########################################################################### # # Copyright (c) 2019-2020 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 dialysate_outlet_flow.py # # @author (last) Peter Lucia # @date (last) 10-Nov-2020 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from ..protocols.CAN import (DenaliMessage, DenaliChannels) from ..utils.conversions import integer_to_bytearray, float_to_bytearray from .constants import RESET, NO_RESET from .constants import PUMP_CONTROL_MODE_CLOSED_LOOP, PUMP_CONTROL_MODE_OPEN_LOOP from ..utils.base import _AbstractSubSystem, _publish from ..common.msg_defs import MsgIds, MsgFieldPositions from logging import Logger class HDDialysateOutletFlow(_AbstractSubSystem): """ Hemodialysis Device (HD) Dialin API sub-class for dialysate outlet pump related commands. """ def __init__(self, can_interface, logger: Logger): """ HDDialysateFlow constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.hd_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_DIALYSATE_OUT_FLOW_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_dialysate_outlet_flow_sync) self.reference_dialysate_outlet_uf_volume = 0.0 self.measured_dialysate_outlet_uf_volume = 0.0 self.measured_dialysate_outlet_pump_rotor_speed = 0.0 self.measured_dialysate_outlet_pump_speed = 0.0 self.measured_dialysate_outlet_pump_mc_speed = 0.0 self.measured_dialysate_outlet_pump_mc_current = 0.0 self.pwm_duty_cycle_pct = 0.0 def get_reference_dialysate_outlet_uf_volume(self): """ Gets the reference dialysate outlet uf volume @return: the reference dialysate outlet uf volume """ return self.reference_dialysate_outlet_uf_volume def get_measured_dialysate_outlet_uf_volume(self): """ Gets the measured dialysate outlet uf volume @return: the measured dialysate outlet uf volume """ return self.measured_dialysate_outlet_uf_volume def get_measured_dialysate_outlet_pump_rotor_speed(self): """ Gets the measured dialysate outlet pump rotor speed @return: the measured dialysate outlet pump rotor speed """ return self.measured_dialysate_outlet_pump_rotor_speed def get_measured_dialysate_outlet_pump_speed(self): """ Gets the measured dialysate outlet pump speed @return: the measured dialysate outlet pump speed """ return self.measured_dialysate_outlet_pump_speed def get_measured_dialysate_outlet_pump_motor_controller_speed(self): """ Gets the measured dialysate outlet pump motor controller speed @return: the measured dialysate outlet pump motor controller speed """ return self.measured_dialysate_outlet_pump_mc_speed def get_measured_dialysate_outlet_pump_motor_controller_current(self): """ Gets the measured dialysate outlet pump motor controller current @return: Gets the measured dialysate outlet pump motor controller current """ return self.measured_dialysate_outlet_pump_mc_current def get_pwm_duty_cycle_pct(self): """ Gets the pwm duty cycle percent @return: the pwm duty cycle percent """ return self.pwm_duty_cycle_pct @_publish([ "reference_dialysate_outlet_uf_volume", "measured_dialysate_outlet_uf_volume", "measured_dialysate_outlet_pump_rotor_speed", "measured_dialysate_outlet_pump_speed", "measured_dialysate_outlet_pump_mc_speed", "measured_dialysate_outlet_pump_mc_current", "pwm_duty_cycle_pct" ]) def _handler_dialysate_outlet_flow_sync(self, message): """ Handles published dialysate outlet flow data messages. Dialysate flow data are captured for reference. @param message: published dialysate outlet flow data message @return: none """ refvol = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) measvol = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) rotor = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) speed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) mcspeed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) mccurr = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) pwm = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) self.reference_dialysate_outlet_uf_volume = refvol[0] self.measured_dialysate_outlet_uf_volume = measvol[0] self.measured_dialysate_outlet_pump_rotor_speed = rotor[0] self.measured_dialysate_outlet_pump_speed = speed[0] self.measured_dialysate_outlet_pump_mc_speed = mcspeed[0] self.measured_dialysate_outlet_pump_mc_current = mccurr[0] self.pwm_duty_cycle_pct = pwm[0] def cmd_dialysate_outlet_flow_set_point_override(self, flow: int, mode: int = PUMP_CONTROL_MODE_CLOSED_LOOP, reset: int =NO_RESET) -> int: """ Constructs and sends the dialysate outlet pump set point override command Constraints: Must be logged into HD. Given flow must be valid (<= +/-600 mL/min). @param flow: integer - flow set point (in mL/min) to override with @param mode: integer - 0 for closed loop control mode or 1 for open loop control mode @param reset: integer - N/A @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) flo = integer_to_bytearray(flow) mod = integer_to_bytearray(mode) payload = rst + flo + mod message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_FLOW_SET_PT_OVERRIDE.value, payload=payload) self.logger.debug("override dialysate outlet pump set point") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # print(received_message) if reset == RESET: str_res = "reset back to stopped" else: str_res = str(flow) if mode == PUMP_CONTROL_MODE_OPEN_LOOP: str_mode = " (open loop): " else: str_mode = " (closed loop): " self.logger.debug("Dialysate outlet pump set point overridden to " + str_res + " mL/min" + str_mode + 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_dialysate_outlet_reference_uf_volume_override(self, refvol: float, reset: int = NO_RESET) -> int: """ Constructs and sends the UF reference volume override command Constraints: Must be logged into HD. @param refvol: float - reference UF volume (in mL) 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) vol = float_to_bytearray(refvol) payload = rst + vol message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_UF_REF_VOLUME_OVERRIDE.value, payload=payload) self.logger.debug("override UF reference volume with " + str(refvol) + "mL.") # 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 = "overridden to " + str(refvol) + " mL. " self.logger.debug( "UF reference volume " + 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_dialysate_outlet_measured_uf_volume_override(self, measvol: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured UF volume override command Constraints: Must be logged into HD. @param measvol: float - measured UF volume (in mL) 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) vol = float_to_bytearray(measvol) payload = rst + vol