########################################################################### # # 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) Zoltan Miskolci # @date (last) 08-Jan-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from logging import Logger from leahi_dialin.common.constants import NO_RESET, PUMP_CONTROL_MODE_CLOSED_LOOP 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 td_enum_repository from leahi_dialin.protocols.CAN import DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish 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 self.msg_id_td_blood_pump_data = MsgIds.MSG_ID_TD_BLOOD_PUMP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_blood_pump_data, self._handler_blood_flow_sync) self.td_blood_flow_timestamp = 0.0 self.h4_motor = { td_enum_repository.TDBloodFlowMotorAttributes.SET_BLOOD_FLOW_RATE.name: 0, td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_FLOW_RATE.name: 0.0, td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_PUMP_ROTOR_SPEED.name: 0.0, td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_PUMP_SPEED.name: 0.0, td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_PUMP_TORQUE : 0.0, td_enum_repository.TDBloodFlowMotorAttributes.SET_RPM.name: 0.0, td_enum_repository.TDBloodFlowMotorAttributes.ROTOR_COUNT.name: 0, td_enum_repository.TDBloodFlowMotorAttributes.PRES_BLOOD_FLOW_RATE.name: 0, td_enum_repository.TDBloodFlowMotorAttributes.ROTOR_HALL_STATE.name: 0, } @publish(["msg_id_td_blood_pump_data", "h4_motor", "td_blood_flow_timestamp"]) 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_motor[td_enum_repository.TDBloodFlowMotorAttributes.SET_BLOOD_FLOW_RATE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_FLOW_RATE.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_PUMP_ROTOR_SPEED.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_PUMP_SPEED.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.MEASURED_BLOOD_PUMP_TORQUE.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.SET_RPM.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.ROTOR_COUNT.name] = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.PRES_BLOOD_FLOW_RATE.name] = struct.unpack('I', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.h4_motor[td_enum_repository.TDBloodFlowMotorAttributes.ROTOR_HALL_STATE.name] = 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_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 """ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'TD Blood Flow', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_FLOW_RATE_REQUEST, entity_name = f'TD Blood Flow flow rate', override_text = f'{str(flow)} mL/min', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_SPEED_REQUEST, entity_name = f'TD Blood Flow RPM', override_text = f'{str(rpm)}', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_FLOW_RATE_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow measured flow rate', override_text = f'{str(flow)} mL/min', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_MOTOR_SPEED_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow measured motor RPM', override_text = f'{str(spd)}', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_ROTOR_SPEED_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow measured rotor RPM', override_text = f'{str(spd)}', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_ROTOR_COUNT_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow rotor count', override_text = f'{str(rot_count)}', logger = self.logger, can_interface = self.can_interface) 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 """ return cmd_generic_override( payload = None, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_HOME_BLOOD_PUMP_REQUEST, entity_name = f'TD Blood Flow homing', override_text = f'Active', logger = self.logger, can_interface = self.can_interface) def cmd_hard_stop_blood_pump(self) -> int: """ Constructs and sends hard stop blood pump command. Constraints: Must be logged into TD. @return: 1 if successful, zero otherwise """ return cmd_generic_override( payload = None, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_HARD_STOP_BLOOD_PUMP, entity_name = f'TD Blood Flow Pump hard stop', override_text = f'Active', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_FLOW_ALPHA_Y_INTERCEPT_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow alpha Y intercept', override_text = f'{str(intercept)}', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_A_TERM_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow wear A term', override_text = f'{str(a_term)}', logger = self.logger, can_interface = self.can_interface) 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 return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_B_TERM_OVERRIDE_REQUEST, entity_name = f'TD Blood Flow wear B term', override_text = f'{str(b_term)}', logger = self.logger, can_interface = self.can_interface)