Index: dialin/dg/accelerometer.py =================================================================== diff -u --- dialin/dg/accelerometer.py (revision 0) +++ dialin/dg/accelerometer.py (revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26) @@ -0,0 +1,301 @@ +########################################################################### +# +# 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 DGAccelerometer(_AbstractSubSystem): + """ + Hemodialysis Delivery (DG) Dialin API sub-class for accelerometer related commands. + """ + + # Accelerometer message IDs + MSG_ID_DG_ACCELEROMETER_DATA = 0x0034 + MSG_ID_DG_ACCEL_OVERRIDE = 0xA017 + MSG_ID_DG_ACCEL_MAX_OVERRIDE = 0xA018 + MSG_ID_DG_ACCEL_SEND_INTERVAL_OVERRIDE = 0xA019 + MSG_ID_DG_ACCEL_SET_CALIBRATION = 0xA01A + + # 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.dg_sync_broadcast_ch_id + msg_id = self.MSG_ID_DG_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 accelerometer vector. + @return: (vector) The vector from the accelerometer + """ + return self.vector + + def get_accel_max_vector(self): + """ + Gets the accelerometer maximum vector. + @return: (vector) The max. vector from the accelerometer + """ + return self.vector_max + + def get_accel_tilts(self): + """ + Gets the tilt angles from the accelerometer. + @return: (vector) The X, Y, and Z tilt angles. + """ + 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 DG. + + @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_dg_ch_id, + message_id=self.MSG_ID_DG_ACCEL_OVERRIDE, + payload=payload) + + print("override DG 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 DG. + + @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_dg_ch_id, + message_id=self.MSG_ID_DG_ACCEL_MAX_OVERRIDE, + payload=payload) + + print("override DG 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 DG. + 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_dg_ch_id, + message_id=self.MSG_ID_DG_ACCEL_SEND_INTERVAL_OVERRIDE, + payload=payload) + + print("override DG 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 DG accelerometer axis calibration offsets message to the DG. + + @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_dg_ch_id, + message_id=self.MSG_ID_DG_ACCEL_SET_CALIBRATION, + payload=payload) + + print("Setting DG 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("DG 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/dg/dialysate_generator.py =================================================================== diff -u -r919980c660e89393848ffc6af4ef25c8309a05dd -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 --- dialin/dg/dialysate_generator.py (.../dialysate_generator.py) (revision 919980c660e89393848ffc6af4ef25c8309a05dd) +++ dialin/dg/dialysate_generator.py (.../dialysate_generator.py) (revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26) @@ -14,6 +14,7 @@ # ############################################################################ import struct +from .accelerometer import DGAccelerometer from .drain_pump import DGDrainPump from .hd_proxy import DGHDProxy from .load_cells import DGLoadCells @@ -118,6 +119,7 @@ self.dg_operation_sub_mode = 0 # Create command groups + self.accel = DGAccelerometer(self.can_interface) self.hd_proxy = DGHDProxy(self.can_interface) self.load_cells = DGLoadCells(self.can_interface) self.pressures = DGPressures(self.can_interface) @@ -243,7 +245,6 @@ Constructs and sends an DG safety shutdown override command via CAN bus. \returns response message if received, False if no response received - @param msg: byte array - properly formatted DG message to insert @return: 1 if successful, zero otherwise """ Index: dialin/dg/drain_pump.py =================================================================== diff -u -r98be8e8e674df17d358ae22b77c59639e8c1b365 -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 --- dialin/dg/drain_pump.py (.../drain_pump.py) (revision 98be8e8e674df17d358ae22b77c59639e8c1b365) +++ dialin/dg/drain_pump.py (.../drain_pump.py) (revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26) @@ -41,8 +41,6 @@ def __init__(self, can_interface=None): """ DGDrainPump constructor - - @param outer_instance: reference to the DG (outer) class. """ super().