########################################################################### # # 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 hemodialysis_device.py # # @author (last) Dara Navaei # @date (last) 26-Feb-2024 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ import struct from .accelerometer import HDAccelerometer from .air_bubbles import HDAirBubbles from .air_pump import HDAirPump from .air_trap import HDAirTrap from .alarms import HDAlarms from .battery import HDBattery from .blood_flow import HDBloodFlow from .blood_leak import HDBloodLeak from .buttons import HDButtons from .calibration_record import HDCalibrationNVRecord from .dialysate_inlet_flow import HDDialysateInletFlow from .dialysate_outlet_flow import HDDialysateOutletFlow from .dg_proxy import HDDGProxy from .fluid_leak import HDFluidLeak from .pressure_occlusion import HDPressureOcclusion from .pretreatment import HDPreTreatment from .rtc import HDRTC from .service_record import HDServiceNVRecords from .switches import HDSwitches from .temperatures import HDTemperatures from .fans import HDFans from .constants import NO_RESET, RESET from .syringe_pump import HDSyringePump from .system_record import HDSystemNVRecords from .treatment import HDTreatment from .ui_proxy import HDUIProxy from .valves import HDValves from .voltages import HDVoltages from .watchdog import HDWatchdog from ..common.hd_defs import HDOpModes from .hd_events import HDEvents from .reservoirs import HDReservoirs from .post_treatment import HDPostTreatment from .sw_configs import HDSoftwareConfigs from .battery import HDBattery from .usage_info_record import HDUsageNVRecord from .hd_test_configs import HDTestConfig from .institutional_record import HDInstitutionalNVRecords from ..common.msg_defs import MsgIds, MsgFieldPositions from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager, INTERVAL_10s from ..utils.checks import check_broadcast_interval_override_ms from ..utils.conversions import integer_to_bytearray, unsigned_short_to_bytearray, bytearray_to_integer, \ bytearray_to_byte class HD(AbstractSubSystem): """ Hemodialysis Device (HD) Dialin object API. It provides the basic interface to communicate with the HD firmware. """ # HD debug event max count _HD_DEBUG_EVENT_LIST_COUNT = 10 _HD_DEBUG_EVENT_MSG_LEN_INDEX = 5 # HD login password HD_LOGIN_PASSWORD = '123' # UI version message field positions START_POS_MAJOR = DenaliMessage.PAYLOAD_START_INDEX END_POS_MAJOR = START_POS_MAJOR + 1 START_POS_MINOR = END_POS_MAJOR END_POS_MINOR = START_POS_MINOR + 1 START_POS_MICRO = END_POS_MINOR END_POS_MICRO = START_POS_MICRO + 1 START_POS_BUILD = END_POS_MICRO END_POS_BUILD = START_POS_BUILD + 2 START_POS_COMPATIBILITY_REV = END_POS_BUILD END_POS_COMPATIBILITY_REV = START_POS_COMPATIBILITY_REV + 4 def __init__(self, can_interface="can0", log_level=None): """ HD object provides test/service commands for the HD sub-system. >> hd_object = HD('can0') >> hd_object = HD(can_interface='can0', log_level="DEBUG") Possible log levels: ["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL", "CAN_ONLY", "PRINT_ONLY"] @param can_interface: (str) CANBus interface name, e.g. "can0" @param log_level: (str) Logging level, defaults to None """ super().__init__() self._log_manager = LogManager(log_level=log_level, log_filepath=self.__class__.__name__ + ".log") self.logger = self._log_manager.logger # Create listener self.can_interface = DenaliCanMessenger(can_interface=can_interface, logger=self.logger) self.can_interface.start() self.callback_id = None # register handler for HD operation mode broadcast messages if self.can_interface is not None: channel_id = DenaliChannels.hd_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_HD_OP_MODE_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_hd_op_mode_sync) self.can_interface.register_receiving_publication_function(channel_id, MsgIds.MSG_ID_HD_DEBUG_EVENT.value, self._handler_hd_debug_event_sync) self.can_interface.register_receiving_publication_function(DenaliChannels.ui_to_hd_ch_id, MsgIds.MSG_ID_UI_VERSION_INFO_RESPONSE.value, self._handler_ui_version_response_sync) self.callback_id = self.can_interface.register_transmitting_interval_message(INTERVAL_10s, self._send_hd_checkin_message) # create