########################################################################### # # 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 gen_dialysate.py # # @author (last) Micahel Garthwaite # @date (last) 07-Mar-2023 # @author (original) Micahel Garthwaite # @date (original) 29-Oct-2020 # ############################################################################ import struct from enum import unique from logging import Logger 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 class DDGenDialysate(AbstractSubSystem): """ Gen Dialysate Dialysate Delivery (DD) Dialin API sub-class for gen dialysate related commands. """ def __init__(self, can_interface, logger: Logger): """ @param can_interface: Denali Can Messenger object """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.dd_sync_broadcast_ch_id self.msg_id_dd_gen_dialysate_mode_data = MsgIds.MSG_ID_DD_GEN_DIALYSATE_MODE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_gen_dialysate_mode_data, self._handler_gen_dialysate_sync) self.execution_state = 0 self.dialysate_delivery_in_progress = 0 self.d6_level = 0 self.d63_level = 0 self.d46_level = 0 self.d9_pressure = 0.0 self.d18_pressure = 0.0 self.d51_pressure = 0.0 self.dialysate_good_to_deliver = 0 self.targetQd = 0.0 self.dd_gen_dialysate_timestamp = 0 @publish(["msg_id_dd_gen_dialysate_mode_data", "execution_state", "dialysate_delivery_in_progress", "d6_level", "d63_level", "d46_level", "d9_pressure", "d18_pressure", "d51_pressure", "dialysate_good_to_deliver", "targetQd", "dd_gen_dialysate_timestamp"]) def _handler_gen_dialysate_sync(self, message, timestamp=0.0): """ Handles published gen dialysate data messages. @param message: published gen dialysate data message @return: None """ self.execution_state = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.dialysate_delivery_in_progress = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.d6_level = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.d63_level = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.d46_level = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.d9_pressure = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.d18_pressure = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.d51_pressure = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.dialysate_good_to_deliver = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] self.targetQd = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10]))[0] self.dd_gen_dialysate_timestamp = timestamp def cmd_gen_dialysate_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the gen dialysate data broadcast interval override command Constraints: Must be logged into DD. Given interval must be non-zero and a multiple of the DD 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 reset_byte_array = integer_to_bytearray(reset) ms_byte_array = integer_to_bytearray(ms) payload = reset_byte_array + ms_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_GEND_MODE_DATA_PUBLISH_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override DD Gen Dialysate data broadcast interval") # 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_dialysate_delivery_in_progress_override(self, in_progress: int, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate delivery in progress override command @param in_progress: int - value to override in progress status @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) inprog = integer_to_bytearray(in_progress) payload = reset_byte_array + inprog message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIAL_DELIVERY_IN_PROGRESS_OVERRIDE_REQUEST.value, payload=payload) if reset == RESET: str_res = "reset back to normal" else: str_res = str(in_progress) self.logger.debug("override dialysate delivery in progress to " + ": " + str_res) # 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_dialysate_delivery_good_to_deliver_override(self, delivery: int, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate delivery good to deliver override command @param delivery: int - value to override in delivery status @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) dev = integer_to_bytearray(delivery) payload = reset_byte_array + dev message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIAL_DELIVERY_GOOD_TO_DELIVER_OVERRIDE_REQUEST.value, payload=payload) if reset == RESET: str_res = "reset back to normal" else: str_res = str(delivery) self.logger.debug("override dialysate good to delivery to " + ": " + str_res) # 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_hydraulics_chamber_target_temperature_override(self, temperature: float, reset: int = NO_RESET) -> int: """ Constructs and sends the hydraulic fluid temperature override command @param temperature: float - value to override in fluid temperature. @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) tmp = float_to_bytearray(temperature) payload = reset_byte_array + tmp message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_HYD_CHAMBER_TARGET_TEMP_OVERRIDE_REQUEST.value, payload=payload) if reset == RESET: str_res = "reset back to normal" else: str_res = str(temperature) self.logger.debug("override hydraulic fluid temperature to " + ": " + str_res) # 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_dialysate_delivery_set_state_override(self, state: int) -> int: """ Constructs and sends the set execution state override command @param state: int - value to override state @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ sts = integer_to_bytearray(state) payload = sts message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_GEND_EXEC_STATE_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_stop_gen_mode_override(self, state: int, reset: int = NO_RESET) -> int: """ Constructs and sends start pre gen mode override request @param state: int - value to override state @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_value = integer_to_bytearray(reset) interval_value = integer_to_bytearray(state) payload = reset_value + interval_value message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_STOP_GEN_DIALYSATE_MODE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Sending {} start pre gen mode override".format(state)) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False