Index: leahi_dialin/dd/dialysate_delivery.py =================================================================== diff -u -r2dc81a7a48da08c15dd26020a30d4401b00ded9b -ra2aad87f17d5f85922b458ca2b73d20fb4f49c3a --- leahi_dialin/dd/dialysate_delivery.py (.../dialysate_delivery.py) (revision 2dc81a7a48da08c15dd26020a30d4401b00ded9b) +++ leahi_dialin/dd/dialysate_delivery.py (.../dialysate_delivery.py) (revision a2aad87f17d5f85922b458ca2b73d20fb4f49c3a) @@ -5,7 +5,7 @@ # 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 +# @file dialysate_delivery.py # # @author (last) Dara Navaei # @date (last) 26-Feb-2024 @@ -15,22 +15,32 @@ ############################################################################ import struct +from .modules.alarms import DDAlarms from .modules.balancing_chamber import DDBalancingChamber +from .modules.blood_leak import DDBloodLeak from .modules.concentrate_pump import DDConcentratePumps from .modules.conductivity_sensors import DDConductivitySensors +from .modules.constants import NO_RESET, RESET from .modules.dialysate_pump import DDDialysatePumps +from .modules.events import DDEvents from .modules.gen_dialysate import DDGenDialysate from .modules.heaters import DDHeaters from .modules.levels import DDLevels -from .modules.piston_pump import DDPistonPumps +from .modules.post_gen_dialysate import DDPostGenDialysate from .modules.pressure_sensors import DDPressureSensors +from .modules.pre_gen_dialysate import DDPreGenDialysate +from .modules.rinse_pump import DDRinsePump +from .modules.spent_chamber_fill import DDSpentChamberFill from .modules.temperature_sensors import DDTemperatureSensors +from .modules.dd_test_configs import DDTestConfig +from .modules.ultrafiltration import DDUltrafiltration from .modules.valves import DDValves +from .modules.voltages import DDVoltages from .proxies.ro_proxy import ROProxy from .proxies.td_proxy import TDProxy -from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions from ..common.dd_defs import DDOpModes from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager @@ -51,18 +61,6 @@ # 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. @@ -89,46 +87,61 @@ # 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.msg_id_dd_op_mode_data = MsgIds.MSG_ID_DD_OP_MODE_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_op_mode_data, self._handler_dd_op_mode_sync) + self.msg_id_dd_version_response = MsgIds.MSG_ID_DD_VERSION_RESPONSE.value self.can_interface.register_receiving_publication_function(channel_id, - MsgIds.MSG_ID_DD_DEBUG_EVENT.value, + self.msg_id_dd_version_response, + self._handler_dd_version_response_sync) + + self.msg_id_dd_debug_event = MsgIds.MSG_ID_DD_DEBUG_EVENT.value + self.can_interface.register_receiving_publication_function(channel_id, + self.msg_id_dd_debug_event, 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_version_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_version = None + self.dd_fpga_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.alarms = DDAlarms(self.can_interface, self.logger) self.balancing_chamber = DDBalancingChamber(self.can_interface, self.logger) + self.blood_leak = DDBloodLeak(self.can_interface, self.logger) 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.events = DDEvents(self.can_interface, self.logger) self.gen_dialysate = DDGenDialysate(self.can_interface, self.logger) self.heaters = DDHeaters(self.can_interface, self.logger) self.levels = DDLevels(self.can_interface, self.logger) - self.piston_pumps = DDPistonPumps(self.can_interface, self.logger) + self.post_gen_dialysate = DDPostGenDialysate(self.can_interface, self.logger) self.pressure_sensors = DDPressureSensors(self.can_interface, self.logger) + self.pre_gen_dialysate = DDPreGenDialysate(self.can_interface, self.logger) + self.rinse_pump = DDRinsePump(self.can_interface, self.logger) + self.spent_chamber_fill = DDSpentChamberFill(self.can_interface, self.logger) self.temperature_sensors = DDTemperatureSensors(self.can_interface, self.logger) + self.test_configs = DDTestConfig(self.can_interface, self.logger) + self.ultrafiltration = DDUltrafiltration(self.can_interface, self.logger) self.valves = DDValves(self.can_interface, self.logger) + self.voltages = DDVoltages(self.can_interface, self.logger) self.ro_proxy = ROProxy(self.can_interface, self.logger) self.td_proxy = TDProxy(self.can_interface, self.logger) - @publish(["dd_debug_events_timestamp","dd_debug_events"]) + @publish(["msg_id_dd_debug_event", "dd_debug_events_timestamp","dd_debug_events"]) def _handler_dd_debug_event_sync(self, message, timestamp = 0.0): payload = message['message'] @@ -159,7 +172,7 @@ """ self.dd_logged_in = logged_in - @publish(["dd_op_mode_timestamp","dd_operation_mode", "dd_operation_sub_mode"]) + @publish(["msg_id_dd_op_mode_data", "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 @@ -177,6 +190,44 @@ self.dd_operation_sub_mode = smode[0] self.dd_op_mode_timestamp = timestamp + @publish(["msg_id_dd_version_response", "dd_version, dd_fpga_version"]) + def _handler_dd_version_response_sync(self,message, timestamp = 0.0): + """ + Handler for response from DD regarding its version. + + @param message: version response message from DD.\n + + @return: None if not successful, the version string if unpacked successfully + """ + major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): + self.dd_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" + self.logger.debug(f"DD VERSION: {self.dd_version}") + + if all([len(each) > 0 for each in [fpga_id, fpga_major, fpga_minor, fpga_lab]]): + self.dd_fpga_version = f"v{fpga_id[0]}.{fpga_major[0]}.{fpga_minor[0]}-{fpga_lab[0]}" + self.logger.debug(f"DD FPGA VERSION: {self.dd_fpga_version}") + + self.dd_version_response_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 @@ -187,7 +238,7 @@ """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_TESTER_LOGIN_REQUEST.value, + message_id=MsgIds.MSG_ID_DD_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.DD_LOGIN_PASSWORD)))) self.logger.debug("Logging in...") @@ -264,3 +315,37 @@ self.dd_set_logged_in_status(False) + def cmd_dd_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends an DD safety shutdown override command via CAN bus. + Constraints: + Must be logged into DD. + + @param active: int - True to activate safety shutdown, False to deactivate + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + + """ + + rst = integer_to_bytearray(reset) + saf = integer_to_bytearray(active) + payload = rst + saf + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, + message_id=MsgIds.MSG_ID_DD_SAFETY_SHUTDOWN_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("overriding FP safety shutdown") + + # 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("Safety shutdown signal overridden") + else: + self.logger.debug("Safety shutdown signal override failed.") + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False