########################################################################### # # 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.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 HeatersStartStop(DialinEnum): STOP = 0 START = 1 @unique class HeatersState(DialinEnum): HEATER_EXEC_STATE_OFF = 0 HEATER_EXEC_STATE_RAMP_TO_TARGET = 1 HEATER_EXEC_STATE_CONTROL_TO_TARGET = 2 HEATER_EXEC_STATE_CONTROL_TO_DISINFECT_TARGET = 3 NUM_OF_HEATERS_STATE = 4 @unique class HeatersNames(DialinEnum): D5_HEAT = 0 D45_HEAT = 1 NUM_OF_DD_HEATERS = 2 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.d5_heat_duty_cycle = 0.0 self.d45_heat_duty_cycle = 0.0 self.d5_heat_target_temperature = 0.0 self.d45_heat_target_temperature = 0.0 self.d5_heat_state = 0 self.d45_heat_state = 0 self.d5_heat_control_counter = 0 self.d45_heat_control_counter = 0 self.dd_heaters_timestamp = 0.0 #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 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", "d5_heat_duty_cycle","d45_heat_duty_cycle", "d5_heat_target_temperature","d45_heat_target_temperature", "d5_heat_state","d45_heat_state", "d5_heat_control_counter","d45_heat_control_counter"]) def _handler_heaters_sync(self, message, timestamp=0.0): """ Handles published DD heaters message @param message: published DD heaters data message @returns none """ self.d5_heat_duty_cycle = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.d45_heat_duty_cycle = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.d5_heat_target_temperature = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.d45_heat_target_temperature = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.d5_heat_state = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.d45_heat_state = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.d5_heat_control_counter = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.d45_heat_control_counter = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.dbg1 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] self.dbg2 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10]))[0] self.dbg3 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11]))[0] self.dbg4 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12]))[0] self.dbg5 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_13:MsgFieldPositions.END_POS_FIELD_13]))[0] self.dbg6 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_14:MsgFieldPositions.END_POS_FIELD_14]))[0] self.dbg7 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_15:MsgFieldPositions.END_POS_FIELD_15]))[0] self.dbg8 = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_16:MsgFieldPositions.END_POS_FIELD_16]))[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