__init__() Index: dialin/dg/valves.py =================================================================== diff -u -r98be8e8e674df17d358ae22b77c59639e8c1b365 -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 --- dialin/dg/valves.py (.../valves.py) (revision 98be8e8e674df17d358ae22b77c59639e8c1b365) +++ dialin/dg/valves.py (.../valves.py) (revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26) @@ -131,20 +131,20 @@ For example: >>> dg = DG() >>> observation = {'datetime': datetime.datetime(2020, 7, 13, 10, 43, 27, 433357), - 'valve_state_VBF': {'id': 5, 'state': True}, - 'valve_state_VDR': {'id': 7, 'state': True}, - 'valve_state_VPD': {'id': 12, 'state': True}, - 'valve_state_VPI': {'id': 8, 'state': True}, - 'valve_state_VPO': {'id': 4, 'state': True}, - 'valve_state_VR1': {'id': 10, 'state': True}, - 'valve_state_VR2': {'id': 11, 'state': True}, - 'valve_state_VRC': {'id': 6, 'state': True}, - 'valve_state_VRD': {'id': 2, 'state': True}, - 'valve_state_VRF': {'id': 0, 'state': True}, - 'valve_state_VRI': {'id': 1, 'state': True}, - 'valve_state_VRO': {'id': 3, 'state': True}, - 'valve_state_VSP': {'id': 9, 'state': True}, - 'valve_states_all': 8191} + 'valve_state_VBF': {'id': 5, 'state': True}, + 'valve_state_VDR': {'id': 7, 'state': True}, + 'valve_state_VPD': {'id': 12, 'state': True}, + 'valve_state_VPI': {'id': 8, 'state': True}, + 'valve_state_VPO': {'id': 4, 'state': True}, + 'valve_state_VR1': {'id': 10, 'state': True}, + 'valve_state_VR2': {'id': 11, 'state': True}, + 'valve_state_VRC': {'id': 6, 'state': True}, + 'valve_state_VRD': {'id': 2, 'state': True}, + 'valve_state_VRF': {'id': 0, 'state': True}, + 'valve_state_VRI': {'id': 1, 'state': True}, + 'valve_state_VRO': {'id': 3, 'state': True}, + 'valve_state_VSP': {'id': 9, 'state': True}, + 'valve_states_all': 8191} >>> print(dg.valves.sort_by_id(observation)) ('valve_state_VRF', 0, True) ('valve_state_VRI', 1, True) Index: dialin/hd/accelerometer.py =================================================================== diff -u -r50e6e3b5859850f154cbd59976f0f94565efcddc -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 --- dialin/hd/accelerometer.py (.../accelerometer.py) (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) +++ dialin/hd/accelerometer.py (.../accelerometer.py) (revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26) @@ -28,7 +28,7 @@ Hemodialysis Delivery (HD) Dialin API sub-class for accelerometer related commands. """ - # Pressure/Occlusion message IDs + # Accelerometer message IDs MSG_ID_HD_ACCELEROMETER_DATA = 0x0033 MSG_ID_HD_ACCEL_OVERRIDE = 0x8027 MSG_ID_HD_ACCEL_MAX_OVERRIDE = 0x8028 @@ -91,24 +91,22 @@ def get_accel_vector(self): """ - Gets the arterial pressure. - @return: (int) The arterial pressure + Gets the accelerometer vector. + @return: (vector) The vector from the accelerometer """ return self.vector def get_accel_max_vector(self): """ - Gets the venous pressure - - @return: (float) The venous pressure + Gets the accelerometer maximum vector. + @return: (vector) The max. vector from the accelerometer """ return self.vector_max def get_accel_tilts(self): """ - Gets the blood pump occlusion - - @return: (float) The blood pump occlusion + Gets the tilt angles from the accelerometer. + @return: (vector) The X, Y, and Z tilt angles. """ return self.tilts @@ -171,7 +169,7 @@ message_id=self.MSG_ID_HD_ACCEL_OVERRIDE, payload=payload) - print("override accelerometer axis magnitude") + print("override HD accelerometer axis magnitude") # Send message received_message = self.can_interface.send(message) @@ -211,7 +209,7 @@ message_id=self.MSG_ID_HD_ACCEL_MAX_OVERRIDE, payload=payload) - print("override accelerometer axis maximum magnitude") + print("override HD accelerometer axis maximum magnitude") # Send message received_message = self.can_interface.send(message) Index: dialin/hd/hemodialysis_device.py =================================================================== diff -u -r50e6e3b5859850f154cbd59976f0f94565efcddc -r6f6b6c076ce638b404534b2bf04cb3f986ee6b26 --- dialin/hd/hemodialysis_device.py (.../hemodialysis_device.py) (revision 50e6e3b5859850f154cbd59976f0f94565efcddc) +++ dialin/hd/hemodialysis_device.py (.../hemodialysis_device.py) (revision 6f6b6c076ce638b404534b2bf04cb3f986ee6b26) @@ -15,6 +15,7 @@ # ############################################################################ import struct +from .accelerometer import HDAccelerometer from .alarms import HDAlarms from .buttons import HDButtons from .ui_proxy import HDUIProxy @@ -92,6 +93,7 @@ self.hd_operation_sub_mode = 0 # Create command groups + self.accel = HDAccelerometer(self.can_interface) self.alarms = HDAlarms(self.can_interface) self.buttons = HDButtons(self.can_interface) self.ui = HDUIProxy(self.can_interface)