########################################################################### # # 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 treatment_delivery.py # # @author (last) Dara Navaei # @date (last) 26-Feb-2024 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from .modules.air_pump import TDAirPump from .modules.air_trap import TDAirTrap from .modules.alarms import TDAlarms from .modules.blood_flow import TDBloodFlow from .modules.bubble_detector import TDBubbleDetector from .modules.buttons import TDButtons from .modules.constants import NO_RESET, RESET from .modules.ejector import TDEjector from .modules.pressure_sensors import TDPressureSensors from .modules.switches import TDSwitches from .modules.treatment import TDTreatment from .modules.td_test_configs import TDTestConfig from .modules.valves import TDValves from .modules.voltages import TDVoltages from .proxies.dd_proxy import DDProxy from .proxies.ui_proxy import UIProxy from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions from ..common.td_defs import TDOpModes from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager from ..utils.checks import check_broadcast_interval_override_ms from ..utils.conversions import integer_to_bytearray, unsigned_short_to_bytearray, bytearray_to_integer, \ bytearray_to_byte class TD(AbstractSubSystem): """ Treatment Delivery (TD) Dialin object API. It provides the basic interface to communicate with the TD firmware. """ # TD debug event max count _TD_DEBUG_EVENT_LIST_COUNT = 10 _TD_DEBUG_EVENT_MSG_LEN_INDEX = 5 # TD login password TD_LOGIN_PASSWORD = '123' def __init__(self, can_interface="can0", log_level=None): """ TD object provides test/service commands for the TD sub-system. >> TD_object = TD('can0') >> TD_object = TD(can_interface='can0', log_level="DEBUG") Possible log levels: ["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL", "CAN_ONLY", "PRINT_ONLY"] @param can_interface: (str) CANBus interface name, e.g. "can0" @param log_level: (str) Logging level, defaults to None """ super().__init__() self._log_manager = LogManager(log_level=log_level, log_filepath=self.__class__.__name__ + ".log") self.logger = self._log_manager.logger # Create listener self.can_interface = DenaliCanMessenger(can_interface=can_interface, logger=self.logger) self.can_interface.start() self.callback_id = None # register handler for TD operation mode broadcast messages if self.can_interface is not None: channel_id = DenaliChannels.td_sync_broadcast_ch_id self.msg_id_td_op_mode_data = MsgIds.MSG_ID_TD_OP_MODE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_op_mode_data, self._handler_td_op_mode_sync) self.msg_id_td_debug_event = MsgIds.MSG_ID_TD_DEBUG_EVENT.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_debug_event, self._handler_td_debug_event_sync) self.msg_id_td_version_response = MsgIds.MSG_ID_TD_VERSION_RESPONSE.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_version_response, self._handler_td_version_response_sync) self.msg_id_ui_version_info_response = MsgIds.MSG_ID_UI_VERSION_INFO_RESPONSE.value self.can_interface.register_receiving_publication_function(DenaliChannels.ui_to_td_ch_id, self.msg_id_ui_version_info_response, self._handler_ui_version_response_sync) # create properties self.td_op_mode_timestamp = 0.0 self.td_debug_events_timestamp = 0.0 self.ui_version_info_response_timestamp = 0.0 self.td_version_response_timestamp = 0.0 self.td_operation_mode = TDOpModes.MODE_INIT.value self.td_operation_sub_mode = 0 self.td_logged_in = False self.td_set_logged_in_status(False) self.ui_version = None self.td_version = None self.td_fpga_version = None self.td_debug_events = [''] * self._TD_DEBUG_EVENT_LIST_COUNT self.td_debug_event_index = 0 self.td_last_debug_event = '' # Create command groups self.air_pump = TDAirPump(self.can_interface, self.logger) self.air_trap = TDAirTrap(self.can_interface, self.logger) self.alarms = TDAlarms(self.can_interface, self.logger) self.blood_flow = TDBloodFlow(self.can_interface, self.logger) self.bubbles = TDBubbleDetector(self.can_interface, self.logger) self.buttons = TDButtons(self.can_interface, self.logger) self.ejector = TDEjector(self.can_interface, self.logger) self.pressure_sensors = TDPressureSensors(self.can_interface, self.logger) self.switches = TDSwitches(self.can_interface, self.logger) self.treatment = TDTreatment(self.can_interface, self.logger) self.test_configs = TDTestConfig(self.can_interface, self.logger) self.valves = TDValves(self.can_interface, self.logger) self.voltages = TDVoltages(self.can_interface, self.logger) self.dd_proxy = DDProxy(self.can_interface, self.logger) self.ui_proxy = UIProxy(self.can_interface, self.logger) @publish(["msg_id_td_debug_event", "td_debug_events_timestamp","td_debug_events"]) def _handler_td_debug_event_sync(self, message, timestamp = 0.0): payload = message['message'] message_length = payload[self._TD_DEBUG_EVENT_MSG_LEN_INDEX] temp_message = '' index = MsgFieldPositions.START_POS_FIELD_1 for i in range(0, message_length): # Loop through the length and get the char, char_index = bytearray_to_byte(payload, index + i, False) temp_message += chr(char) self.td_debug_events_timestamp = timestamp self.td_debug_events.insert(self.td_debug_event_index, temp_message) self.td_last_debug_event = temp_message self.td_debug_event_index += 1 if self.td_debug_event_index == self._TD_DEBUG_EVENT_LIST_COUNT: self.td_debug_event_index = 0 @publish(["td_logged_in"]) def td_set_logged_in_status(self, logged_in: bool = False): """ Callback for td logged in status change. @param logged_in boolean logged in status for TD @return: none """ self.td_logged_in = logged_in @publish(["msg_id_td_op_mode_data", "td_op_mode_timestamp","td_operation_mode", "td_operation_sub_mode"]) def _handler_td_op_mode_sync(self, message, timestamp = 0.0): """ Handles published TD operation mode messages. Current TD operation mode is captured for reference. @param message: published TD operation mode broadcast message @return: None """ mode = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) smode = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) self.td_operation_mode = mode[0] self.td_operation_sub_mode = smode[0] self.td_op_mode_timestamp = timestamp @publish(["msg_id_td_version_response", "td_version, td_fpga_version"]) def _handler_td_version_response_sync(self,message, timestamp = 0.0): """ Handler for response from TD regarding its version. @param message: version response message from TD.