blood_flow.py) (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) @@ -39,6 +39,7 @@ MSG_ID_HD_BLOOD_FLOW_PUBLISH_INTERVAL_OVERRIDE = 0x800C MSG_ID_HD_BLOOD_PUMP_MEAS_SPEED_OVERRIDE = 0x800E MSG_ID_HD_BLOOD_PUMP_ROTOR_MEAS_SPEED_OVERRIDE = 0x800F + MSG_ID_HD_BLOOD_FLOW_SET_CALIBRATION = 0x802B # bloodflow broadcast message field positions START_POS_SET_PT = DenaliMessage.PAYLOAD_START_INDEX @@ -59,8 +60,6 @@ def __init__(self, can_interface=None): """ HD_BloodFlow constructor - - @param outer_instance: reference to the HD (outer) class. """ super().__init__() @@ -453,3 +452,34 @@ else: print("Timeout!!!!") return False + + def cmd_set_blood_flow_calibration(self, gain, offset): + """ + Constructs and sends a blood flow calibration message to the HD. + + @return: 1 if successful, zero otherwise + """ + gan = float_to_bytearray(gain) + off = float_to_bytearray(offset) + payload = gan + off + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, + message_id=self.MSG_ID_HD_BLOOD_FLOW_SET_CALIBRATION, + payload=payload) + + print("Setting blood flow calibration factors") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + print(received_message) + # str_res = str(flow) + print("Blood flow calibration factors set to : " + str(gain) + ", " + str(offset) + ". " + + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + print("Timeout!!!!") + return False Index: dialin/hd/dialysate_inlet_flow.py =================================================================== diff -u -rde84f2977320059c68913d3cd6bbeb7837433c0c -r50e6e3b5859850f154cbd59976f0f94565efcddc --- dialin/hd/dialysate_inlet_flow.py (.../dialysate_inlet_flow.py) (revision de84f2977320059c68913d3cd6bbeb7837433c0c) +++ dialin/hd/dialysate_inlet_flow.py (.../dialysate_inlet_flow.py) (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) @@ -38,6 +38,7 @@ MSG_ID_HD_DIAL_IN_FLOW_PUBLISH_INTERVAL_OVERRIDE = 0x8014 MSG_ID_HD_DIAL_IN_PUMP_MEAS_SPEED_OVERRIDE = 0x8015 MSG_ID_HD_DIAL_IN_PUMP_ROTOR_MEAS_SPEED_OVERRIDE = 0x8016 + MSG_ID_HD_DIAL_IN_FLOW_SET_CALIBRATION = 0x802C # bloodflow broadcast message field positions START_POS_SET_PT = DenaliMessage.PAYLOAD_START_INDEX @@ -450,3 +451,34 @@ else: print("Timeout!!!!") return False + + def cmd_set_dialysate_flow_calibration(self, gain, offset): + """ + Constructs and sends a dialysate flow calibration message to the HD. + + @return: 1 if successful, zero otherwise + """ + gan = float_to_bytearray(gain) + off = float_to_bytearray(offset) + payload = gan + off + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, + message_id=self.MSG_ID_HD_DIAL_IN_FLOW_SET_CALIBRATION, + payload=payload) + + print("Setting dialysate flow calibration factors") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + print(received_message) + # str_res = str(flow) + print("Dialysate flow calibration factors set to : " + str(gain) + ", " + str(offset) + ". " + + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + print("Timeout!!!!") + return False Index: dialin/hd/hemodialysis_device.py =================================================================== diff -u -r98be8e8e674df17d358ae22b77c59639e8c1b365 -r50e6e3b5859850f154cbd59976f0f94565efcddc --- dialin/hd/hemodialysis_device.py (.../hemodialysis_device.py) (revision 98be8e8e674df17d358ae22b77c59639e8c1b365) +++ dialin/hd/hemodialysis_device.py (.../hemodialysis_device.py) (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) @@ -29,8 +29,9 @@ DenaliCanMessenger, DenaliChannels) from ..utils.base import _AbstractSubSystem, _publish +from .constants import NO_RESET +from ..utils.conversions import integer_to_bytearray - class HD(_AbstractSubSystem): """ Hemodialysis Device (HD) Dialin object API. It provides the basic interface to communicate with