########################################################################### # # 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 dialysate_pump.py # # @author (last) Micahel Garthwaite # @date (last) 07-Mar-2023 # @author (original) Micahel Garthwaite # @date (original) 29-Oct-2020 # ############################################################################ import struct from enum import unique from logging import Logger from .constants import RESET, NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.common.dd_defs import DDDialysatePumpsEnum, DDDialysatePumpAttributesEnum, DDDialysatePumpsStates from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray class DDDialysatePumps(AbstractSubSystem): """ DialysatePumps Dialysate Delivery (DD) Dialin API sub-class for dialysate pumps related commands. """ 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.dd_sync_broadcast_ch_id self.msg_id_dd_dialysate_pumps_data = MsgIds.MSG_ID_DIALYSATE_PUMPS_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_dialysate_pumps_data, self._handler_dialysate_pumps_sync) self.dd_dialysate_pumps = { DDDialysatePumpsEnum.D12_PUMP.name: { DDDialysatePumpAttributesEnum.TARGET_RPM.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_SPEED.name: 0.0, DDDialysatePumpAttributesEnum.CURRENT_SPEED.name: 0.0, DDDialysatePumpAttributesEnum.STATE.name: 0.0, DDDialysatePumpAttributesEnum.TARGET_PRESSURE.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_PRESSURE.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_CURRENT.name: 0.0, DDDialysatePumpAttributesEnum.CONTROL.name: 0.0, DDDialysatePumpAttributesEnum.DIRECTION_ERROR_COUNT.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_DIRECTION.name: 0.0 }, DDDialysatePumpsEnum.D48_PUMP.name: { DDDialysatePumpAttributesEnum.TARGET_RPM.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_SPEED.name: 0.0, DDDialysatePumpAttributesEnum.CURRENT_SPEED.name: 0.0, DDDialysatePumpAttributesEnum.STATE.name: 0.0, DDDialysatePumpAttributesEnum.TARGET_PRESSURE.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_PRESSURE.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_CURRENT.name: 0.0, DDDialysatePumpAttributesEnum.CONTROL.name: 0.0, DDDialysatePumpAttributesEnum.DIRECTION_ERROR_COUNT.name: 0.0, DDDialysatePumpAttributesEnum.MEASURED_DIRECTION.name: 0.0 } } self.dd_dialysate_pump_timestamp = 0 @publish(["msg_id_dd_dialysate_pumps_data", "dd_dialysate_pump_timestamp", "dd_dialysate_pumps"]) def _handler_dialysate_pumps_sync(self, message, timestamp=0.0): """ Handles published dialysate pumps' data messages. Dialysate pumps' speed data are captured for reference. @param message: published dialysate pumps' data message @return: None """ self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.TARGET_RPM.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.TARGET_RPM.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_SPEED.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_SPEED.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.CURRENT_SPEED.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.CURRENT_SPEED.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.TARGET_PRESSURE.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.TARGET_PRESSURE.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_PRESSURE.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_PRESSURE.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_CURRENT.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_13:MsgFieldPositions.END_POS_FIELD_13])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_CURRENT.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_14:MsgFieldPositions.END_POS_FIELD_14])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.CONTROL.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_15:MsgFieldPositions.END_POS_FIELD_15])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.CONTROL.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_16:MsgFieldPositions.END_POS_FIELD_16])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.DIRECTION_ERROR_COUNT.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_17:MsgFieldPositions.END_POS_FIELD_17])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.DIRECTION_ERROR_COUNT.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_18:MsgFieldPositions.END_POS_FIELD_18])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D12_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_DIRECTION.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_19:MsgFieldPositions.END_POS_FIELD_19])))[0] self.dd_dialysate_pumps[DDDialysatePumpsEnum.D48_PUMP.name][DDDialysatePumpAttributesEnum.MEASURED_DIRECTION.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_20:MsgFieldPositions.END_POS_FIELD_20])))[0] self.dd_dialysate_pump_timestamp = timestamp def cmd_dialysate_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate pump data broadcast interval override command Constraints: Must be logged into DD. Given interval must be non-zero and a multiple of the DD 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 reset_byte_array = integer_to_bytearray(reset) ms_byte_array = integer_to_bytearray(ms) payload = reset_byte_array + ms_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override DD dialysate pump data broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_dialysate_pump_target_speed_override(self, pump_id: int, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate pump target speed override command @param pump_id: unsigned int - dialysate pump ID @param speed: float - target speed value to override pump 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) speed_byte_array = float_to_bytearray(speed) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + speed_byte_array + pump_id_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_TARGET_SPEED_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override target speed: " + str(speed) + " - for pump: " + str(pump_id)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_dialysate_pump_measured_speed_override(self, pump_id: int, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate pump target speed override command @param pump_id: unsigned int - concentrate pump ID @param speed: float - target speed value to override pump 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) speed_byte_array = float_to_bytearray(speed) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + speed_byte_array + pump_id_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_MEASURED_SPEED_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override target speed: " + str(speed) + " - for pump: " + str(pump_id)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_dialysate_pump_target_pressure_override(self, pump_id: int, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate pump target speed override command @param pump_id: unsigned int - concentrate pump ID @param pressure: float - target speed value to override dialysate pump 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) pressure_byte_array = float_to_bytearray(pressure) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + pressure_byte_array + pump_id_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_TARGET_PRESSURE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override target speed: " + str(pressure) + " - for pump: " + str(pump_id)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_dialysate_pump_measured_current_override(self, pump_id: int, current: float, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate pump measured current override command @param pump_id: unsigned int - concentrate pump ID @param current: float - target speed value to override dialysate pump 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) current_byte_array = float_to_bytearray(current) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + current_byte_array + pump_id_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_MEASURED_CURRENT_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override target speed: " + str(current) + " - for pump: " + str(pump_id)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_dialysate_pump_measured_direction_override(self, pump_id: int, direction: float, reset: int = NO_RESET) -> int: """ Constructs and sends the dialysate pump measured direction override command @param pump_id: unsigned int - concentrate pump ID @param direction: float - target speed value to override pump 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) direction_byte_array = float_to_bytearray(direction) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + direction_byte_array + pump_id_byte_array message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_MEASURED_DIRECTION_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override target speed: " + str(direction) + " - for pump: " + str(pump_id)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False def cmd_dialysate_set_start_stop(self, pump_id: int, command: int, speed: int, control: int ) -> int: """ Constructs and sends the dialysate pump start stop command @param pump_id: unsigned int - dialysate pump ID @param command: int - value to command the dialysate pump @param speed: integer - rpm to set the speed to @return: 1 if successful, zero otherwise """ pmp = integer_to_bytearray(pump_id) cmd = integer_to_bytearray(command) rpm = integer_to_bytearray(speed) ctl = integer_to_bytearray(control) payload = pmp + cmd + rpm + ctl message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_DIALYSATE_PUMPS_START_STOP_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("setting " + str(cmd) + " - for pump: " + str(pump_id)) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.error("Timeout!!!!") return False