########################################################################### # # 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 blood_flow.py # # @author (last) Micahel Garthwaite # @date (last) 17-Aug-2023 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from logging import Logger from .constants import PUMP_CONTROL_MODE_CLOSED_LOOP, PUMP_CONTROL_MODE_OPEN_LOOP 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 from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray class TDBloodFlow(AbstractSubSystem): """ Treatment Device (TD) Dialin API sub-class for blood-flow related commands. """ def __init__(self, can_interface, logger: Logger): """ TDBloodFlow constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.td_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_blood_flow_sync) self.td_blood_flow_timestamp = 0.0 self.h4_set_blood_flow_rate = 0 self.h4_measured_blood_flow_rate = 0.0 self.h4_measured_blood_pump_rotor_speed = 0.0 self.h4_measured_blood_pump_speed = 0.0 self.h4_measured_blood_pump_motor_current = 0.0 self.h4_set_rpm = 0.0 self.h4_rotor_count = 0 self.h4_pres_blood_flow_rate = 0 self.h4_rotor_hall_state = 0 @publish(["td_blood_flow_timestamp", "h4_set_blood_flow_rate", "h4_measured_blood_flow_rate", "h4_measured_blood_pump_rotor_speed", "h4_measured_blood_pump_speed", "h4_measured_blood_pump_motor_current", "h4_set_rpm", "h4_rotor_count", "h4_pres_blood_flow_rate", "h4_rotor_hall_state"]) def _handler_blood_flow_sync(self, message, timestamp=0.0): """ Handles published blood flow data messages. Blood flow data are captured for reference. @param message: published blood flow data message @return: none """ self.h4_set_blood_flow_rate = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.h4_measured_blood_flow_rate = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.h4_measured_blood_pump_rotor_speed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.h4_measured_blood_pump_speed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.h4_measured_blood_pump_motor_current = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.h4_set_rpm = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.h4_rotor_count = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.h4_pres_blood_flow_rate = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.h4_rotor_hall_state = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] self.td_blood_flow_timestamp = timestamp def cmd_blood_flow_set_flow_rate_request(self, flow: int, mode: int = PUMP_CONTROL_MODE_CLOSED_LOOP) -> int: """ Constructs and sends the blood flow set point command Constraints: Must be logged into TD. @param flow: integer - flow set point (in mL/min) (negative for reverse direction) @param mode: integer - 0 for closed loop control mode or 1 for open loop control mode @return: 1 if successful, zero otherwise """ flo = integer_to_bytearray(flow) mod = integer_to_bytearray(mode) payload = flo + mod message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_FLOW_RATE_REQUEST.value, payload=payload) self.logger.debug("override blood flow set point") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug( "Blood flow set point overridden to " + str(flo) + " mL/min" + str(mod) + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_blood_flow_set_speed_rate_request(self, rpm: int) -> int: """ Constructs and sends the blood flow set speed command Constraints: Must be logged into TD. @param rpm: integer - speed set point (in rpm) between 80 - 3080 @return: 1 if successful, zero otherwise """ rpm = integer_to_bytearray(rpm) payload = rpm message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_SPEED_REQUEST.value, payload=payload) self.logger.debug("override blood flow set point") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug( "Blood flow speed rate to " + str(rpm) + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_blood_flow_measured_override(self, flow: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood flow override command Constraints: Must be logged into TD. @param flow: integer - measured flow (in mL/min) 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) flo = float_to_bytearray(flow) payload = rst + flo message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_FLOW_RATE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override measured blood flow") # 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(flow) self.logger.debug("Blood flow (measured)) overridden to " + str_res + " mL/min: " + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_blood_pump_measured_motor_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump motor speed override \n command. Constraints: Must be logged into TD. @param speed: integer - speed (in RPM) 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) spd = float_to_bytearray(speed) payload = rst + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_MOTOR_SPEED_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override measured blood pump speed") # 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(speed) self.logger.debug("Blood pump speed (measured) overridden to " + str_res + " RPM: " + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_blood_pump_measured_rotor_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump rotor speed override \n command. Constraints: Must be logged into TD. @param speed: integer - speed (in RPM) 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) spd = float_to_bytearray(speed) payload = rst + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_ROTOR_SPEED_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override measured blood pump rotor speed") # Send message received_message = self.can_interface.send(message) # If there is contentleahi_dialin.. if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) self.logger.debug("Blood pump rotor speed (measured) overridden to " + str_res + " RPM: " + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_blood_flow_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood flow broadcast interval override command Constraints: Must be logged into TD. Given interval must be non-zero and a multiple of the TD 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_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override blood flow 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(ms) + " ms: " self.logger.debug("Blood flow 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: self.logger.debug("Timeout!!!!") return False def cmd_blood_pump_rotor_count_override(self, rot_count: int, reset: int = NO_RESET) -> int: """ Constructs and sends the blood pump rotor count override command Constraints: Must be logged into TD. Given count must be zero or positive integer. @param rot_count: integer - rotor count 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) cnt = integer_to_bytearray(rot_count) payload = rst + cnt message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_ROTOR_COUNT_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override blood pump rotor count") # 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(rot_count) + ": " self.logger.debug("Blood pump rotor count 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: self.logger.debug("Timeout!!!!") return False def cmd_home_blood_pump(self) -> int: """ Constructs and sends home blood pump command. Constraints: Must be logged into TD. @return: 1 if successful, zero otherwise """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_HOME_BLOOD_PUMP_REQUEST.value) self.logger.debug("homing blood pump") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return True else: self.logger.debug("Timeout!!!!") return False def cmd_blood_flow_alpha_y_intercept_override(self, intercept: float, reset: int = NO_RESET) -> int: """ Constructs and sends the blood flow alpha y intercept override. Constraints: Must be logged into TD. @param intercept: float - target value to override alpha y intercept with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) intercept_byte_array = float_to_bytearray(intercept) payload = reset_byte_array + intercept_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_FLOW_ALPHA_Y_INTERCEPT_OVERRIDE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_blood_flow_wear_a_term_override(self, a_term: float, reset: int = NO_RESET) -> int: """ Constructs and sends the blood flow wear a term override Constraints: Must be logged into TD. @param a_term: float - target value to override wear a term intercept with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) term_byte_array = float_to_bytearray(a_term) payload = reset_byte_array + term_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_A_TERM_OVERRIDE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_blood_flow_wear_b_term_override(self, b_term: float, reset: int = NO_RESET) -> int: """ Constructs and sends the blood flow wear b term override Constraints: Must be logged into TD. @param a_term: float - target value to override wear b term intercept with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) term_byte_array = float_to_bytearray(b_term) payload = reset_byte_array + term_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_B_TERM_OVERRIDE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False