Index: leahi_dialin/dd/dialysate_delivery.py =================================================================== diff -u -r2dc81a7a48da08c15dd26020a30d4401b00ded9b -redccc0fd295ef1c384046edbcc3a83901bfc9bc9 --- leahi_dialin/dd/dialysate_delivery.py (.../dialysate_delivery.py) (revision 2dc81a7a48da08c15dd26020a30d4401b00ded9b) +++ leahi_dialin/dd/dialysate_delivery.py (.../dialysate_delivery.py) (revision edccc0fd295ef1c384046edbcc3a83901bfc9bc9) @@ -5,38 +5,49 @@ # 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 treatment_delivery.py +# @file dialysate_delivery.py # -# @author (last) Dara Navaei -# @date (last) 26-Feb-2024 +# @author (last) Zoltan Miskolci +# @date (last) 08-Jan-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ + import struct +from .modules.alarms import DDAlarms from .modules.balancing_chamber import DDBalancingChamber +from .modules.blood_leak import DDBloodLeak from .modules.concentrate_pump import DDConcentratePumps from .modules.conductivity_sensors import DDConductivitySensors from .modules.dialysate_pump import DDDialysatePumps +from .modules.events import DDEvents from .modules.gen_dialysate import DDGenDialysate from .modules.heaters import DDHeaters from .modules.levels import DDLevels -from .modules.piston_pump import DDPistonPumps +from .modules.post_gen_dialysate import DDPostGenDialysate from .modules.pressure_sensors import DDPressureSensors +from .modules.pre_gen_dialysate import DDPreGenDialysate +from .modules.rinse_pump import DDRinsePump +from .modules.spent_chamber_fill import DDSpentChamberFill +from .modules.drybicart import DDDryBicart from .modules.temperature_sensors import DDTemperatureSensors +from .modules.dd_test_configs import DDTestConfig +from .modules.ultrafiltration import DDUltrafiltration from .modules.valves import DDValves +from .modules.voltages import DDVoltages from .proxies.ro_proxy import ROProxy from .proxies.td_proxy import TDProxy -from ..common.msg_defs import MsgIds, MsgFieldPositions -from ..common.dd_defs import DDOpModes +from ..common.constants import NO_RESET +from ..common.dd_defs import dd_enum_repository +from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions +from ..common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager -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 +from ..utils.conversions import integer_to_bytearray, bytearray_to_byte class DD(AbstractSubSystem): @@ -51,18 +62,6 @@ # DD login password DD_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): """ DD object provides test/service commands for the DD sub-system. @@ -76,7 +75,6 @@ @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 @@ -89,48 +87,66 @@ # register handler for DD operation mode broadcast messages if self.can_interface is not None: channel_id = DenaliChannels.dd_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_DD_OP_MODE_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self.msg_id_dd_op_mode_data = MsgIds.MSG_ID_DD_OP_MODE_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_op_mode_data, self._handler_dd_op_mode_sync) + self.msg_id_dd_version_response = MsgIds.MSG_ID_DD_VERSION_RESPONSE.value self.can_interface.register_receiving_publication_function(channel_id, - MsgIds.MSG_ID_DD_DEBUG_EVENT.value, + self.msg_id_dd_version_response, + self._handler_dd_version_response_sync) + + self.msg_id_dd_debug_event = MsgIds.MSG_ID_DD_DEBUG_EVENT.value + self.can_interface.register_receiving_publication_function(channel_id, + self.msg_id_dd_debug_event, self._handler_dd_debug_event_sync) + # Dialin will send a login message during construction. This is for the leahi subsystems to start + # publishing CAN data when there is no UI connected as the UI typically does this job. + self.cmd_log_in_to_dd() # create properties self.dd_op_mode_timestamp = 0.0 self.dd_debug_events_timestamp = 0.0 - self.ui_version_info_response_timestamp = 0.0 - self.dd_operation_mode = DDOpModes.MODE_INIT.value + self.dd_version_response_timestamp = 0.0 + self.dd_operation_mode = dd_enum_repository.DDOpModes.MODE_INIT.value self.dd_operation_sub_mode = 0 self.dd_logged_in = False self.dd_set_logged_in_status(False) - self.ui_version = None + self.dd_version = None + self.dd_fpga_version = None self.dd_debug_events = [''] * self._DD_DEBUG_EVENT_LIST_COUNT self.dd_debug_event_index = 0 self.dd_last_debug_event = '' # Create command groups - + self.alarms = DDAlarms(self.can_interface, self.logger) self.balancing_chamber = DDBalancingChamber(self.can_interface, self.logger) + self.blood_leak = DDBloodLeak(self.can_interface, self.logger) self.concentrate_pumps = DDConcentratePumps(self.can_interface, self.logger) self.conductivity_sensors = DDConductivitySensors(self.can_interface, self.logger) self.dialysate_pumps = DDDialysatePumps(self.can_interface, self.logger) + self.events = DDEvents(self.can_interface, self.logger) self.gen_dialysate = DDGenDialysate(self.can_interface, self.logger) self.heaters = DDHeaters(self.can_interface, self.logger) self.levels = DDLevels(self.can_interface, self.logger) - self.piston_pumps = DDPistonPumps(self.can_interface, self.logger) + self.post_gen_dialysate = DDPostGenDialysate(self.can_interface, self.logger) self.pressure_sensors = DDPressureSensors(self.can_interface, self.logger) + self.pre_gen_dialysate = DDPreGenDialysate(self.can_interface, self.logger) + self.rinse_pump = DDRinsePump(self.can_interface, self.logger) + self.spent_chamber_fill = DDSpentChamberFill(self.can_interface, self.logger) + self.drybicart = DDDryBicart(self.can_interface, self.logger) self.temperature_sensors = DDTemperatureSensors(self.can_interface, self.logger) + self.test_configs = DDTestConfig(self.can_interface, self.logger) + self.ultrafiltration = DDUltrafiltration(self.can_interface, self.logger) self.valves = DDValves(self.can_interface, self.logger) + self.voltages = DDVoltages(self.can_interface, self.logger) self.ro_proxy = ROProxy(self.can_interface, self.logger) self.td_proxy = TDProxy(self.can_interface, self.logger) - @publish(["dd_debug_events_timestamp","dd_debug_events"]) + @publish(["msg_id_dd_debug_event", "dd_debug_events_timestamp","dd_debug_events"]) def _handler_dd_debug_event_sync(self, message, timestamp = 0.0): - payload = message['message'] message_length = payload[self._DD_DEBUG_EVENT_MSG_LEN_INDEX] temp_message = '' @@ -150,6 +166,7 @@ if self.dd_debug_event_index == self._DD_DEBUG_EVENT_LIST_COUNT: self.dd_debug_event_index = 0 + @publish(["dd_logged_in"]) def dd_set_logged_in_status(self, logged_in: bool = False): """ @@ -159,7 +176,8 @@ """ self.dd_logged_in = logged_in - @publish(["dd_op_mode_timestamp","dd_operation_mode", "dd_operation_sub_mode"]) + + @publish(["msg_id_dd_op_mode_data", "dd_op_mode_timestamp","dd_operation_mode", "dd_operation_sub_mode"]) def _handler_dd_op_mode_sync(self, message, timestamp = 0.0): """ Handles published DD operation mode messages. Current DD operation mode @@ -177,6 +195,67 @@ self.dd_operation_sub_mode = smode[0] self.dd_op_mode_timestamp = timestamp + + @publish(["msg_id_dd_version_response", "dd_version, dd_fpga_version"]) + def _handler_dd_version_response_sync(self,message, timestamp = 0.0): + """ + Handler for response from DD regarding its version. + + @param message: version response message from DD.\n + + @return: None if not successful, the version string if unpacked successfully + """ + major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): + self.dd_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" + self.logger.debug(f"DD VERSION: {self.dd_version}") + + if all([len(each) > 0 for each in [fpga_id, fpga_major, fpga_minor, fpga_lab]]): + self.dd_fpga_version = f"v{fpga_id[0]}.{fpga_major[0]}.{fpga_minor[0]}-{fpga_lab[0]}" + self.logger.debug(f"DD FPGA VERSION: {self.dd_fpga_version}") + + self.dd_version_response_timestamp = timestamp + + + # def cmd_op_mode_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + # """ + # Constructs and sends the measured op mode 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 + # """ + # return cmd_generic_broadcast_interval_override( + # ms = ms, + # reset = reset, + # channel_id = DenaliChannels.dialin_to_dd_ch_id, + # msg_id = MsgIds.MSG_ID_DD_OP_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + # module_name = 'TD Operation Mode', + # logger = self.logger, + # can_interface = self.can_interface) + + def cmd_log_in_to_dd(self, resend: bool = False) -> int: """ Constructs and sends a login command via CAN bus. Login required before \n @@ -185,9 +264,8 @@ @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_dd_ch_id, - message_id=MsgIds.MSG_ID_TESTER_LOGIN_REQUEST.value, + message_id=MsgIds.MSG_ID_DD_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.DD_LOGIN_PASSWORD)))) self.logger.debug("Logging in...") @@ -208,6 +286,7 @@ self.logger.debug("Login Timeout!!!!") return False + def cmd_dd_set_operation_mode(self, new_mode: int = 0) -> int: """ Constructs and sends a set operation mode request command via CAN bus. @@ -219,31 +298,20 @@ @param new_mode: ID of operation mode to transition to @return: 1 if successful, zero otherwise - """ - payload = integer_to_bytearray(new_mode) - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_SET_OPERATION_MODE_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_SET_OPERATION_MODE_OVERRIDE_REQUEST, + entity_name = 'DD Operation Mode', + override_text = dd_enum_repository.DDOpModes(new_mode).name, + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("Requesting DD 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("DD mode change request Timeout!!!!") - return False - - def cmd_dd_software_reset_request(self) -> None: """ Constructs and sends an DD software reset request via CAN bus. @@ -252,15 +320,37 @@ @return: None """ + return cmd_generic_override( + payload = None, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_SOFTWARE_RESET_REQUEST, + entity_name = 'DD Software Reset', + override_text = '', + logger = self.logger, + can_interface = self.can_interface) - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_SOFTWARE_RESET_REQUEST.value) - self.logger.debug("requesting DD software reset") + def cmd_dd_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends an DD safety shutdown override command via CAN bus. + Constraints: + Must be logged into DD. - # Send message - self.can_interface.send(message, 0) - self.logger.debug("Sent request to DD to reset...") - self.dd_set_logged_in_status(False) + @param active: int - 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 + """ + rst = integer_to_bytearray(reset) + saf = integer_to_bytearray(active) + payload = rst + saf - + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_SET_OPERATION_MODE_OVERRIDE_REQUEST, + entity_name = 'DD Safety Shutdown', + override_text = str(active), + logger = self.logger, + can_interface = self.can_interface)