########################################################################### # # 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 boost_pump.py # # @author (last) Zoltan Miskolci # @date (last) 09-Jan-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from logging import Logger from leahi_dialin.common.constants import NO_RESET from leahi_dialin.common.fp_defs import FPBoostPumpNames, FPPumpAttributes from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.protocols.CAN import DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray class FPBoostPump(AbstractSubSystem): """ Dialin API sub-class for FP Boost pump controller related commands. """ def __init__(self, can_interface, logger: Logger): """ FPBoostPump constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.fp_sync_broadcast_ch_id self.msg_id_fp_boost_pump_data = MsgIds.MSG_ID_FP_BOOST_PUMP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_fp_boost_pump_data, self._handler_pump_sync) self.boost_pump_timestamp = 0.0 self.boost_pump = { FPBoostPumpNames.P40_PUMP.name: { FPPumpAttributes.STATE.name: 0, FPPumpAttributes.DUTY_CYCLE.name: 0, FPPumpAttributes.FB_DUTY_CYCLE.name: 0, FPPumpAttributes.SPEED.name: 0.0, FPPumpAttributes.TARGET_PRES.name: 0.0, FPPumpAttributes.TARGET_FLOW.name: 0.0, FPPumpAttributes.TARGET_DUTY_CYCLE.name: 0.0, FPPumpAttributes.DUTY_CYCLE_PCT.name: 0.0, FPPumpAttributes.FB_DUTY_CYCLE_PCT.name: 0.0 } } @publish(["msg_id_fp_boost_pump_data", "boost_pump", "boost_pump_timestamp"]) def _handler_pump_sync(self, message, timestamp=0.0): """ Handles published FP ro pump data messages. FP ro pump data is captured for reference. @param message: published FP ro pump data message @return: none """ self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.STATE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.DUTY_CYCLE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.FB_DUTY_CYCLE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.SPEED.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.TARGET_PRESSURE.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.TARGET_FLOW.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.TARGET_DUTY_CYCLE.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.DUTY_CYCLE_PCT.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] self.boost_pump[FPBoostPumpNames.P40_PUMP.name][FPPumpAttributes.FB_DUTY_CYCLE_PCT.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] self.boost_pump_timestamp = timestamp def cmd_boost_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the FP boost pump broadcast interval override command Constraints: Must be logged into FP. Given interval must be non-zero and a multiple of the FP 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 """ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, channel_id = DenaliChannels.dialin_to_fp_ch_id, msg_id = MsgIds.MSG_ID_FP_BOOST_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'FP Boost Pump', logger = self.logger, can_interface = self.can_interface) def cmd_boost_pump_target_pressure_override(self, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends the target pressure override for the boost pump. This will drive the boost pump in a closed loop to the pressure. Constraints: Must be logged into FP. @param pressure: float - target pressure in PSI between 10 - 40 @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) prs = float_to_bytearray(pressure) payload = rst + prs return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_fp_ch_id, msg_id = MsgIds.MSG_ID_FP_BOOST_PUMP_TARGET_PRESSURE_OVERRIDE_REQUEST, entity_name = f'FP P40 Boost Pump target pressure', override_text = f'{str(pressure)} psi', logger = self.logger, can_interface = self.can_interface) def cmd_boost_pump_target_flow_override(self, flow: int, reset: int = NO_RESET) -> int: """ Constructs and sends the target flow override for the boost pump. This will drive the boost pump in a closed loop to the flow. Constraints: Must be logged into FP. @param flow: float - target flow in mL/min between 0 - 1500 @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) flw = integer_to_bytearray(flow) payload = rst + flw return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_fp_ch_id, msg_id = MsgIds.MSG_ID_FP_BOOST_PUMP_TARGET_FLOW_OVERRIDE_REQUEST, entity_name = f'FP P40 Boost Pump target flow', override_text = f'{str(flow)}', logger = self.logger, can_interface = self.can_interface) def cmd_boost_pump_target_pwm_override(self, duty_cycle: float, reset: int = NO_RESET) -> int: """ Constructs and sends the target duty cycle override for the boost pump. This will drive the boost pump in an open loop to the pwm. Constraints: Must be logged into FP. @param pressure: float - target duty cycle between 0 - 0.90 @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) pwm = float_to_bytearray(duty_cycle) payload = rst + pwm return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_fp_ch_id, msg_id = MsgIds.MSG_ID_FP_BOOST_PUMP_TARGET_FLOW_OVERRIDE_REQUEST, entity_name = f'FP P40 Boost Pump target PWM', override_text = f'{str(duty_cycle)}', logger = self.logger, can_interface = self.can_interface) def cmd_boost_pump_set_hard_stop(self) -> int: """ Constructs and sends the hard stop for the boost pump. This will stop the boost pump. Constraints: Must be logged into FP. @return: 1 if successful, zero otherwise """ return cmd_generic_override( payload = None, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_fp_ch_id, msg_id = MsgIds.MSG_ID_FP_BOOST_PUMP_STOP_REQUEST, entity_name = f'FP P40 Boost Pump hard stop', override_text = f'Active', logger = self.logger, can_interface = self.can_interface)