########################################################################### # # 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 heaters.py # # @author (last) Michael Garthwaite # @date (last) 28-Oct-2024 # @author (original) Dara Navaei # @date (original) 29-May-2020 # ############################################################################ import struct from enum import unique from logging import Logger from .constants import NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.common.dd_defs import HeatersStartStop, HeatersState, HeatersNames, HeatersAttributesEnum 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 DDHeaters(AbstractSubSystem): """ Dialysate Delivery (DD) Dialin API sub-class for heaters 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 self.dd_heaters = { HeatersNames.D5_HEAT.name: { HeatersAttributesEnum.HEAT_DUTY_CYCLE.name: 0.0, HeatersAttributesEnum.HEAT_TARGET_TEMP.name: 0.0, HeatersAttributesEnum.HEAT_STATE.name: 0, HeatersAttributesEnum.DUTY_CYCLE_COUNT.name: 0.0, HeatersAttributesEnum.PWM_PERIOD.name: 0.0, HeatersAttributesEnum.ADJUSTED_TARGET_TEMP.name: 0.0, HeatersAttributesEnum.TARGET_TEMP_TD.name: 0.0 }, HeatersNames.D45_HEAT.name: { HeatersAttributesEnum.HEAT_DUTY_CYCLE.name: 0.0, HeatersAttributesEnum.HEAT_TARGET_TEMP.name: 0.0, HeatersAttributesEnum.HEAT_STATE.name: 0, HeatersAttributesEnum.DUTY_CYCLE_COUNT.name: None, # D45 Heater doesn't use this attribute HeatersAttributesEnum.PWM_PERIOD.name: None, # D45 Heater doesn't use this attribute HeatersAttributesEnum.ADJUSTED_TARGET_TEMP.name: None, # D45 Heater doesn't use this attribute HeatersAttributesEnum.TARGET_TEMP_TD.name: None # D45 Heater doesn't use this attribute } } #Temp Heater Debugging published fields self.dbg1 = 0.0 self.dbg2 = 0.0 self.dbg3 = 0.0 self.dbg4 = 0.0 self.dbg5 = 0.0 self.dbg6 = 0.0 self.dbg7 = 0.0 self.dbg8 = 0.0 self.dbg9 = 0.0 self.dd_heaters_timestamp = 0.0 if self.can_interface is not None: channel_id = DenaliChannels.dd_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_DD_HEATERS_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_heaters_sync) @publish(["dd_heaters_timestamp", "dd_heaters"]) def _handler_heaters_sync(self, message, timestamp=0.0): """ Handles published DD heaters message @param message: published DD heaters data message @returns none """ self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.HEAT_DUTY_CYCLE.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])))[0] self.dd_heaters[HeatersNames.D45_HEAT.name][HeatersAttributesEnum.HEAT_DUTY_CYCLE.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])))[0] self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.HEAT_TARGET_TEMP.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])))[0] self.dd_heaters[HeatersNames.D45_HEAT.name][HeatersAttributesEnum.HEAT_TARGET_TEMP.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])))[0] self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.HEAT_STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])))[0] self.dd_heaters[HeatersNames.D45_HEAT.name][HeatersAttributesEnum.HEAT_STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])))[0] self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.DUTY_CYCLE_COUNT.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])))[0] self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.PWM_PERIOD.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])))[0] self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.ADJUSTED_TARGET_TEMP.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])))[0] self.dd_heaters[HeatersNames.D5_HEAT.name][HeatersAttributesEnum.TARGET_TEMP_TD.name] = ( struct.unpack('f', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10])))[0] self.dbg1 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11]))[0] self.dbg2 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12]))[0] self.dbg3 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_13:MsgFieldPositions.END_POS_FIELD_13]))[0] self.dbg4 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_14:MsgFieldPositions.END_POS_FIELD_14]))[0] self.dbg5 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_15:MsgFieldPositions.END_POS_FIELD_15]))[0] self.dbg6 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_16:MsgFieldPositions.END_POS_FIELD_16]))[0] self.dbg7 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_17:MsgFieldPositions.END_POS_FIELD_17]))[0] self.dbg8 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_18:MsgFieldPositions.END_POS_FIELD_18]))[0] self.dbg9 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_19:MsgFieldPositions.END_POS_FIELD_19]))[0] self.dg_heaters_timestamp = timestamp def cmd_heaters_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends broadcast time interval. 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: (int) Publish time interval in ms @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ if not check_broadcast_interval_override_ms(ms): return False reset_value = integer_to_bytearray(reset) interval_value = integer_to_bytearray(ms) payload = reset_value + interval_value message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_HEATERS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Sending {} ms publish interval to the Heaters module".format(ms)) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_heater_duty_cycle_override(self, heater: int, duty_cycle: float, reset: int = NO_RESET) -> int: """ Constructs and sends heater duty cycle override command Must be logged into DD @param heater the heater to override its value @param duty_cycle the duty cycle value to override in percent @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ reset_value = integer_to_bytearray(reset) heater_name = integer_to_bytearray(heater) duty = float_to_bytearray(duty_cycle/100) payload = reset_value + duty + heater_name message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_HEATERS_DUTY_CYCLE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("Overriding {} heater's duty cycle to {:5.3f} %".format(HeatersNames(heater).name, duty_cycle)) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_heater_start_stop_override(self, heater: int, command: int, temperature: float) -> int: """ Constructs and sends heater start stop override @param heater the heater to override its value @param command the heater to start or stop @param temperature: float - temp to set to @returns 1 if successful, zero otherwise """ htr = integer_to_bytearray(heater) cmd = integer_to_bytearray(command) tmp = float_to_bytearray(temperature) payload = htr + cmd + tmp message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_HEATERS_START_STOP_OVERRIDE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_heater_target_temperature_override(self, heater: int, temperature: float, reset: int) -> int: """ Constructs and sends heater set target temperture override @param heater the heater to override its value (primary, trimmer) (0-1.0 order) @param temperature: float - temp to set to @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ htr = integer_to_bytearray(heater) tmp = float_to_bytearray(temperature) rst = integer_to_bytearray(reset) payload = rst + tmp + htr message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_HEATERS_TARGET_TEMPERATURE_OVERRIDE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_heater_pwm_period_override(self, heater: int, period: float, reset: int) -> int: """ Constructs and sends heater pwm period override @param heater the heater to override its value (primary, trimmer) (0-1.0 order) @param period: float - period to set to @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ htr = integer_to_bytearray(heater) prd = float_to_bytearray(period) rst = integer_to_bytearray(reset) payload = rst + prd + htr message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_HEATERS_PWM_PERIOD_OVERRIDE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content in message if received_message is not None: # Response payload is OK or not return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False