message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_UF_MEAS_VOLUME_OVERRIDE.value, payload=payload) self.logger.debug("override measured UF volume with " + str(measvol) + " mL.") # 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 = "overridden to " + str(measvol) + " mL. " self.logger.debug("UF measured volume " + 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_dialysate_outlet_pump_measured_motor_controller_speed_override(self, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured dialysate outlet pump motor controller measured speed \n override command. Constraints: Must be logged into HD. @param speed: float - 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_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_PUMP_MC_MEAS_SPEED_OVERRIDE.value, payload=payload) self.logger.debug("override measured dialysate outlet pump motor controller speed to " + str(spd) + " RPM.") # 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 = "overridden to " + str(speed) + " RPM. " self.logger.debug("Dialysate outlet pump MC speed (measured) " + 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_dialysate_outlet_pump_measured_motor_controller_current_override(self, curr: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured dialysate outlet pump motor current override command Constraints: Must be logged into HD. @param curr: float - current (in mA) 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) cur = float_to_bytearray(curr) payload = rst + cur message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_PUMP_MC_MEAS_CURR_OVERRIDE.value, payload=payload) self.logger.debug("override measured dialysate outlet pump motor controller current") # 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 = "overridden to " + str(curr) + " mA. " self.logger.debug("Dialysate outlet pump MC current (measured) " + 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_dialysate_outlet_pump_measured_motor_speed_override(self, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured dialysate outlet pump motor speed override \n command. Constraints: Must be logged into HD. @param speed: float - 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_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_PUMP_MEAS_SPEED_OVERRIDE.value, payload=payload) self.logger.debug("override measured dialysate outlet pump speed to " + str(speed) + " RPM.") # 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 = "overridden to " + str(speed) + " RPM. " self.logger.debug("Dialysate outlet pump speed (measured) " + 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_dialysate_outlet_pump_measured_rotor_speed_override(self, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured dialysate outlet pump rotor speed override \n command. Constraints: Must be logged into HD. @param speed: float - 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_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_PUMP_MEAS_ROTOR_SPEED_OVERRIDE.value, payload=payload) self.logger.debug("override measured dialysate outlet pump rotor speed to " + str(speed) + " RPM.") # 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 = "overridden to " + str(speed) + " RPM. " self.logger.debug("Dialysate outlet pump rotor speed (measured) " + 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_dialysate_outlet_flow_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured dialysate outlet flow broadcast interval override command Constraints: Must be logged into HD. Given interval must be non-zero and a multiple of the HD priority task interval (10 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 """ rst = integer_to_bytearray(reset) mis = integer_to_bytearray(ms) payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_FLOW_SEND_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override dialysate outlet flow broadcast interval to " + str(ms) + " ms.") # 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 = "overridden to " + str(ms) + " ms. " self.logger.debug("Dialysate outlet flow broadcast interval " + 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_dialysate_outlet_pump_load_cell_weight_override(self, sensor: int, weight: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured load cell weight override command. Constraints: Must be logged into HD. Given sensor must be one of the sensors listed below. @param sensor: integer - ID of load cell to override @param weight: float - weight (in g) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise Load Cells: \n 0 = reservoir 1 primary \n 1 = reservoir 1 backup \n 2 = reservoir 2 primary \n 3 = reservoir 2 backup \n """ rst = integer_to_bytearray(reset) spd = float_to_bytearray(weight) sen = integer_to_bytearray(sensor) payload = rst + spd + sen message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_LOAD_CELL_WEIGHT_OVERRIDE.value, payload=payload) self.logger.debug("override measured load cell weight to " + str(weight) + " grams for load cell # " + str(sensor)) # 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 = "overridden to " + str(weight) + " grams. " self.logger.debug("Load cell # " + str(sensor) + " " + 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_set_load_cell_weights(self, r1p: float, r1b: float, r2p: float, r2b: float) -> int: """ Constructs and sends the set load cell weights command. @param r1p: float - weight (in g) for reservoir 1 primary load cell @param r1b: float - weight (in g) for reservoir 1 backup load cell @param r2p: float - weight (in g) for reservoir 2 primary load cell @param r2b: float - weight (in g) for reservoir 2 backup load cell @return: 0 - no response will come from HD for this message """ r1pb = float_to_bytearray(r1p) r1bb = float_to_bytearray(r1b) r2pb = float_to_bytearray(r2p) r2bb = float_to_bytearray(r2b) payload = r1pb + r1bb + r2pb + r2bb message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_LOAD_CELL_READINGS.value, payload=payload) self.logger.debug("measured load cell weights set.") # Send message self.can_interface.send(message, 0) return 0 def cmd_home_dialysate_outlet_pump(self) -> int: """ Constructs and sends a dialysate outlet pump home request message to the HD. Constraints: Must be logged into HD. Dialysate outlet pump must be stopped (off) prior to requesting home position. @return: 1 if successful, zero otherwise """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_DIAL_OUT_PUMP_HOME_CMD.value) self.logger.debug("Homing dialysate outlet pump") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug("Dialysate outlet pump homed : " + 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