########################################################################### # # 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 air_trap.py # # @author (last) Zoltan Miskolci # @date (last) 08-Jan-2026 # @author (original) Sean Nash # @date (original) 21-Sep-2020 # ############################################################################ import struct from logging import Logger from leahi_dialin.common.constants import NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.common.td_defs import TDAirTrapValves, TDAirTrapLevelSensors, TDAirTrapLevelSensorsAttributes, TDAirTrapState from leahi_dialin.protocols.CAN import DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish from leahi_dialin.utils.conversions import integer_to_bytearray class TDAirTrap(AbstractSubSystem): """ TDAirTrap Treatment Delivery (TD) Dialin API sub-class for air trap related commands. """ # Air trap level sensor levels AIR_DETECTED_AT_LEVEL = 0 FLUID_DETECTED_AT_LEVEL = 1 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.td_sync_broadcast_ch_id self.msg_id_td_air_trap_data = MsgIds.MSG_ID_TD_AIR_TRAP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_air_trap_data, self._handler_air_trap_sync) self.air_trap_level_sensors = { TDAirTrapLevelSensors.H17_LEVEL.name: { TDAirTrapLevelSensorsAttributes.LEVEL.name: self.AIR_DETECTED_AT_LEVEL, TDAirTrapLevelSensorsAttributes.RAW.name: self.AIR_DETECTED_AT_LEVEL }, TDAirTrapLevelSensors.H16_LEVEL.name: { TDAirTrapLevelSensorsAttributes.LEVEL.name: self.AIR_DETECTED_AT_LEVEL, TDAirTrapLevelSensorsAttributes.RAW.name: self.AIR_DETECTED_AT_LEVEL } } self.air_trap_valve_states = { TDAirTrapValves.H13_VALV.name: 0, TDAirTrapValves.H20_VALV.name: 0 } self.air_control = 0 self.td_air_trap_timestamp = 0.0 @publish(["msg_id_td_air_trap_data", "air_trap_level_sensors", "air_trap_valve_states", "air_control", "td_air_trap_timestamp"]) def _handler_air_trap_sync(self, message, timestamp=0.0): """ Handles published air trap data messages. Air trap data are captured for reference. @param message: published air trap data message @return: None """ lower = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) upper = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) raw_lower = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) raw_upper = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) h13_vlv_st = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) h20_vlv_st = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) controlling = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) self.air_trap_level_sensors[TDAirTrapLevelSensors.H17_LEVEL.name][TDAirTrapLevelSensorsAttributes.LEVEL.name] = lower[0] self.air_trap_level_sensors[TDAirTrapLevelSensors.H16_LEVEL.name][TDAirTrapLevelSensorsAttributes.LEVEL.name] = upper[0] self.air_trap_level_sensors[TDAirTrapLevelSensors.H17_LEVEL.name][TDAirTrapLevelSensorsAttributes.RAW.name] = raw_lower[0] self.air_trap_level_sensors[TDAirTrapLevelSensors.H16_LEVEL.name][TDAirTrapLevelSensorsAttributes.RAW.name] = raw_upper[0] self.air_trap_valve_states[TDAirTrapValves.H13_VALV.name] = h13_vlv_st[0] self.air_trap_valve_states[TDAirTrapValves.H20_VALV.name] = h20_vlv_st[0] self.air_control = controlling[0] self.td_air_trap_timestamp = timestamp def cmd_air_trap_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap data 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 """ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_AIR_TRAP_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'TD Air Trap', logger = self.logger, can_interface = self.can_interface) def cmd_air_trap_level_sensor_override(self, sensor: int, detected: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap level sensor override command Constraints: Must be logged into TD. @param sensor: unsigned int - sensor ID @param detected: unsigned int - detected to override sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) det = integer_to_bytearray(detected) idx = integer_to_bytearray(sensor) payload = rst + det + idx sensor_name = TDAirTrapLevelSensors(sensor).name.split('_')[0] return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_AIR_TRAP_LEVEL_OVERRIDE_REQUEST, entity_name = f'TD {sensor_name} Air Trap level sensor', override_text = f'{str(detected)}', logger = self.logger, can_interface = self.can_interface) def cmd_raw_air_trap_level_sensor_override(self, sensor: int, detected: int, reset: int = NO_RESET) -> int: """ Constructs and sends the raw air trap level sensor override command Constraints: Must be logged into TD. @param sensor: unsigned int - sensor ID @param detected: unsigned int - detected (0=air, 1=fluid) to override sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) det = integer_to_bytearray(detected) idx = integer_to_bytearray(sensor) payload = rst + det + idx sensor_name = TDAirTrapLevelSensors(sensor).name.split('_')[0] return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_AIR_TRAP_LEVEL_RAW_OVERRIDE_REQUEST, entity_name = f'TD {sensor_name} Air Trap level sensor raw', override_text = f'{str(detected)}', logger = self.logger, can_interface = self.can_interface) def cmd_set_td_air_trap_valve(self, valve: int = TDAirTrapValves.H13_VALV.value, valve_state: int = TDAirTrapState.STATE_CLOSED.value) -> int: """ Constructs and sends an open/close command to the TD air trap valves. @param valve: air trap valve ID @param valve_state: air trap valve state (open or close) @returns 1 if successful, zero otherwise """ vlv = integer_to_bytearray(valve) sts = integer_to_bytearray(valve_state) payload = vlv + sts valve_name = TDAirTrapValves(valve).name.split('_')[0] return cmd_generic_override( payload = payload, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_2_WAY_VALVE_SET_STATE_REQUEST, entity_name = f'TD Air Trap {valve_name} Valve state', override_text = f'{str(valve_state)}', logger = self.logger, can_interface = self.can_interface) def cmd_set_td_air_trap_control(self, control: int = 0) -> int: """ Constructs and sends a set control command to the TD air trap. @param control: start/stop for air trap control (0=stop, 1=start) @returns 1 if successful, zero otherwise """ ctl = integer_to_bytearray(control) payload = ctl return cmd_generic_override( payload = payload, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SET_AIR_TRAP_CONTROL, entity_name = f'TD Air Trap control', override_text = f'{str(control)}', logger = self.logger, can_interface = self.can_interface) def cmd_air_trap_air_pump_power_raise_override(self, power: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap air pump power raise 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 power: integer - power to override the level raise to it @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) pwr = integer_to_bytearray(power) payload = rst + pwr return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_AIR_PUMP_POWER_RAISE_OVERRIDE_REQUEST, entity_name = f'TD Air Pump Raise power', override_text = f'{str(power)}', logger = self.logger, can_interface = self.can_interface) def cmd_air_trap_air_pump_power_lower_override(self, power: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap air pump power lower 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 power: integer - power to override the level lower to it @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) pwr = integer_to_bytearray(power) payload = rst + pwr return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_AIR_PUMP_POWER_LOWER_OVERRIDE_REQUEST, entity_name = f'TD Air Pump Lower power', override_text = f'{str(power)}', logger = self.logger, can_interface = self.can_interface)