Index: leahi_dialin/dd/modules/heaters.py =================================================================== diff -u -r951bd79131f9c5dd0e62d40a2101815100cdb787 -re45b20cdc5d4c5dcff8cef530b173ca94cb2e422 --- leahi_dialin/dd/modules/heaters.py (.../heaters.py) (revision 951bd79131f9c5dd0e62d40a2101815100cdb787) +++ leahi_dialin/dd/modules/heaters.py (.../heaters.py) (revision e45b20cdc5d4c5dcff8cef530b173ca94cb2e422) @@ -7,75 +7,72 @@ # # @file heaters.py # -# @author (last) Michael Garthwaite -# @date (last) 28-Oct-2024 +# @author (last) Zoltan Miskolci +# @date (last) 04-May-2026 # @author (original) Dara Navaei # @date (original) 29-May-2020 # ############################################################################ -import struct -from enum import unique +# Module imports from logging import Logger -from .constants import 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 +# Project imports +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common import dd_enum_repository +from leahi_dialin.common.generic_defs import DataTypes +from leahi_dialin.common.msg_ids import MsgIds +from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override +from leahi_dialin.protocols.CAN import CanMessenger, CanChannels +from leahi_dialin.utils.abstract_classes import AbstractSubSystem +from leahi_dialin.utils.base import publish from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray -@unique -class HeatersStartStop(DialinEnum): - STOP = 0 - START = 1 - - -@unique -class HeatersState(DialinEnum): - HEATER_EXEC_STATE_OFF = 0 - HEATER_EXEC_STATE_RAMP_TO_TARGET = 1 - HEATER_EXEC_STATE_CONTROL_TO_TARGET = 2 - HEATER_EXEC_STATE_CONTROL_TO_DISINFECT_TARGET = 3 - NUM_OF_HEATERS_STATE = 4 - - -@unique -class HeatersNames(DialinEnum): - D5_HEAT = 0 - D45_HEAT = 1 - NUM_OF_DD_HEATERS = 2 - - class DDHeaters(AbstractSubSystem): """ - Dialysate Delivery (DD) Dialin API sub-class for heaters related commands. """ - def __init__(self, can_interface, logger: Logger): + def __init__(self, can_interface: CanMessenger, logger: Logger): """ - - @param can_interface: Denali CAN Messenger object + @param can_interface: Can Messenger object """ - super().__init__() self.can_interface = can_interface self.logger = logger - self.d5_heat_duty_cycle = 0.0 - self.d45_heat_duty_cycle = 0.0 - self.d5_heat_target_temperature = 0.0 - self.d45_heat_target_temperature = 0.0 - self.d5_heat_state = 0 - self.d45_heat_state = 0 - self.d5_heat_control_counter = 0 - self.d45_heat_control_counter = 0 - self.dd_heaters_timestamp = 0.0 + if self.can_interface is not None: + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.dd_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_DD_HEATERS_DATA.value, + function = self._handler_heaters_sync) - #Temp Heater Debugging published fields + self.dd_heaters_timestamp = 0.0 #: The timestamp of the latest message + + #: The Heaters data in dictionary format + self.dd_heaters = { + dd_enum_repository.DDHeaterNames.D5_HEAT.name: { + dd_enum_repository.DDHeaterAttributes.HEAT_DUTY_CYCLE.name: 0.0, + dd_enum_repository.DDHeaterAttributes.HEAT_TARGET_TEMP.name: 0.0, + dd_enum_repository.DDHeaterAttributes.HEAT_STATE.name: 0, + dd_enum_repository.DDHeaterAttributes.FEED_FORWARD.name: 0.0, + dd_enum_repository.DDHeaterAttributes.PWM_PERIOD.name: 0.0, + dd_enum_repository.DDHeaterAttributes.ADJUSTED_TARGET_TEMP.name: 0.0, + dd_enum_repository.DDHeaterAttributes.TARGET_TEMP_TD.name: 0.0 + }, + dd_enum_repository.DDHeaterNames.D45_HEAT.name: { + dd_enum_repository.DDHeaterAttributes.HEAT_DUTY_CYCLE.name: 0.0, + dd_enum_repository.DDHeaterAttributes.HEAT_TARGET_TEMP.name: 0.0, + dd_enum_repository.DDHeaterAttributes.HEAT_STATE.name: 0, + dd_enum_repository.DDHeaterAttributes.FEED_FORWARD.name: None, # D45 Heater doesn't use this attribute + dd_enum_repository.DDHeaterAttributes.PWM_PERIOD.name: None, # D45 Heater doesn't use this attribute + dd_enum_repository.DDHeaterAttributes.ADJUSTED_TARGET_TEMP.name: None, # D45 Heater doesn't use this attribute + dd_enum_repository.DDHeaterAttributes.TARGET_TEMP_TD.name: None # D45 Heater doesn't use this attribute + } + } + + # Temp Heater Debugging published fields self.dbg1 = 0.0 self.dbg2 = 0.0 self.dbg3 = 0.0 @@ -84,62 +81,50 @@ self.dbg6 = 0.0 self.dbg7 = 0.0 self.dbg8 = 0.0 + self.dbg9 = 0.0 - - if self.can_interface is not None: - channel_id = DenaliChannels.dd_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_DD_HEATERS_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_heaters_sync) - - @publish(["dd_heaters_timestamp", - "d5_heat_duty_cycle","d45_heat_duty_cycle", - "d5_heat_target_temperature","d45_heat_target_temperature", - "d5_heat_state","d45_heat_state", - "d5_heat_control_counter","d45_heat_control_counter"]) + + @publish(["msg_id_dd_heaters_data", "dd_heaters", + "dbg1", "dbg2", "dbg3", "dbg4", "dbg5", "dbg6", "dbg7", "dbg8", "dbg9", + "dd_heaters_timestamp"]) def _handler_heaters_sync(self, message, timestamp=0.0): """ Handles published DD heaters message @param message: published DD heaters data message @returns none """ - self.d5_heat_duty_cycle = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] - self.d45_heat_duty_cycle = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] - self.d5_heat_target_temperature = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] - self.d45_heat_target_temperature = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] - self.d5_heat_state = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] - self.d45_heat_state = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] - self.d5_heat_control_counter = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] - self.d45_heat_control_counter = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] + sensor_list = [] + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.HEAT_DUTY_CYCLE.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D45_HEAT.name, dd_enum_repository.DDHeaterAttributes.HEAT_DUTY_CYCLE.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.HEAT_TARGET_TEMP.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D45_HEAT.name, dd_enum_repository.DDHeaterAttributes.HEAT_TARGET_TEMP.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.HEAT_STATE.name, DataTypes.U32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D45_HEAT.name, dd_enum_repository.DDHeaterAttributes.HEAT_STATE.name, DataTypes.U32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.FEED_FORWARD.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.PWM_PERIOD.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.ADJUSTED_TARGET_TEMP.name, DataTypes.F32)) + sensor_list.append((dd_enum_repository.DDHeaterNames.D5_HEAT.name, dd_enum_repository.DDHeaterAttributes.TARGET_TEMP_TD.name, DataTypes.F32)) + msg_list =[] + msg_list.append(('self.dbg1', DataTypes.F32)) + msg_list.append(('self.dbg2', DataTypes.F32)) + msg_list.append(('self.dbg3', DataTypes.F32)) + msg_list.append(('self.dbg4', DataTypes.F32)) + msg_list.append(('self.dbg5', DataTypes.F32)) + msg_list.append(('self.dbg6', DataTypes.F32)) + msg_list.append(('self.dbg7', DataTypes.F32)) + msg_list.append(('self.dbg8', DataTypes.F32)) + msg_list.append(('self.dbg9', DataTypes.F32)) - self.dbg1 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] - self.dbg2 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10]))[0] - self.dbg3 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11]))[0] - self.dbg4 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12]))[0] - self.dbg5 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_13:MsgFieldPositions.END_POS_FIELD_13]))[0] - self.dbg6 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_14:MsgFieldPositions.END_POS_FIELD_14]))[0] - self.dbg7 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_15:MsgFieldPositions.END_POS_FIELD_15]))[0] - self.dbg8 = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_16:MsgFieldPositions.END_POS_FIELD_16]))[0] + self.process_into_dict(dict_to_update = self.dd_heaters, + decoder_list = sensor_list, + message = message) + self.process_into_vars(decoder_list = msg_list, + message = message, + start_from_byte = len(sensor_list) * DataTypes.U32.size()) + self.dd_heaters_timestamp = timestamp - self.dg_heaters_timestamp = timestamp - def cmd_heaters_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends broadcast time interval. @@ -151,29 +136,16 @@ @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ - if not check_broadcast_interval_override_ms(ms): - return False + return cmd_generic_broadcast_interval_override( + ms = ms, + reset = reset, + channel_id = CanChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_HEATERS_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'DD Heaters', + logger = self.logger, + can_interface = self.can_interface) - reset_value = integer_to_bytearray(reset) - interval_value = integer_to_bytearray(ms) - payload = reset_value + interval_value - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_HEATERS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("Sending {} ms publish interval to the Heaters module".format(ms)) - # Send message - received_message = self.can_interface.send(message) - - # If there is content