########################################################################### # # Copyright (c) 2019-2021 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 accelerometer.py # # @author (last) Quang Nguyen # @date (last) 05-Aug-2021 # @author (original) Sean Nash # @date (original) 29-Jul-2020 # ############################################################################ import struct from logging import Logger from .constants import RESET, NO_RESET from ..common.msg_defs import MsgIds, MsgFieldPositions from ..protocols.CAN import DenaliMessage, DenaliChannels from ..utils.base import AbstractSubSystem, publish from ..utils.checks import check_broadcast_interval_override_ms from ..utils.conversions import integer_to_bytearray, float_to_bytearray class HDAccelerometer(AbstractSubSystem): """ Hemodialysis Delivery (HD) Dialin API sub-class for accelerometer related commands. """ # Vector axes class AccelerometerVector: def __init__(self, x=0.0, y=0.0, z=0.0): """ HDAccelerometer constructor """ self.x = x self.y = y self.z = z def __repr__(self): return "{0}: ({1},{2},{3})".format(self.__class__.__name__, self.x, self.y, self.z) # Vector axes VECTOR_AXIS_X = 0 VECTOR_AXIS_Y = 1 VECTOR_AXIS_Z = 2 def __init__(self, can_interface, logger: Logger): """ HDAccelerometer constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.hd_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_HD_ACCELEROMETER_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_accelerometer_sync) self.vector = self.AccelerometerVector() self.vector_max = self.AccelerometerVector() self.tilts = self.AccelerometerVector() def get_accel_vector(self): """ Gets the accelerometer vector. @return: (vector) The vector from the accelerometer """ return self.vector def get_accel_max_vector(self): """ Gets the accelerometer maximum vector. @return: (vector) The max. vector from the accelerometer """ return self.vector_max def get_accel_tilts(self): """ Gets the tilt angles from the accelerometer. @return: (vector) The X, Y, and Z tilt angles. """ return self.tilts @publish([ "vector", "vector_max", "tilts" ]) def _handler_accelerometer_sync(self, message): """ Handles published accelerometer data messages. Accelerometer data are captured for reference. @param message: published accelerometer data message @return: none """ x = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) y = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) z = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) self.vector = self.AccelerometerVector(x[0], y[0], z[0]) x = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) y = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) z = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) self.vector_max = self.AccelerometerVector(x[0], y[0], z[0]) x = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) y = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) z = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) self.tilts = self.AccelerometerVector(x[0], y[0], z[0]) def cmd_accel_vector_override(self, axis: int, mag: float, reset: int = NO_RESET) -> int: """ Constructs and sends the accelerometer vector override command Constraints: Must be logged into HD. @param axis: integer - accelerometer axis to override @param mag: float - axis magnitude (in g) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) sta = float_to_bytearray(mag) idx = integer_to_bytearray(axis) payload = rst + sta + idx message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_ACCEL_OVERRIDE.value, payload=payload) self.logger.debug("override HD accelerometer axis magnitude") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: if reset == RESET: str_res = "reset back to normal. " else: str_res = str(mag) + " g. " self.logger.debug("Accelerometer axis " + str(axis) + " overridden to " + str_res + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_accel_max_vector_override(self, axis: int, mag: float, reset: int = NO_RESET) -> int: """ Constructs and sends the accelerometer maximum vector override command Constraints: Must be logged into HD. @param axis: integer - accelerometer axis to override @param mag: float - axis magnitude (in g) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) sta = float_to_bytearray(mag) idx = integer_to_bytearray(axis) payload = rst + sta + idx message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_ACCEL_MAX_OVERRIDE.value, payload=payload) self.logger.debug("override HD accelerometer axis maximum magnitude") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: if reset == RESET: str_res = "reset back to normal. " else: str_res = str(mag) + " g. " self.logger.debug("Accelerometer max. axis " + str(axis) + " overridden to " + str_res + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_accel_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the accelerometer broadcast interval override command Constraints: Must be logged into HD. Given interval must be non-zero and a multiple of the HD 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 rst = integer_to_bytearray(reset) mis = integer_to_bytearray(ms) payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_ACCEL_SEND_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override HD accelerometer broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: if reset == RESET: str_res = "reset back to normal: " else: str_res = str(ms) + " ms: " self.logger.debug("Accelerometer broadcast interval overridden to " + str_res + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False