########################################################################### # # Copyright (c) 2019-2020 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 bloodflow.py # # @date 31-Mar-2020 # @author P. Lucia # # @brief # # ############################################################################ from ..protocols.CAN import (DenaliMessage, DenaliChannels) from ..utils.conversions import integer_to_bytearray, float_to_bytearray from .constants import RESET, NO_RESET from .constants import PUMP_CONTROL_MODE_CLOSED_LOOP, PUMP_CONTROL_MODE_OPEN_LOOP from ..utils.base import _AbstractSubSystem, _publish import struct class HDBloodFlow(_AbstractSubSystem): """ \class HD_BloodFlow \brief Hemodialysis Device (HD) Dialin API sub-class for blood-flow related commands. """ # bloodflow message IDs MSG_ID_HD_BLOOD_FLOW_PUBLISHED_DATA = 0x0005 MSG_ID_HD_BLOOD_FLOW_SET_RATE_OVERRIDE = 0x8008 MSG_ID_HD_BLOOD_FLOW_MEAS_RATE_OVERRIDE = 0x8009 MSG_ID_HD_BLOOD_PUMP_MC_MEAS_SPEED_OVERRIDE = 0x800A MSG_ID_HD_BLOOD_PUMP_MC_MEAS_CURRENT_OVERRIDE = 0x800B MSG_ID_HD_BLOOD_FLOW_PUBLISH_INTERVAL_OVERRIDE = 0x800C MSG_ID_HD_BLOOD_PUMP_MEAS_SPEED_OVERRIDE = 0x800E MSG_ID_HD_BLOOD_PUMP_ROTOR_MEAS_SPEED_OVERRIDE = 0x800F MSG_ID_HD_BLOOD_FLOW_SET_CALIBRATION = 0x802B # bloodflow broadcast message field positions START_POS_SET_PT = DenaliMessage.PAYLOAD_START_INDEX END_POS_SET_PT = START_POS_SET_PT + 4 START_POS_MEAS_FLOW = END_POS_SET_PT END_POS_MEAS_FLOW = START_POS_MEAS_FLOW + 4 START_POS_MEAS_ROT_SPEED = END_POS_MEAS_FLOW END_POS_MEAS_ROT_SPEED = START_POS_MEAS_ROT_SPEED + 4 START_POS_MEAS_SPEED = END_POS_MEAS_ROT_SPEED END_POS_MEAS_SPEED = START_POS_MEAS_SPEED + 4 START_POS_MEAS_MC_SPEED = END_POS_MEAS_SPEED END_POS_MEAS_MC_SPEED = START_POS_MEAS_MC_SPEED + 4 START_POS_MEAS_MC_CURR = END_POS_MEAS_MC_SPEED END_POS_MEAS_MC_CURR = START_POS_MEAS_MC_CURR + 4 START_POS_PWM_DC = END_POS_MEAS_MC_CURR END_POS_PWM_DC = START_POS_PWM_DC + 4 def __init__(self, can_interface=None): """ HD_BloodFlow constructor """ super().__init__() self.can_interface = can_interface if self.can_interface is not None: channel_id = DenaliChannels.hd_sync_broadcast_ch_id msg_id = self.MSG_ID_HD_BLOOD_FLOW_PUBLISHED_DATA 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 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_mc_speed(self): """ Gets the measured blood pump mc speed @return: The measured blood pump mc speed """ return self.measured_blood_pump_mc_speed def get_measured_blood_pump_mc_current(self): """ Gets the measured blood pump mc current @return: the measured blood pump mc 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 """ return self.pwm_duty_cycle_pct @_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"]) 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 """ # self.target_blood_flow_rate = int.from_bytes(bytearray( # message['message'][self.START_POS_SET_PT:self.END_POS_SET_PT]), # byteorder=DenaliMessage.BYTE_ORDER) tgt = struct.unpack('i', bytearray( message['message'][self.START_POS_SET_PT:self.END_POS_SET_PT])) flow = struct.unpack('f', bytearray( message['message'][self.START_POS_MEAS_FLOW:self.END_POS_MEAS_FLOW])) rotor = struct.unpack('f', bytearray( message['message'][self.START_POS_MEAS_ROT_SPEED:self.END_POS_MEAS_ROT_SPEED])) speed = struct.unpack('f', bytearray( message['message'][self.START_POS_MEAS_SPEED:self.END_POS_MEAS_SPEED])) mcspeed = struct.unpack('f', bytearray( message['message'][self.START_POS_MEAS_MC_SPEED:self.END_POS_MEAS_MC_SPEED])) mccurr = struct.unpack('f', bytearray( message['message'][self.START_POS_MEAS_MC_CURR:self.END_POS_MEAS_MC_CURR])) pwm = struct.unpack('f', bytearray( message['message'][self.START_POS_PWM_DC:self.END_POS_PWM_DC])) 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] def cmd_blood_flow_set_point_override(self, flow, mode=PUMP_CONTROL_MODE_CLOSED_LOOP, reset=NO_RESET): """ 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 - 1 to reset a previous override, 0 to override @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=self.MSG_ID_HD_BLOOD_FLOW_SET_RATE_OVERRIDE, payload=payload) print("override blood flow set point") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # print(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): " print( "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: print("Timeout!!!!") return False def cmd_blood_flow_measured_override(self, flow, reset=NO_RESET): """ 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=self.MSG_ID_HD_BLOOD_FLOW_MEAS_RATE_OVERRIDE, payload=payload) print("override measured blood flow") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # print(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(flow) print("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: print("Timeout!!!!") return False def cmd_blood_pump_mc_measured_speed_override(self, speed, reset=NO_RESET): """ 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=self.MSG_ID_HD_BLOOD_PUMP_MC_MEAS_SPEED_OVERRIDE, payload=payload) print("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: # print(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) print("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: print("Timeout!!!!") return False def cmd_blood_pump_measured_current_override(self, curr, reset=NO_RESET): """ Constructs and sends the measured blood pump motor 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=self.MSG_ID_HD_BLOOD_PUMP_MC_MEAS_CURRENT_OVERRIDE, payload=payload) print("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: # print(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(curr) print("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: print("Timeout!!!!") return False def cmd_blood_pump_measured_speed_override(self, speed, reset=NO_RESET): """ 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=self.MSG_ID_HD_BLOOD_PUMP_MEAS_SPEED_OVERRIDE, payload=payload) print("override measured blood pump speed") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # print(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) print("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: print("Timeout!!!!") return False def cmd_blood_pump_rotor_measured_speed_override(self, speed, reset=NO_RESET): """ 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=self.MSG_ID_HD_BLOOD_PUMP_ROTOR_MEAS_SPEED_OVERRIDE, payload=payload) print("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: # print(received_message) if reset == RESET: str_res = "reset back to normal" else: str_res = str(speed) print("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: print("Timeout!!!!") return False def cmd_blood_flow_broadcast_interval_override(self, ms, reset=NO_RESET): """ 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 priority task interval (10 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 """ 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=self.MSG_ID_HD_BLOOD_FLOW_PUBLISH_INTERVAL_OVERRIDE, payload=payload) print("override blood flow broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: # print(received_message) if reset == RESET: str_res = "reset back to normal: " else: str_res = str(ms) + " ms: " print("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: print("Timeout!!!!") return False def cmd_set_blood_flow_calibration(self, gain, offset): """ Constructs and sends a blood flow calibration message to the HD. @return: 1 if successful, zero otherwise """ gan = float_to_bytearray(gain) off = float_to_bytearray(offset) payload = gan + off message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_hd_ch_id, message_id=self.MSG_ID_HD_BLOOD_FLOW_SET_CALIBRATION, payload=payload) print("Setting blood flow calibration factors") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: print(received_message) # str_res = str(flow) print("Blood flow calibration factors set to : " + str(gain) + ", " + str(offset) + ". " + str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: print("Timeout!!!!") return False