Index: leahi_dialin/fp/modules/water_pumps.py
===================================================================
diff -u
--- leahi_dialin/fp/modules/water_pumps.py	(revision 0)
+++ leahi_dialin/fp/modules/water_pumps.py	(revision 4b1e41d69f00c40e84664f6581376d9c8db102c8)
@@ -0,0 +1,248 @@
+###########################################################################
+#
+# 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    water_pumps.py
+#
+# @author  (last)      Micahel Garthwaite
+# @date    (last)      17-Aug-2023
+# @author  (original)  Peter Lucia
+# @date    (original)  02-Apr-2020
+#
+############################################################################
+import struct
+from enum import unique
+from logging import Logger
+from enum import unique
+
+from leahi_dialin.utils.base import DialinEnum
+from .constants import RESET, NO_RESET
+from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions
+from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels
+from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum
+from leahi_dialin.utils.checks import check_broadcast_interval_override_ms
+from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray
+
+@unique
+class FPPumpNames(DialinEnum):
+    P12_PUMP_RO = 0
+    P40_PUMP_BOOSTER = 1
+
+
+class FPPumps(AbstractSubSystem):
+    """
+        Dialin API sub-class for RO pump related commands.
+    """
+
+    def __init__(self, can_interface, logger: Logger):
+        """
+        FPPumps constructor
+        """
+        super().__init__()
+        self.can_interface = can_interface
+        self.logger = logger
+
+        if self.can_interface is not None:
+            channel_id = DenaliChannels.fp_sync_broadcast_ch_id
+            msg_id = MsgIds.MSG_ID_RO_PUMP_DATA.value
+            self.can_interface.register_receiving_publication_function(channel_id, msg_id,
+                                                                       self._handler_pump_sync)
+        self.ro_pump_timestamp = 0.0
+        self.p12_pump_state = 0
+        self.p12_pump_duty_cycle = 0.0
+        self.p12_pump_fb_duty_cycle = 0.0
+        self.p12_pump_speed = 0.0
+        self.p40_pump_state = 0
+        self.p40_pump_duty_cycle = 0.0
+        self.p40_pump_fb_duty_cycle = 0.0
+        self.p40_pump_speed = 0.0
+
+
+    @publish(["ro_pump_timestamp", "p12_pump_state", "p12_pump_duty_cycle", "p12_pump_fb_duty_cycle",
+              "p12_pump_speed", "p40_pump_state", "p40_pump_duty_cycle",
+              "p40_pump_fb_duty_cycle", "p40_pump_speed"])
+    def _handler_pump_sync(self, message, timestamp=0.0):
+        """
+        Handles published RO pump data messages.  RO pump data is captured
+        for reference.
+
+        @param message:  published RO pump data message
+        @return: none
+        """
+
+        self.p12_pump_state  = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]
+        self.p12_pump_duty_cycle = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0]
+        self.p12_pump_fb_duty_cycle = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0]
+        self.p12_pump_speed = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0]
+        self.p40_pump_state = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0]
+        self.p40_pump_duty_cycle = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0]
+        self.p40_pump_fb_duty_cycle = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0]
+        self.p40_pump_speed = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0]
+
+        self.ro_pump_timestamp = timestamp
+
+    def cmd_pump_set_speed_rate_override(self, pump: int, rpm: int, reset: int = NO_RESET) -> int:
+        """
+        Constructs and sends the boost pump set speed rate command
+        Constraints:
+            Must be logged into FP.
+
+        @param rpm:  integer - speed set point (in rpm)
+        @return: 1 if successful, zero otherwise
+        """
+        rst = integer_to_bytearray(reset)
+        rpm = integer_to_bytearray(rpm)
+        pmp = integer_to_bytearray(pump)
+        payload = rst + rpm + pmp
+
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
+                                              message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SPEED_OVERRIDE_REQUEST.value,
+                                              payload=payload)
+
+        self.logger.debug("override pump set speed rate point")
+
+        # 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(rpm)
+
+            self.logger.debug("rpm overridden to " + str_res)
+            # response payload is OK or not OK
+            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False
+
+    def cmd_pump_set_pwm_request(self, pump: int, pwm: int) -> int:
+        """
+        Constructs and sends set pwm request for RO pumps \n
+        command.
+        Constraints:
+            Must be logged into FP.
+
+        @param pump: integer - the pump id to set pwm
+        @param pwm:  integer - counts to override the pwm ( 0 - 500 )
+        @return: 1 if successful, zero otherwise
+        """
+
+        spd = integer_to_bytearray(pwm)
+        pmp = integer_to_bytearray(pump)
+        payload = pmp + spd
+
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
+                                              message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SET_PWM_REQUEST.value,
+                                              payload=payload)
+
+        self.logger.debug("setting pump {} to pwm count {}".format(pump,pwm))
+
+        # Send message
+        received_message = self.can_interface.send(message)
+
+        # If there is content...
+        if received_message is not None:
+
+            self.logger.debug("pwm set to " + str(pwm))
+            # response payload is OK or not OK
+            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False
+
+    def cmd_pump_read_pwm_override(self, pump: int, pwm: float, reset: int = NO_RESET) -> int:
+        """
+        Constructs and sends the read pwm override for the RO pumps \n
+        command.
+        Constraints:
+            Must be logged into FP.
+
+        @param pwm:  float - pwm in percentage 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)
+        rpwm = float_to_bytearray(pwm)
+        pmp = integer_to_bytearray(pump)
+        payload = rst + rpwm + pmp
+
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
+                                              message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value,
+                                              payload=payload)
+
+        self.logger.debug("override read pwm for pump".format(pump))
+
+        # 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(rpwm)
+
+            self.logger.debug("pwm overridden to " + str_res)
+            # response payload is OK or not OK
+            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False
+
+    def cmd_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
+        """
+        Constructs and sends the RO pump broadcast interval override command
+        Constraints:
+            Must be logged into FP.
+            Given interval must be non-zero and a multiple of the FP general task interval (50 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
+        """
+
+        if not check_broadcast_interval_override_ms(ms):
+            return False
+
+        rst = integer_to_bytearray(reset)
+        mis = integer_to_bytearray(ms)
+        payload = rst + mis
+
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
+                                              message_id=MsgIds.MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value,
+                                              payload=payload)
+
+        self.logger.debug("override FP pump broadcast interval")
+
+        # Send message
+        received_message = self.can_interface.send(message)
+
+        # If there is content...
+        if received_message is not None:
+            # self.logger.debug(received_message)
+            if reset == RESET:
+                str_res = "reset back to normal"
+            else:
+                str_res = str(mis)
+
+            self.logger.debug("broadcast overridden to " + str_res)
+            # response payload is OK or not OK
+            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False
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