\n @return: None if not successful, the version string if unpacked successfully """ major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): self.td_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" self.logger.debug(f"TD VERSION: {self.td_version}") if all([len(each) > 0 for each in [fpga_id, fpga_major, fpga_minor, fpga_lab]]): self.td_fpga_version = f"v{fpga_id[0]}.{fpga_major[0]}.{fpga_minor[0]}-{fpga_lab[0]}" self.logger.debug(f"TD FPGA VERSION: {self.td_fpga_version}") self.td_version_response_timestamp = timestamp @publish(["msg_id_ui_version_info_response", "ui_version", "ui_version_info_response_timestamp"]) def _handler_ui_version_response_sync(self,message, timestamp = 0.0): """ Handler for response from TD regarding its version. @param message: response message from TD regarding valid treatment parameter ranges.\n U08 Major \n U08 Minor \n U08 Micro \n U16 Build \n U32 Compatibility revision @return: None if not successful, the version string if unpacked successfully """ major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): self.ui_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" self.logger.debug(f"UI VERSION: {self.ui_version}") else: self.ui_version = None self.logger.debug("Failed to retrieve UI Version.") def cmd_log_in_to_td(self, resend: bool = False) -> int: """ Constructs and sends a login command via CAN bus. Login required before \n other commands can be sent to the TD. @param resend: (bool) if False (default), try to login once. Otherwise, tries to login indefinitely @return: 1 if logged in, 0 if log in failed """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.TD_LOGIN_PASSWORD)))) self.logger.debug("Logging in...") # Send message received_message = self.can_interface.send(message, resend=resend) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Success: Logged In") self.td_set_logged_in_status(True) #self._send_td_checkin_message() # Timer starts interval first #self.can_interface.transmit_interval_dictionary[self.callback_id].start() else: self.logger.debug("Failure: Log In Failed.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Login Timeout!!!!") return False def cmd_td_set_operation_mode(self, new_mode: int = 0) -> int: """ Constructs and sends a set operation mode request command via CAN bus. Constraints: Must be logged into TD. Transition from current to requested op mode must be legal. NOTE: for POST the TD device shall be in Standby Mode @param new_mode: ID of operation mode to transition to TD_OP_MODE_FAULT = 0 TD_OP_MODE_SERVICE = 1 TD_OP_MODE_INIT_POST = 2 TD_OP_MODE_STANDBY = 3 TD_OP_MODE_TREATMENT_PARAMS = 4 TD_OP_MODE_PRE_TREATMENT = 5 TD_OP_MODE_TREATMENT = 6 TD_OP_MODE_POST_TREATMENT = 7 @return: 1 if successful, zero otherwise """ payload = integer_to_bytearray(new_mode) message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_OP_MODE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Requesting TD mode change to " + str(new_mode)) # Send message received_message = self.can_interface.send(message) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Success: Mode change accepted") else: self.logger.debug("Failure: Mode change rejected.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("TD mode change request Timeout!!!!") return False def cmd_td_software_reset_request(self) -> None: """ Constructs and sends an TD software reset request via CAN bus. Constraints: Must be logged into TD. @return: None """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_SOFTWARE_RESET_REQUEST.value) self.logger.debug("requesting TD software reset") # Send message self.can_interface.send(message, 0) self.logger.debug("Sent request to TD to reset...") self.td_set_logged_in_status(False) def cmd_request_ui_version(self) -> None: """ Constructs and sends a ui version request to the TD. @return: none """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_UI_VERSION_INFO_REQUEST.value) self.logger.debug("Sending an UI version request to the TD.") self.can_interface.send(message, 0) def cmd_training_test_override(self, value: int, reset: int = NO_RESET) -> int: """ Constructs and sends a training test override request to the TD. @param value: integer - test value 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) val = integer_to_bytearray(value) payload = rst + val message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_TRAINING_TEST_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Sending a training test override request to the TD.") 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(val) + " value: " self.logger.debug("Training test value 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 def cmd_op_mode_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured op mode 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 """ 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_td_ch_id, message_id=MsgIds.MSG_ID_TD_OP_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override op mode 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(ms) + " ms: " self.logger.debug("Blood flow broadcast interval 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 def cmd_td_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: """ Constructs and sends an TD safety shutdown override command via CAN bus. Constraints: Must be logged into TD. @param active: int - True to activate safety shutdown, False to deactivate @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) saf = integer_to_bytearray(active) payload = rst + saf message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_SAFETY_SHUTDOWN_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("overriding TD safety shutdown") # Send message received_message = self.can_interface.send(message) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Safety shutdown signal overridden") else: self.logger.debug("Safety shutdown signal override failed.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False