########################################################################### # # 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.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 @unique class DialysatePumpsEnum(DialinEnum): D12_PUMP = 0 D48_PUMP = 1 @unique class DDDialysatePumpsStates(DialinEnum): DIALYSATE_PUMP_OFF_STATE = 0 DIALYSATE_PUMP_RAMP_UP_STATE = 1 DIALYSATE_PUMP_CONTROL_TO_TARGET_STATE = 2 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 msg_id = MsgIds.MSG_ID_DIALYSATE_PUMPS_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_dialysate_pumps_sync) self.d12_pump_target_rpm_fresh = 0.0 self.d48_pump_target_rpm_spent = 0.0 self.d12_pump_measured_spd_fresh = 0.0 self.d48_pump_measured_spd_spent = 0.0 self.d12_pump_current_spd_fresh = 0.0 self.d48_pump_current_spd_spent = 0.0 self.d12_pump_state_fresh = 0 self.d48_pump_state_spent = 0 self.d12_pump_tgt_pressure_fresh = 0.0 self.d48_pump_tgt_pressure_spent = 0.0 self.d12_pump_measured_pressure_fresh = 0.0 self.d48_pump_measured_pressure_spent = 0.0 self.d12_pump_measured_current_fresh = 0.0 self.d48_pump_measured_current_spent = 0.0 self.d12_pump_control_fresh = 0 self.d48_pump_control_spent = 0 self.d12_pump_dir_err_cnt_fresh = 0 self.d48_pump_dir_err_cnt_spent = 0 self.d12_pump_measured_dir_fresh = 0 self.d48_pump_measured_dir_spent = 0 self.dd_dialysate_pump_timestamp = 0 @publish(["dd_dialysate_pump_timestamp", "d12_pump_target_rpm_fresh","d48_pump_target_rpm_spent", "d12_pump_measured_spd_fresh","d48_pump_measured_spd_spent", "d12_pump_current_spd_fresh","d48_pump_current_spd_spent", "d12_pump_state_fresh","d48_pump_state_spent", "d12_pump_tgt_pressure_fresh","d48_pump_tgt_pressure_spent", "d12_pump_measured_pressure_fresh","d48_pump_measured_pressure_spent", "d12_pump_measured_current_fresh","d48_pump_measured_current_spent", "d12_pump_control_fresh","d48_pump_control_spent", "d12_pump_dir_err_cnt_fresh","d48_pump_dir_err_cnt_spent", "d12_pump_measured_dir_fresh","d48_pump_measured_dir_spent", ]) 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.dial_pump_target_rpm_fresh = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.dial_pump_target_rpm_spent = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.dial_pump_measured_spd_fresh = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.dial_pump_measured_spd_spent = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.dial_pump_current_spd_fresh = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.dial_pump_current_spd_spent = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.dial_pump_state_fresh = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.dial_pump_state_spent = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.dial_pump_tgt_pressure_fresh = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] self.dial_pump_tgt_pressure_spent = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10]))[0] self.dial_pump_measured_pressure_fresh = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11]))[0] self.dial_pump_measured_pressure_spent = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12]))[0] self.dial_pump_measured_current_fresh = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_13:MsgFieldPositions.END_POS_FIELD_13]))[0] self.dial_pump_measured_current_spent = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_14:MsgFieldPositions.END_POS_FIELD_14]))[0] self.dial_pump_control_fresh = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_15:MsgFieldPositions.END_POS_FIELD_15]))[0] self.dial_pump_control_spent = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_16:MsgFieldPositions.END_POS_FIELD_16]))[0] self.dial_pump_dir_err_cnt_fresh = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_17:MsgFieldPositions.END_POS_FIELD_17]))[0] self.dial_pump_dir_err_cnt_spent = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_18:MsgFieldPositions.END_POS_FIELD_18]))[0] self.dial_pump_measured_dir_fresh = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_19:MsgFieldPositions.END_POS_FIELD_19]))[0] self.dial_pump_measured_dir_spent = 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 ) -> 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) payload = pmp + cmd + rpm 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