########################################################################### # # Copyright (c) 2020-2023 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 drain_pump.py # # @author (last) Micahel Garthwaite # @date (last) 07-Mar-2023 # @author (original) Sean # @date (original) 14-Apr-2020 # ############################################################################ import struct from enum import unique from logging import Logger from .constants import RESET, NO_RESET from ..common.msg_defs import MsgIds, MsgFieldPositions from ..protocols.CAN import DenaliMessage, DenaliChannels from ..utils.base import AbstractSubSystem, publish, DialinEnum from ..utils.checks import check_broadcast_interval_override_ms from ..utils.conversions import integer_to_bytearray, float_to_bytearray @unique class DrainPumpStates(DialinEnum): DRAIN_PUMP_OFF_STATE = 0 # Drain pump off state DRAIN_PUMP_CONTROL_TO_TARGET_STATE = 1 # Drain pump control to target state DRAIN_PUMP_OPEN_LOOP_STATE = 2 # Drain pump open loop state @unique class DrainPumpRPMFeedBackSensors(DialinEnum): DRAIN_PUMP_HALL_SNSR_FB = 0 # Drain pump hall sensor RPM feedback sensor DRAIN_PUMP_MAXON_SNSR_FB = 1 # Drain pump Maxon sensor RPM feedback sensor class DGDrainPump(AbstractSubSystem): """ Dialysate Generator (DG) Dialin API sub-class for drain pump related commands. """ def __init__(self, can_interface, logger: Logger): """ DGDrainPump constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.dg_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_DRAIN_PUMP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_drain_pump_sync) self.target_drain_pump_rpm = 0 self.dac_value = 0 self.drain_pump_state = 0 self.current_drain_pump_rpm = {DrainPumpRPMFeedBackSensors.DRAIN_PUMP_HALL_SNSR_FB.name: 0, DrainPumpRPMFeedBackSensors.DRAIN_PUMP_MAXON_SNSR_FB.name: 0} self.target_drain_pump_outlet_flow_lpm = 0.0 self.drain_pump_current_A = 0.0 self.drain_pump_direction = 0 self.dg_drain_pump_timestamp = 0.0 def get_target_drain_pump_rpm(self): """ Gets the target drain pump RPM @return: The target drain pump RPM """ return self.target_drain_pump_rpm def get_dac_value(self): """ Gets the dac value @return: The dac value (int) """ return self.dac_value def get_drain_pump_state(self): """ Gets the drain pump state @return: Drain pump state """ return self.drain_pump_state def get_drain_pump_current_rpm(self, sensor: int): """ Gets the drain pump current RPM @param sensor (int) the sensor to read its data @return: Drain pump current RPM """ return self.current_drain_pump_rpm[DrainPumpRPMFeedBackSensors(sensor).name] @publish(["dg_drain_pump_timestamp", "target_drain_pump_rpm", "dac_value", "drain_pump_state", "drain_pump_current_A", "drain_pump_direction", "target_drain_pump_outlet_flow_lpm", "current_drain_pump_rpm"]) def _handler_drain_pump_sync(self, message, timestamp=0.0): """ Handles published drain pump data messages. Drain pump data are captured for reference. @param message: published drain pump data message @return: none """ self.target_drain_pump_rpm = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.dac_value = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.drain_pump_state = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.current_drain_pump_rpm[DrainPumpRPMFeedBackSensors.DRAIN_PUMP_HALL_SNSR_FB.name] = \ struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.target_drain_pump_outlet_flow_lpm = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.drain_pump_current_A = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.drain_pump_direction = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.current_drain_pump_rpm[DrainPumpRPMFeedBackSensors.DRAIN_PUMP_MAXON_SNSR_FB.name] = \ struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.dg_drain_pump_timestamp = timestamp def cmd_drain_pump_set_outlet_target_flow_lpm(self, flow: float) -> int: """ Constructs and sends the drain pump target outlet flow in L/min Constraints: Must be logged into DG. @param flow: (float) target outlet flow in L/min @return: 1 if successful, zero otherwise """ flw = float_to_bytearray(flow) payload = flw message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id, message_id=MsgIds.MSG_ID_DRAIN_PUMP_TARGET_OUTLET_FLOW.value, payload=payload) self.logger.debug("Setting drain pump target flow") # Send message received_message = self.can_interface.send(message) # If there is no content... if received_message is not None: self.logger.debug("Drain pump outlet flow set to " + str(flow) + " L/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_drain_pump_set_rpm(self, rpm: int) -> int: """ Constructs and sends the drain pump speed set command Constraints: Must be logged into DG. @param rpm: (int) speed set point (in RPM) to override with @return: 1 if successful, zero otherwise """ spd = integer_to_bytearray(rpm) payload = spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id, message_id=MsgIds.MSG_ID_DRAIN_PUMP_SET_RPM.value, payload=payload) self.logger.debug("Setting the drain pump RPM") # Send message received_message = self.can_interface.send(message) # If there is no content... if received_message is not None: self.logger.debug("Drain pump RPM set to " + str(rpm) + " 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_drain_pump_measured_rpm_override(self, sensor: int, rpm: int, reset: int = NO_RESET) -> int: """ Constructs and sends the drain pump measured RPM override command. Constraints: Must be logged into DG. Given RPM must be within 300 <= RPM <= 3000 @param sensor: (int) the sensor (hall sensor or maxon sensor) @param rpm: (int) rpm to override with @param reset: (int) 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) r = integer_to_bytearray(rpm) index = integer_to_bytearray(sensor) payload = rst + r + index message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id, message_id=MsgIds.MSG_ID_DG_DRAIN_PUMP_MEASURED_RPM_OVERRIDE.value, payload=payload) self.logger.debug("Setting sensor {} to {} C".format(sensor, rpm)) # 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( "Drain pump measured RPM 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_drain_pump_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the drain pump data publication override command. Constraints: Must be logged into DG. Given interval must be non-zero and a multiple of the DG general task interval (50 ms). @param ms: (int) interval (in ms) to override with @param reset: (int) 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_dg_ch_id, message_id=MsgIds.MSG_ID_DRAIN_PUMP_SEND_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override drain pump data 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( "Drain pump data broadcast interval overridden to " + str_res + " ms: " + 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_drain_pump_measured_current_amps_override(self, current: float, reset: int = NO_RESET) -> int: """ Constructs and sends the drain pump measured current override command. Constraints: Must be logged into DG. @param current: (float) current to override with @param reset: (int) 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) r = float_to_bytearray(current) payload = rst + r message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id, message_id=MsgIds.MSG_ID_DG_DRAIN_PUMP_CURRENT_OVERRIDE.value, payload=payload) self.logger.debug("Override drain pump measured current") # 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(current) self.logger.debug( "Drain pump measured current overridden to " + str_res + " A " + 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_drain_pump_measured_direction_override(self, direction: int, reset: int = NO_RESET) -> int: """ Constructs and sends the drain pump measured direction override command. Constraints: Must be logged into DG. 1 will be forward and 0 will be backwards @param direction: (int) direction to override with @param reset: (int) 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) r = integer_to_bytearray(direction) payload = rst + r message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id, message_id=MsgIds.MSG_ID_DG_DRAIN_PUMP_DIRECTION_OVERRIDE.value, payload=payload) self.logger.debug("Override drain pump measured direction") # 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(direction) self.logger.debug( "Drain pump measured direction 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