in message - if received_message is not None: - # Response payload is OK or not - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - def cmd_heater_duty_cycle_override(self, heater: int, duty_cycle: float, reset: int = NO_RESET) -> int: """ Constructs and sends heater duty cycle override command @@ -184,31 +156,27 @@ @param reset: (int) 1 to reset a previous override, 0 to override @returns 1 if successful, zero otherwise """ - reset_value = integer_to_bytearray(reset) - heater_name = integer_to_bytearray(heater) + rst = integer_to_bytearray(reset) + htr = integer_to_bytearray(heater) duty = float_to_bytearray(duty_cycle/100) - payload = reset_value + duty + heater_name - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_HEATERS_DUTY_CYCLE_OVERRIDE_REQUEST.value, - payload=payload) + payload = rst + duty + htr - self.logger.debug("Overriding {} heater's duty cycle to {:5.3f} %".format(HeatersNames(heater).name, duty_cycle)) - # Send message - received_message = self.can_interface.send(message) + heater_name = dd_enum_repository.DDHeaterNames(heater).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = CanChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_HEATERS_DUTY_CYCLE_OVERRIDE_REQUEST, + entity_name = f'DD {heater_name} Heaters Duty Cycle', + override_text = str(duty_cycle), + logger = self.logger, + can_interface = self.can_interface) - # If there is content in message - if received_message is not None: - # Response payload is OK or not - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False def cmd_heater_start_stop_override(self, heater: int, command: int, temperature: float) -> int: """ Constructs and sends heater start stop override - @param heater the heater to override its value @param command the heater to start or stop @param temperature: float - temp to set to @@ -219,21 +187,19 @@ tmp = float_to_bytearray(temperature) payload = htr + cmd + tmp - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_HEATERS_START_STOP_OVERRIDE_REQUEST.value, - payload=payload) + heater_name = dd_enum_repository.DDHeaterNames(heater).name.split('_')[0] + start_or_stop = 'Start' if command == 0 else 'Stop' + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_HEATERS_START_STOP_OVERRIDE_REQUEST, + entity_name = f'DD {heater_name} Heaters {start_or_stop} temperature', + override_text = str(temperature), + logger = self.logger, + can_interface = self.can_interface) - # Send message - received_message = self.can_interface.send(message) - # If there is content in message - if received_message is not None: - # Response payload is OK or not - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - def cmd_heater_target_temperature_override(self, heater: int, temperature: float, reset: int) -> int: """ Constructs and sends heater set target temperture override @@ -248,22 +214,18 @@ rst = integer_to_bytearray(reset) payload = rst + tmp + htr - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_HEATERS_TARGET_TEMPERATURE_OVERRIDE_REQUEST.value, - payload=payload) + heater_name = dd_enum_repository.DDHeaterNames(heater).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_HEATERS_TARGET_TEMPERATURE_OVERRIDE_REQUEST, + entity_name = f'DD {heater_name} Heaters target temperature', + override_text = str(temperature), + logger = self.logger, + can_interface = self.can_interface) - # Send message - received_message = self.can_interface.send(message) - # If there is content in message - if received_message is not None: - # Response payload is OK or not - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - - def cmd_heater_pwm_period_override(self, heater: int, period: float, reset: int) -> int: """ Constructs and sends heater pwm period override @@ -278,17 +240,13 @@ rst = integer_to_bytearray(reset) payload = rst + prd + htr - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dd_ch_id, - message_id=MsgIds.MSG_ID_DD_HEATERS_PWM_PERIOD_OVERRIDE_REQUEST.value, - payload=payload) - - # Send message - received_message = self.can_interface.send(message) - - # If there is content in message - if received_message is not None: - # Response payload is OK or not - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False \ No newline at end of file + heater_name = dd_enum_repository.DDHeaterNames(heater).name.split('_')[0] + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = CanChannels.dialin_to_dd_ch_id, + msg_id = MsgIds.MSG_ID_DD_HEATERS_PWM_PERIOD_OVERRIDE_REQUEST, + entity_name = f'DD {heater_name} Heaters PWM period', + override_text = str(period), + logger = self.logger, + can_interface = self.can_interface)