########################################################################### # # 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 air_trap.py # # @author (last) Michael Garthwaite # @date (last) 26-Jun-2024 # @author (original) Sean Nash # @date (original) 21-Sep-2020 # ############################################################################ import struct from logging import Logger from enum import unique from .constants import RESET, NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray class AirTrapValves(DialinEnum): VBT = 0 @unique class AirTrapState(DialinEnum): STATE_CLOSED = 0 STATE_OPEN = 1 class TDAirTrap(AbstractSubSystem): """ TDAirTrap Treatment Delivery (TD) Dialin API sub-class for air trap related commands. """ # Air trap level sensor IDs LOWER_LEVEL_SENSOR = 0 UPPER_LEVEL_SENSOR = 1 # Air trap level sensor levels AIR_DETECTED_AT_LEVEL = 0 FLUID_DETECTED_AT_LEVEL = 1 def __init__(self, can_interface, logger: Logger): """ @param can_interface: Denali Can Messenger object """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.td_sync_broadcast_ch_id msg_id = MsgIds.MSG_ID_TD_AIR_TRAP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_air_trap_sync) self.lower_level = self.AIR_DETECTED_AT_LEVEL self.upper_level = self.AIR_DETECTED_AT_LEVEL self.lower_level_raw = self.AIR_DETECTED_AT_LEVEL self.upper_level_raw = self.AIR_DETECTED_AT_LEVEL self.valve_state = 0 self.air_control = 0 self.td_air_trap_timestamp = 0.0 @publish(["td_air_trap_timestamp", "lower_level", "upper_level", "lower_level_raw", "upper_level_raw", "valve_state","air_control"]) def _handler_air_trap_sync(self, message, timestamp=0.0): """ Handles published air trap data messages. Air trap data are captured for reference. @param message: published air trap data message @return: None """ lower = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) upper = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) raw_lower = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) raw_upper = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) vlv_st = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) controlling = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) self.lower_level = lower[0] self.upper_level = upper[0] self.lower_level_raw = raw_lower[0] self.upper_level_raw = raw_upper[0] self.valve_state = vlv_st[0] self.air_control = controlling[0] self.td_air_trap_timestamp = timestamp def cmd_air_trap_level_sensor_override(self, sensor: int, detected: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap level sensor override command Constraints: Must be logged into TD. Given sensor must be one of the sensors listed below. @param sensor: unsigned int - sensor ID @param detected: unsigned int - detected (0=air, 1=fluid) to override sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise Air trap sensor IDs: \n 0 = Lower level \n 1 = Upper level \n """ rst = integer_to_bytearray(reset) det = integer_to_bytearray(detected) idx = integer_to_bytearray(sensor) payload = rst + det + idx message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_AIR_TRAP_LEVEL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override air trap level sensor detection value for sensor " + str(sensor) + " ,Level: " + str(detected)) # 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_raw_air_trap_level_sensor_override(self, sensor: int, detected: int, reset: int = NO_RESET) -> int: """ Constructs and sends the raw air trap level sensor override command Constraints: Must be logged into TD. Given sensor must be one of the sensors listed below. @param sensor: unsigned int - sensor ID @param detected: unsigned int - detected (0=air, 1=fluid) to override sensor with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise Air trap sensor IDs: \n 0 = Lower level \n 1 = Upper level \n """ rst = integer_to_bytearray(reset) det = integer_to_bytearray(detected) idx = integer_to_bytearray(sensor) payload = rst + det + idx message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_AIR_TRAP_LEVEL_RAW_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override raw air trap level sensor detection value for sensor " + str(sensor) + " ,Level: " + str(detected)) # 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_air_trap_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap data broadcast interval override command Constraints: Must be logged into TD. Given interval must be non-zero and a multiple of the TD 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_td_ch_id, message_id=MsgIds.MSG_ID_TD_AIR_TRAP_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) self.logger.debug("override TD air trap 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("Air trap 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_set_td_air_trap_valve(self, valve: int = AirTrapValves.VBT.value, valve_state: int = AirTrapState.STATE_CLOSED.value) -> int: """ Constructs and sends an open/close command to the TD air trap valve @param valve: air trap valve ID ( VBT = 0 ) @param valve_state: air trap valve state (open or close) @returns 1 if successful, zero otherwise """ vlv = integer_to_bytearray(valve) sts = integer_to_bytearray(valve_state) payload = sts + vlv message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_2_WAY_VALVE_SET_STATE_REQUEST.value, payload=payload) # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: self.logger.debug("Opening air trap valve") # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Opening air trap valve timeout!!") return False