########################################################################### # # 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 blood_flow.py # # @author (last) Sean Nash # @date (last) 12-Nov-2021 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from logging import Logger from .constants import PUMP_CONTROL_MODE_CLOSED_LOOP, PUMP_CONTROL_MODE_OPEN_LOOP 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 HDBloodFlow(AbstractSubSystem): """ Hemodialysis Device (HD) Dialin API sub-class for blood-flow related commands. """ def __init__(self, can_interface, logger: Logger): """ HD_BloodFlow 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_BLOOD_FLOW_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_blood_flow_sync) self.target_blood_flow_rate = 0 self.measured_blood_flow_rate = 0.0 self.measured_blood_pump_rotor_speed = 0.0 self.measured_blood_pump_speed = 0.0 self.measured_blood_pump_mc_speed = 0.0 self.measured_blood_pump_mc_current = 0.0 self.pwm_duty_cycle_pct = 0.0 self.rotor_count = 0 def get_target_blood_flow_rate(self): """ Gets the target blood flow rate @return: The target blood flow rate """ return self.target_blood_flow_rate def get_measured_blood_flow_rate(self): """ Gets the measured blood flow rate @return: the measured blood flow rate """ return self.measured_blood_flow_rate def get_measured_blood_pump_rotor_speed(self): """ Gets the measured blood pump rotor speed @return: The measured blood pump rotor speed """ return self.measured_blood_pump_rotor_speed def get_measured_blood_pump_speed(self): """ Gets the measured blood pump speed @return: the measured blood pump speed """ return self.measured_blood_pump_speed def get_measured_blood_pump_motor_controller_speed(self): """ Gets the measured blood pump motor controller speed @return: The measured blood pump motor controller speed """ return self.measured_blood_pump_mc_speed def get_measured_blood_pump_motor_controller_current(self): """ Gets the measured blood pump motor controller current @return: the measured blood pump motor controller current """ return self.measured_blood_pump_mc_current def get_pwm_duty_cycle_pct(self): """ Gets the pwm duty cycle pct @return: the pwm duty cycle pct (0..100) """ return self.pwm_duty_cycle_pct def get_rotor_count(self): """ Gets the blood pump rotor count (since cartridge installed) @return: the blood pump rotor count """ return self.rotor_count @publish(["target_blood_flow_rate", "measured_blood_flow_rate", "measured_blood_pump_rotor_speed", "measured_blood_pump_speed", "measured_blood_pump_mc_speed", "measured_blood_pump_mc_current", "pwm_duty_cycle_pct", "flow_signal_strength"]) def _handler_blood_flow_sync(self, message): """ Handles published blood flow data messages. Blood flow data are captured for reference. @param message: published blood flow data message @return: none """ tgt = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) flow = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) rotor = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) speed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) mcspeed = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) mccurr = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) pwm = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) rot = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) self.target_blood_flow_rate = tgt[0] self.measured_blood_flow_rate = flow[0] self.measured_blood_pump_rotor_speed = rotor[0] self.measured_blood_pump_speed = speed[0] self.measured_blood_pump_mc_speed = mcspeed[0] self.measured_blood_pump_mc_current = mccurr[0] self.pwm_duty_cycle_pct = pwm[0] self.rotor_count = rot[0] def cmd_blood_flow_set_point_override(self, flow: int, mode: int = PUMP_CONTROL_MODE_CLOSED_LOOP, reset: int = NO_RESET) -> int: """ Constructs and sends the blood flow set point override command Constraints: Must be logged into HD. Given flow rate must be valid (<= +/-500 mL/min). @param flow: integer - flow set point (in mL/min) to override with (negative for reverse direction) @param mode: integer - 0 for closed loop control mode or 1 for open loop control mode @param reset: integer - N/A @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) flo = integer_to_bytearray(flow) mod = integer_to_bytearray(mode) payload = rst + flo + mod message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_FLOW_SET_PT_OVERRIDE.value, payload=payload) self.logger.debug("override blood flow set point") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(flow) if mode == PUMP_CONTROL_MODE_OPEN_LOOP: str_mode = " (open loop): " else: str_mode = " (closed loop): " self.logger.debug( "Blood flow set point overridden to " + str_res + " mL/min" + str_mode + 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_blood_flow_measured_override(self, flow: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood flow override command Constraints: Must be logged into HD. @param flow: integer - measured flow (in mL/min) 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) flo = float_to_bytearray(flow) payload = rst + flo message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_FLOW_MEAS_OVERRIDE.value, payload=payload) self.logger.debug("override measured blood flow") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(flow) self.logger.debug("Blood flow (measured)) overridden to " + str_res + " mL/min: " + 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_blood_pump_measured_motor_controller_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump motor controller speed \n override command. Constraints: Must be logged into HD. @param speed: integer - speed (in RPM) 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) spd = float_to_bytearray(speed) payload = rst + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_PUMP_MC_MEAS_SPEED_OVERRIDE.value, payload=payload) self.logger.debug("override measured blood pump motor controller speed") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) self.logger.debug("Blood pump MC speed (measured) overridden to " + str_res + " RPM: " + 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_blood_pump_measured_motor_controller_current_override(self, curr: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump motor controller current override command Constraints: Must be logged into HD. @param curr: float - current (in mA) 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) cur = float_to_bytearray(curr) payload = rst + cur message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_PUMP_MC_MEAS_CURR_OVERRIDE.value, payload=payload) self.logger.debug("override measured blood pump motor controller current") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(curr) self.logger.debug("Blood pump MC current (measured) overridden to " + str_res + " mA: " + 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_blood_pump_measured_motor_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump motor speed override \n command. Constraints: Must be logged into HD. @param speed: integer - speed (in RPM) 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) spd = float_to_bytearray(speed) payload = rst + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_PUMP_MEAS_SPEED_OVERRIDE.value, payload=payload) self.logger.debug("override measured blood pump speed") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) self.logger.debug("Blood pump speed (measured) overridden to " + str_res + " RPM: " + 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_blood_pump_measured_rotor_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump rotor speed override \n command. Constraints: Must be logged into HD. @param speed: integer - speed (in RPM) 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) spd = float_to_bytearray(speed) payload = rst + spd message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_PUMP_MEAS_ROTOR_SPEED_OVERRIDE.value, payload=payload) self.logger.debug("override measured blood pump rotor speed") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) self.logger.debug("Blood pump rotor speed (measured) overridden to " + str_res + " RPM: " + 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_blood_flow_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood flow 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_BLOOD_FLOW_SEND_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override blood flow broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal: " else: str_res = str(ms) + " ms: " self.logger.debug("Blood flow 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 def cmd_home_blood_pump(self) -> int: """ Constructs and sends a blood pump home request message to the HD. Constraints: Must be logged into HD. Blood pump must be stopped (off) prior to requesting home position. @return: 1 if successful, zero otherwise """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_PUMP_HOME_CMD.value) self.logger.debug("Homing blood pump") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug("Blood pump homed : " + 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_blood_pump_rotor_count_override(self, rot_count: int, reset: int = NO_RESET) -> int: """ Constructs and sends the blood pump rotor count override command Constraints: Must be logged into HD. Given count must be zero or positive integer. @param rot_count: integer - rotor count 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) cnt = integer_to_bytearray(rot_count) payload = rst + cnt message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_BLOOD_PUMP_ROTOR_COUNT_OVERRIDE.value, payload=payload) self.logger.debug("override blood pump rotor count") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal: " else: str_res = str(rot_count) + ": " self.logger.debug("Blood pump rotor count 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