########################################################################### # # 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 piston_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 DDPistonPumpsEnum, DDPistonPumpAttributesEnum 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 DDPistonPumps(AbstractSubSystem): """ DDPistonPumps Dialysate Delivery (DD) Dialin API sub-class for piston 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_piston_pump_control_data = MsgIds.MSG_ID_DD_PISTON_PUMP_CONTROL_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_piston_pump_control_data, self._handler_piston_pumps_sync) self.dd_piston_pumps = { DDPistonPumpsEnum.ACID.name: { DDPistonPumpAttributesEnum.CONTROL_STATE.name: 0, DDPistonPumpAttributesEnum.SW_COUNTER.name: 0, DDPistonPumpAttributesEnum.CYCLE_COUNTER.name: 0 }, DDPistonPumpsEnum.BICARB.name: { DDPistonPumpAttributesEnum.CONTROL_STATE.name: 0, DDPistonPumpAttributesEnum.SW_COUNTER.name: 0, DDPistonPumpAttributesEnum.CYCLE_COUNTER.name: 0 }, DDPistonPumpsEnum.UF.name: { DDPistonPumpAttributesEnum.CONTROL_STATE.name: 0, DDPistonPumpAttributesEnum.SW_COUNTER.name: 0, DDPistonPumpAttributesEnum.CYCLE_COUNTER.name: 0 } } self.dd_piston_pump_timestamp = 0.0 @publish(["msg_id_dd_piston_pump_control_data", "dd_piston_pumps", "dd_piston_pump_timestamp"]) def _handler_piston_pumps_sync(self, message, timestamp=0.0): """ Handles published piston pumps' data messages. Piston pumps' data are captured for reference. @param message: published piston pumps' data message @return: None """ self.dd_piston_pumps[DDPistonPumpsEnum.ACID.name][DDPistonPumpAttributesEnum.CONTROL_STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.BICARB.name][DDPistonPumpAttributesEnum.CONTROL_STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.UF.name][DDPistonPumpAttributesEnum.CONTROL_STATE.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.ACID.name][DDPistonPumpAttributesEnum.SW_COUNTER.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.BICARB.name][DDPistonPumpAttributesEnum.SW_COUNTER.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.UF.name][DDPistonPumpAttributesEnum.SW_COUNTER.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.ACID.name][DDPistonPumpAttributesEnum.CYCLE_COUNTER.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.BICARB.name][DDPistonPumpAttributesEnum.CYCLE_COUNTER.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])))[0] self.dd_piston_pumps[DDPistonPumpsEnum.UF.name][DDPistonPumpAttributesEnum.CYCLE_COUNTER.name] = ( struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])))[0] self.dd_piston_pump_timestamp = timestamp def cmd_piston_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the piston 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_PISTON_PUMP_DATA_PUBLISH_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override DD piston 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_piston_set_start_stop_override(self, pump_id: int, command: int, count: int, flow_rate: float, volume: float ) -> int: """ Constructs and sends the piston pump start stop command @param pump_id: unsigned int - concentrate pump ID @param command: int - value to command the concentrate pump @param count: int - vale to set the cycle count to @param flow_rate: float - ml/min to set the speed to @param volume: float - the volume to set to @return: 1 if successful, zero otherwise """ pmp = integer_to_bytearray(pump_id) cmd = integer_to_bytearray(command) cyc = integer_to_bytearray(count) spd = float_to_bytearray(flow_rate) vlm = float_to_bytearray(volume) payload = pmp + cmd + cyc + vlm + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_PISTON_PUMP_START_STOP_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("setting " + str(spd) + " - 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_piston_pump_fill_after_dispense_override(self, fill: bool, reset: int = NO_RESET) -> int: """ Constructs and sends the piston pump fill after dispense override command Constraints: Must be logged into DD. @param fill: integer - 0 = false, 1 = true to override piston pump fill @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) fl = integer_to_bytearray(fill) payload = reset_byte_array + fl message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, message_id=MsgIds.MSG_ID_DD_PISTON_PUMP_FILL_AFTER_DISPENSE_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override DD piston pump fill after dispense.") # 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