properties self.hd_op_mode_timestamp = 0.0 self.hd_debug_events_timestamp = 0.0 self.ui_version_info_response_timestamp = 0.0 self.hd_operation_mode = HDOpModes.MODE_INIT.value self.hd_operation_sub_mode = 0 self.hd_logged_in = False self.hd_set_logged_in_status(False) self.hd_no_transmit_msg_list = [0, 0, 0, 0, 0, 0, 0, 0] self.ui_version = None self.hd_debug_events = [''] * self._HD_DEBUG_EVENT_LIST_COUNT self.hd_debug_event_index = 0 self.hd_last_debug_event = '' # Create command groups self.accel = HDAccelerometer(self.can_interface, self.logger) self.air_bubbles = HDAirBubbles(self.can_interface, self.logger) self.air_pump = HDAirPump(self.can_interface, self.logger) self.air_trap = HDAirTrap(self.can_interface, self.logger) self.alarms = HDAlarms(self.can_interface, self.logger) self.battery = HDBattery(self.can_interface, self.logger) self.blood_leak = HDBloodLeak(self.can_interface, self.logger) self.bloodflow = HDBloodFlow(self.can_interface, self.logger) self.buttons = HDButtons(self.can_interface, self.logger) self.calibration_record = HDCalibrationNVRecord(self.can_interface, self.logger) self.dialysate_inlet_flow = HDDialysateInletFlow(self.can_interface, self.logger) self.dialysate_outlet_flow = HDDialysateOutletFlow(self.can_interface, self.logger) self.dg_proxy = HDDGProxy(self.can_interface, self.logger) self.fluid_leak = HDFluidLeak(self.can_interface, self.logger) self.pressure_occlusion = HDPressureOcclusion(self.can_interface, self.logger) self.pretreatment = HDPreTreatment(self.can_interface, self.logger) self.rtc = HDRTC(self.can_interface, self.logger) self.service_record = HDServiceNVRecords(self.can_interface, self.logger) self.switches = HDSwitches(self.can_interface, self.logger) self.syringe_pump = HDSyringePump(self.can_interface, self.logger) self.system_record = HDSystemNVRecords(self.can_interface, self.logger) self.treatment = HDTreatment(self.can_interface, self.logger) self.ui = HDUIProxy(self.can_interface, self.logger) self.valves = HDValves(self.can_interface, self.logger) self.voltages = HDVoltages(self.can_interface, self.logger) self.calibration_record = HDCalibrationNVRecord(self.can_interface, self.logger) self.system_record = HDSystemNVRecords(self.can_interface, self.logger) self.service_record = HDServiceNVRecords(self.can_interface, self.logger) self.switches = HDSwitches(self.can_interface, self.logger) self.temperatures = HDTemperatures(self.can_interface, self.logger) self.fans = HDFans(self.can_interface, self.logger) self.watchdog = HDWatchdog(self.can_interface, self.logger) self.events = HDEvents(self.can_interface, self.logger) self.hd_reservoirs = HDReservoirs(self.can_interface, self.logger) self.sw_configs = HDSoftwareConfigs(self.can_interface, self.logger) self.post_treatment = HDPostTreatment(self.can_interface, self.logger) self.battery = HDBattery(self.can_interface, self.logger) self.usage_record = HDUsageNVRecord(self.can_interface, self.logger) self.test_configs = HDTestConfig(self.can_interface, self.logger) self.institutional_record = HDInstitutionalNVRecords(self.can_interface, self.logger) def __del__(self): self.can_interface.transmit_interval_dictionary[self.callback_id].stop() def get_operation_mode(self): """ Gets the HD operation mode @return: The hd operation mode """ return self.hd_operation_mode def get_hd_logged_in(self): """ Gets the logged in status of the HD @return: True if HD is logged in, False if not """ return self.hd_logged_in def get_hd_blocked_msg_list(self): """ Gets the current list of message IDs that HD will prevent transmission of. @return: List of message IDs blocked from transmission """ return self.hd_no_transmit_msg_list def get_ui_version(self): """ Gets the last recieved ui_version from the HD @return: ui_version in a string. """ return self.ui_version @publish(["hd_debug_events_timestamp","hd_debug_events"]) def _handler_hd_debug_event_sync(self, message, timestamp = 0.0): payload = message['message'] message_length = payload[self._HD_DEBUG_EVENT_MSG_LEN_INDEX] temp_message = '' index = MsgFieldPositions.START_POS_FIELD_1 for i in range(0, message_length): # Loop through the length and get the char, char_index = bytearray_to_byte(payload, index + i, False) temp_message += chr(char) self.hd_debug_events_timestamp = timestamp self.hd_debug_events.insert(self.hd_debug_event_index, temp_message) self.hd_last_debug_event = temp_message self.hd_debug_event_index += 1 if self.hd_debug_event_index == self._HD_DEBUG_EVENT_LIST_COUNT: self.hd_debug_event_index = 0 @publish(["hd_logged_in"]) def hd_set_logged_in_status(self, logged_in: bool = False): """ Callback for HD logged in status change. @param logged_in boolean logged in status for HD @return: none """ self.hd_logged_in = logged_in @publish(["hd_op_mode_timestamp","hd_operation_mode", "hd_operation_sub_mode"]) def _handler_hd_op_mode_sync(self, message, timestamp = 0.0): """ Handles published HD operation mode messages. Current HD operation mode is captured for reference. @param message: published HD operation mode broadcast message @return: None """ mode = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) smode = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) self.hd_operation_mode = mode[0] self.hd_operation_sub_mode = smode[0] self.hd_op_mode_timestamp = timestamp def _handler_ui_version_response_sync(self,message, timestamp = 0.0): """ Handler for response from HD regarding its version. @param message: response message from HD regarding valid treatment parameter ranges.\n U08 Major \n U08 Minor \n U08 Micro \n U16 Build \n U32 Compatibility revision @return: None if not successful, the version string if unpacked successfully """ major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): self.ui_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" self.logger.debug(f"UI VERSION: {self.ui_version}") else: self.ui_version = None self.logger.debug("Failed to retrieve UI Version.") def cmd_log_in_to_hd(self, resend: bool = False) -> int: """ Constructs and sends a login command via CAN bus. Login required before \n other commands can be sent to the HD. @param resend: (bool) if False (default), try to login once. Otherwise, tries to login indefinitely @return: 1 if logged in, 0 if log in failed """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.HD_LOGIN_PASSWORD)))) self.logger.debug("Logging in...") # Send message received_message = self.can_interface.send(message, resend=resend) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Success: Logged In") self.hd_set_logged_in_status(True) self._send_hd_checkin_message() # Timer starts interval first self.can_interface.transmit_interval_dictionary[self.callback_id].start() else: self.logger.debug("Failure: Log In Failed.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Login Timeout!!!!") return False def cmd_hd_request_calibration_data(self) -> int: """ Constructs and sends an HD calibration data request command via CAN bus. Constraints: Must be logged into HD. \returns response message if received, False if no response received @return: 1 if successful, zero otherwise """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_GET_CALIBRATION_RECORD.value) self.logger.debug("requesting HD calibration data.") # Send message received_message = self.can_interface.send(message) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("HD calibration data request accepted.") else: self.logger.debug("HD calibration data request failed.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_hd_set_operation_mode(self, new_mode: int = 0) -> int: """ Constructs and sends a set operation mode request command via CAN bus. Constraints: Must be logged into HD. Transition from current to requested op mode must be legal. NOTE: for POST the HD device shall be in Standby Mode @param new_mode: ID of operation mode to transition to HD_OP_MODE_FAULT = 0 HD_OP_MODE_SERVICE = 1 HD_OP_MODE_INIT_POST = 2 HD_OP_MODE_STANDBY = 3 HD_OP_MODE_TREATMENT_PARAMS = 4 HD_OP_MODE_PRE_TREATMENT = 5 HD_OP_MODE_TREATMENT = 6 HD_OP_MODE_POST_TREATMENT = 7 @return: 1 if successful, zero otherwise """ payload = integer_to_bytearray(new_mode) message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_SET_OP_MODE_REQUEST.value, payload=payload) self.logger.debug("Requesting HD mode change to " + str(new_mode)) # Send message received_message = self.can_interface.send(message) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Success: Mode change accepted") else: self.logger.debug("Failure: Mode change rejected.