Index: leahi_dialin/dd/dialysate_delivery.py =================================================================== diff -u -r2138d06d100fdcf23f2e9069f35ee2fdee62008f -rfd7a25d8f068bcba594c01410a02a03f6afbcd59 --- leahi_dialin/dd/dialysate_delivery.py (.../dialysate_delivery.py) (revision 2138d06d100fdcf23f2e9069f35ee2fdee62008f) +++ leahi_dialin/dd/dialysate_delivery.py (.../dialysate_delivery.py) (revision fd7a25d8f068bcba594c01410a02a03f6afbcd59) @@ -1 +1,254 @@ +########################################################################### +# +# Copyright (c) 2020-2024 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 treatment_delivery.py +# +# @author (last) Dara Navaei +# @date (last) 26-Feb-2024 +# @author (original) Peter Lucia +# @date (original) 02-Apr-2020 +# +############################################################################ +import struct + +from .modules.concentrate_pump import DDConcentratePumps +from .modules.conductivity_sensors import DDConductivitySensors +from .modules.dialysate_pump import DDDialysatePumps +from .modules.heaters import DDHeaters +from .modules.levels import DDLevels +from .modules.pressure_sensors import DDPressureSensors +from .modules.temperature_sensors import DDTemperatureSensors +from .modules.valves import DDValves + +from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..common.dd_defs import DDOpModes +from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels +from ..utils.base import AbstractSubSystem, publish, LogManager +from ..utils.checks import check_broadcast_interval_override_ms +from ..utils.conversions import integer_to_bytearray, unsigned_short_to_bytearray, bytearray_to_integer, \ + bytearray_to_byte + + +class DD(AbstractSubSystem): + """ + Treatment Delivery (DD) Dialin object API. + It provides the basic interface to communicate with the DD firmware. + """ + # DD debug event max count + _DD_DEBUG_EVENT_LIST_COUNT = 10 + _DD_DEBUG_EVENT_MSG_LEN_INDEX = 5 + + # DD login password + DD_LOGIN_PASSWORD = '123' + + # UI version message field positions + START_POS_MAJOR = DenaliMessage.PAYLOAD_START_INDEX + END_POS_MAJOR = START_POS_MAJOR + 1 + START_POS_MINOR = END_POS_MAJOR + END_POS_MINOR = START_POS_MINOR + 1 + START_POS_MICRO = END_POS_MINOR + END_POS_MICRO = START_POS_MICRO + 1 + START_POS_BUILD = END_POS_MICRO + END_POS_BUILD = START_POS_BUILD + 2 + START_POS_COMPATIBILITY_REV = END_POS_BUILD + END_POS_COMPATIBILITY_REV = START_POS_COMPATIBILITY_REV + 4 + + def __init__(self, can_interface="can0", log_level=None): + """ + DD object provides test/service commands for the DD sub-system. + + >> DD_object = DD('can0') + >> DD_object = DD(can_interface='can0', log_level="DEBUG") + + Possible log levels: + ["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL", "CAN_ONLY", "PRINT_ONLY"] + + @param can_interface: (str) CANBus interface name, e.g. "can0" + @param log_level: (str) Logging level, defaults to None + """ + + super().__init__() + self._log_manager = LogManager(log_level=log_level, log_filepath=self.__class__.__name__ + ".log") + self.logger = self._log_manager.logger + + # Create listener + self.can_interface = DenaliCanMessenger(can_interface=can_interface, + logger=self.logger) + self.can_interface.start() + self.callback_id = None + # register handler for DD operation mode broadcast messages + if self.can_interface is not None: + channel_id = DenaliChannels.dd_sync_broadcast_ch_id + msg_id = MsgIds.MSG_ID_DD_OP_MODE_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self._handler_dd_op_mode_sync) + + self.can_interface.register_receiving_publication_function(channel_id, + MsgIds.MSG_ID_DD_DEBUG_EVENT.value, + self._handler_dd_debug_event_sync) + + # create properties + self.dd_op_mode_timestamp = 0.0 + self.dd_debug_events_timestamp = 0.0 + self.ui_version_info_response_timestamp = 0.0 + self.dd_operation_mode = DDOpModes.MODE_INIT.value + self.dd_operation_sub_mode = 0 + self.dd_logged_in = False + self.dd_set_logged_in_status(False) + self.ui_version = None + self.dd_debug_events = [''] * self._DD_DEBUG_EVENT_LIST_COUNT + self.dd_debug_event_index = 0 + self.dd_last_debug_event = '' + + # Create command groups + + self.concentrate_pumps = DDConcentratePumps(self.can_interface, self.logger) + self.conductivity_sensors = DDConductivitySensors(self.can_interface, self.logger) + self.dialysate_pumps = DDDialysatePumps(self.can_interface, self.logger) + self.heaters = DDHeaters(self.can_interface, self.logger) + self.levels = DDLevels(self.can_interface, self.logger) + self.pressure_sensors = DDPressureSensors(self.can_interface, self.logger) + self.temperature_sensors = DDTemperatureSensors(self.can_interface, self.logger) + self.valves = DDValves(self.can_interface, self.logger) + + + @publish(["dd_debug_events_timestamp","dd_debug_events"]) + def _handler_dd_debug_event_sync(self, message, timestamp = 0.0): + + payload = message['message'] + message_length = payload[self._DD_DEBUG_EVENT_MSG_LEN_INDEX] + temp_message = '' + + index = MsgFieldPositions.START_POS_FIELD_1 + + for i in range(0, message_length): + # Loop through the length and get the + char, char_index = bytearray_to_byte(payload, index + i, False) + temp_message += chr(char) + + self.dd_debug_events_timestamp = timestamp + self.dd_debug_events.insert(self.dd_debug_event_index, temp_message) + self.dd_last_debug_event = temp_message + + self.dd_debug_event_index += 1 + if self.dd_debug_event_index == self._DD_DEBUG_EVENT_LIST_COUNT: + self.dd_debug_event_index = 0 + + @publish(["dd_logged_in"]) + def dd_set_logged_in_status(self, logged_in: bool = False): + """ + Callback for dd logged in status change. + @param logged_in boolean logged in status for DD + @return: none + """ + self.dd_logged_in = logged_in + + @publish(["dd_op_mode_timestamp","dd_operation_mode", "dd_operation_sub_mode"]) + def _handler_dd_op_mode_sync(self, message, timestamp = 0.0): + """ + Handles published DD operation mode messages. Current DD operation mode + is captured for reference. + + @param message: published DD operation mode broadcast message + @return: None + """ + mode = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) + smode = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) + + self.dd_operation_mode = mode[0] + self.dd_operation_sub_mode = smode[0] + self.dd_op_mode_timestamp = timestamp + + def cmd_log_in_to_dd(self, resend: bool = False) -> int: + """ + Constructs and sends a login command via CAN bus. Login required before \n + other commands can be sent to the DD. + + @param resend: (bool) if False (default), try to login once. Otherwise, tries to login indefinitely + @return: 1 if logged in, 0 if log in failed + """ + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, + message_id=MsgIds.MSG_ID_TESTER_LOGIN_REQUEST.value, + payload=list(map(int, map(ord, self.DD_LOGIN_PASSWORD)))) + + self.logger.debug("Logging in...") + + # Send message + received_message = self.can_interface.send(message, resend=resend) + + if received_message is not None: + if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: + self.logger.debug("Success: Logged In") + self.dd_set_logged_in_status(True) + self._send_dd_checkin_message() # Timer starts interval first + self.can_interface.transmit_interval_dictionary[self.callback_id].start() + else: + self.logger.debug("Failure: Log In Failed.") + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Login Timeout!!!!") + return False + + def cmd_dd_set_operation_mode(self, new_mode: int = 0) -> int: + """ + Constructs and sends a set operation mode request command via CAN bus. + Constraints: + Must be logged into DD. + Transition from current to requested op mode must be legal. + NOTE: for POST the DD device shall be in Standby Mode + + @param new_mode: ID of operation mode to transition to + + @return: 1 if successful, zero otherwise + + """ + + payload = integer_to_bytearray(new_mode) + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, + message_id=MsgIds.MSG_ID_DD_SET_OP_MODE_REQUEST.value, + payload=payload) + + self.logger.debug("Requesting DD mode change to " + str(new_mode)) + + # Send message + received_message = self.can_interface.send(message) + + if received_message is not None: + if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: + self.logger.debug("Success: Mode change accepted") + else: + self.logger.debug("Failure: Mode change rejected.") + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("DD mode change request Timeout!!!!") + return False + + + def cmd_dd_software_reset_request(self) -> None: + """ + Constructs and sends an DD software reset request via CAN bus. + Constraints: + Must be logged into DD. + + @return: None + """ + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, + message_id=MsgIds.MSG_ID_DD_SOFTWARE_RESET_REQUEST.value) + + self.logger.debug("requesting DD software reset") + + # Send message + self.can_interface.send(message, 0) + self.logger.debug("Sent request to DD to reset...") + self.dd_set_logged_in_status(False) + +