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("HD mode change request Timeout!!!!") return False def cmd_hd_safety_shutdown_override(self, active: bool = True, reset: int = NO_RESET) -> int: """ Constructs and sends an HD safety shutdown override command via CAN bus. Constraints: Must be logged into HD. \returns response message if received, False if no response received @param active: boolean - True to activate safety shutdown, False to deactivate @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ if active: sft = 1 else: sft = 0 rst = integer_to_bytearray(reset) saf = integer_to_bytearray(sft) payload = rst + saf message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_SAFETY_SHUTDOWN_OVERRIDE.value, payload=payload) self.logger.debug("overriding HD safety shutdown") # Send message received_message = self.can_interface.send(message) if received_message is not None: if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Safety shutdown signal overridden") else: self.logger.debug("Safety shutdown signal override failed.") return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False def cmd_hd_software_reset_request(self) -> None: """ Constructs and sends an HD software reset request via CAN bus. Constraints: Must be logged into HD. @return: None """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_SOFTWARE_RESET_REQUEST.value) self.logger.debug("requesting HD software reset") # Send message self.can_interface.send(message, 0) self.logger.debug("Sent request to HD to reset...") self.hd_set_logged_in_status(False) def cmd_op_mode_broadcast_interval_override(self, ms: int = 250, reset: int = NO_RESET): """ Constructs and sends the HD operation mode 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_OP_MODE_DATA_PUBLISH_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override operation mode data 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("Operation mode data 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_standby_mode_broadcast_interval_override(self, ms: int = 250, reset: int = NO_RESET): """ Constructs and sends the standby mode 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_STANDBY_DATA_PUBLISH_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override standby mode data 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("Standby mode data 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_pre_treatment_mode_broadcast_interval_override(self, ms: int = 250, reset: int = NO_RESET): """ Constructs and sends the pre-treatment mode 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_PRE_TREATMENT_DATA_PUBLISH_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override pre-treatment mode 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("Pre-treatment mode data 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_treatment_mode_broadcast_interval_override(self, ms: int = 250, reset: int = NO_RESET): """ Constructs and sends the treatment mode 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_TREATMENT_DATA_PUBLISH_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override treatment mode data 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("Treatment mode data 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_post_treatment_mode_broadcast_interval_override(self, ms: int = 250, reset: int = NO_RESET): """ Constructs and sends the post-treatment mode 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_POST_TREATMENT_DATA_PUBLISH_INTERVAL_OVERRIDE.value, payload=payload) self.logger.debug("override post-treatment mode data 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("Post-treatment mode data 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_block_hd_message_transmissions(self, msg1: int = 0, msg2: int = 0, msg3: int = 0, msg4: int = 0, msg5: int = 0, msg6: int = 0, msg7: int = 0, msg8: int = 0): """ Constructs and sends a block hd message transmission request Constraints: Must be logged into HD. @param msg1: integer - 1st message ID to block HD from transmitting @param msg2: integer - 2nd message ID to block HD from transmitting @param msg3: integer - 3rd message ID to block HD from transmitting @param msg4: integer - 4th message ID to block HD from transmitting @param msg5: integer - 5th message ID to block HD from transmitting @param msg6: integer - 6th message ID to block HD from transmitting @param msg7: integer - 7th message ID to block HD from transmitting @param msg8: integer - 8th message ID to block HD from transmitting @return: 1 if successful, zero otherwise """ # Save blocked message(s) list self.hd_no_transmit_msg_list[0] = msg1 self.hd_no_transmit_msg_list[1] = msg2 self.hd_no_transmit_msg_list[2] = msg3 self.hd_no_transmit_msg_list[3] = msg4 self.hd_no_transmit_msg_list[4] = msg5 self.hd_no_transmit_msg_list[5] = msg6 self.hd_no_transmit_msg_list[6] = msg7 self.hd_no_transmit_msg_list[7] = msg8 # Build message payload m1 = unsigned_short_to_bytearray(msg1) m2 = unsigned_short_to_bytearray(msg2) m3 = unsigned_short_to_bytearray(msg3) m4 = unsigned_short_to_bytearray(msg4) m5 = unsigned_short_to_bytearray(msg5) m6 = unsigned_short_to_bytearray(msg6) m7 = unsigned_short_to_bytearray(msg7) m8 = unsigned_short_to_bytearray(msg8) payload = m1 + m2 + m3 + m4 + m5 + m6 + m7 + m8 message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_BLOCK_MESSAGE_TRANSMISSION.value, payload=payload) self.logger.debug("request HD block transmission of message(s)") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug("Given messages blocked." + 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_request_ui_version(self) -> None: """ Constructs and sends a ui version request to the HD. @return: none """ message = DenaliMessage.build_message(channel_id=DenaliChannels.hd_to_ui_ch_id, message_id=MsgIds.MSG_ID_HD_UI_VERSION_INFO_REQUEST.value) self.logger.debug("Sending an UI version request to the HD.") self.can_interface.send(message, 0) def _send_hd_checkin_message(self) -> int: """ Constructs and sends an HD Dialin check in message to the HD. @return: none """ message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_DIALIN_CHECK_IN.value) self.can_interface.send(message) return True def cmd_hd_ram_status_override(self, ram_reg: int = 0, status: int = 0, reset: int = NO_RESET) -> int: """ Constructs and sends the RAM status override command Constraints: Must be logged into HD. RAM Status Bits: SERR 0x00000001 Bit 0 - Single-bit error in TCRAM Module Error Status Register ADDR_DEC_FAIL 0x00000004 Bit 2 - Address decode failed in TCRAM Module Error Status Register ADDR_COMP_LOGIC_FAIL 0x00000010 Bit 4 - Address decode logic element failed in TCRAM Module Error Status Register DERR 0x00000020 Bit 5 - Multiple bit error in TCRAM Module Error Status Register RADDR_PAR_FAIL 0x00000100 Bit 8 - Read Address Parity Failure in TCRAM Module Error Status Register WADDR_PAR_FAIL 0x00000200 Bit 9 - Write Address Parity Failure in TCRAM Module Error Status Register @param ram_reg: integer - the RAM regsiter. 0 or 1 @param status: integer - bitmap of the status values listed aboves @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) reg = integer_to_bytearray(ram_reg) sts = integer_to_bytearray(status & 0x0000FFFF) payload = rst + sts + reg message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_RAM_STATUS_OVERRIDE.value, payload=payload) self.logger.debug(f"Overriding RAM Status Register {reg} to {str(sts)}") # 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.debug("Timeout!!!!") return False def cmd_hd_pending_ack_override(self, pending_ack_channel: int = 0, reset: int = NO_RESET) -> int: """ Constructs and sends an HD pending ack override command via CAN bus. Constraints: Must be logged into HD. Will prevent receiving ACK messages from being registered. Used to trigger ALARM_ID_HD_CAN_MESSAGE_NOT_ACKED_BY_UI and ALARM_ID_HD_CAN_MESSAGE_NOT_ACKED_BY_DG after retries are sent. Use 1 for UI CAN messages Alarm. 2 for DG CAN messages Alarm. @param pending_ack_channel: integer - 1 for UI Channel ACK, 2 for DG Channel ACK @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ rst = integer_to_bytearray(reset) pack = integer_to_bytearray(pending_ack_channel) payload = rst + pack message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=MsgIds.MSG_ID_HD_CAN_RECEIVE_ACK_MESSAGE_OVERRIDE.value, payload=payload) self.logger.debug("overriding HD Pending ACK") # 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.debug("Timeout!!!!") return False