Index: leahi_dialin/dd/modules/valves.py =================================================================== diff -u -r9434135f30fdd9d073685bf5088bb5c58542c624 -ra0e7107b30e4d6fc631784e249f59038aefeb04f --- leahi_dialin/dd/modules/valves.py (.../valves.py) (revision 9434135f30fdd9d073685bf5088bb5c58542c624) +++ leahi_dialin/dd/modules/valves.py (.../valves.py) (revision a0e7107b30e4d6fc631784e249f59038aefeb04f) @@ -21,6 +21,7 @@ from .constants import NO_RESET from leahi_dialin.common.msg_defs import MsgIds +from leahi_dialin.common.dd_defs import DDValveStates, DDValveNames 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 @@ -31,43 +32,6 @@ DEENERGIZED = False -@unique -class DDValveStates(DialinEnum): - VALVE_STATE_CLOSED = 0 - VALVE_STATE_OPEN = 1 - - -@unique -class DDValveNames(DialinEnum): - D14_VALV = 0 # Valve Hydraulics Outlet (D14) - D52_VALV = 1 # Valve Thermal Disinfect (D52) - D8_VALV = 2 # Valve Hydraulics Bypass (D8) - D54_VALV = 3 # Valve Rinse Port (D54) - D53_VALV = 4 # Valve Drain (D53) - D34_VALV = 5 # Valve Dialyzer Bypass (D34) - D64_VALV = 6 # Valve Purge 1 (D64) - D31_VALV = 7 # Valve Pressure Test (D31) - D65_VALV = 8 # Valve DryBcarb Inlet (D65) - D35_VALV = 9 # Valve Dialyzer Inlet (D35) - D40_VALV = 10 # Valve Dialyzer Outlet (D40) - D47_VALV = 11 # Valve Dialysate Out Purge 2 (D47) - D3_VALV = 12 # Valve Hydraulics Inlet (D3) - M4_VALV = 13 # Valve Water Inlet (M4) - RSRVD_SPACE1 = 14 # This space has been reserved - RSRVD_SPACE2 = 15 # This space has been reserved - D23_VALV = 16 # Balancing chamber Valve 1 (D23) - D19_VALV = 17 # Balancing chamber Valve 2 (D19) - D25_VALV = 18 # Balancing chamber Valve 3 (D25) - D26_VALV = 19 # Balancing chamber Valve 7 (D26) - D24_VALV = 20 # Balancing chamber Valve 5 (D24) - D20_VALV = 21 # Balancing chamber Valve 6 (D20) - D21_VALV = 22 # Balancing chamber Valve 4 (D21) - D22_VALV = 23 # Balancing chamber Valve 8 (D22) - D69_VALV = 24 # Ultrafiltration Valve 1 Inlet (D69) - D71_VALV = 25 # Ultrafiltration Valve 2 Inlet (D71) - D70_VALV = 26 # Ultrafiltration Valve 1 Outlet (D70) - D72_VALV = 27 # Ultrafiltration Valve 2 Outlet (D72) - class DDValves(AbstractSubSystem): """ Dialysate Delivery (DD) interface for valve related commands. @@ -79,8 +43,6 @@ END_POS_VALVES_STATES = START_POS_VALVES_STATES + 2 # Valves States come in as a U16 value (2 bytes) START_POS_BCV_VALVES_STATES = END_POS_VALVES_STATES END_POS_BCV_VALVES_STATES = START_POS_BCV_VALVES_STATES + 1 - START_POS_UFI_VALVES_STATES = END_POS_BCV_VALVES_STATES - END_POS_UFI_VALVES_STATES = START_POS_UFI_VALVES_STATES + 1 END_POS_ALL_VALVES = START_POS_VALVES_STATES + 4 def __init__(self, can_interface, logger: Logger): @@ -97,26 +59,26 @@ if self.can_interface is not None: channel_id = DenaliChannels.dd_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_DD_VALVES_STATES_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_valves_sync) + self.msg_id_dd_valves_states_data = MsgIds.MSG_ID_DD_VALVES_STATES_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_valves_states_data, self._handler_valves_sync) self.valve_states_all = 0x00000000 self.d14_valv = {"id": DDValveNames.D14_VALV.value, "state": DEENERGIZED} self.d52_valv = {"id": DDValveNames.D52_VALV.value, "state": DEENERGIZED} self.d8_valv = {"id": DDValveNames.D8_VALV.value, "state": DEENERGIZED} self.d54_valv = {"id": DDValveNames.D54_VALV.value, "state": DEENERGIZED} self.d53_valv = {"id": DDValveNames.D53_VALV.value, "state": DEENERGIZED} - self.d65_valv = {"id": DDValveNames.D65_VALV.value, "state": DEENERGIZED} + self.d34_valv = {"id": DDValveNames.D34_VALV.value, "state": DEENERGIZED} self.d64_valv = {"id": DDValveNames.D64_VALV.value, "state": DEENERGIZED} self.d31_valv = {"id": DDValveNames.D31_VALV.value, "state": DEENERGIZED} - self.d34_valv = {"id": DDValveNames.D34_VALV.value, "state": DEENERGIZED} + self.d65_valv = {"id": DDValveNames.D65_VALV.value, "state": DEENERGIZED} self.d35_valv = {"id": DDValveNames.D35_VALV.value, "state": DEENERGIZED} self.d40_valv = {"id": DDValveNames.D40_VALV.value, "state": DEENERGIZED} self.d47_valv = {"id": DDValveNames.D47_VALV.value, "state": DEENERGIZED} self.d3_valv = {"id": DDValveNames.D3_VALV.value, "state": DEENERGIZED} - self.m4_valv = {"id": DDValveNames.M4_VALV.value, "state": DEENERGIZED} + self.d80_valv = {"id": DDValveNames.D80_VALV.value, "state": DEENERGIZED} + self.d81_valv = {"id": DDValveNames.D81_VALV.value, "state": DEENERGIZED} self.rsvrd1 = {"id": DDValveNames.RSRVD_SPACE1.value, "state": DEENERGIZED} - self.rsvrd2 = {"id": DDValveNames.RSRVD_SPACE2.value, "state": DEENERGIZED} self.d23_valv = {"id": DDValveNames.D23_VALV.value, "state": DEENERGIZED} self.d19_valv = {"id": DDValveNames.D19_VALV.value, "state": DEENERGIZED} @@ -127,12 +89,6 @@ self.d21_valv = {"id": DDValveNames.D21_VALV.value, "state": DEENERGIZED} self.d22_valv = {"id": DDValveNames.D22_VALV.value, "state": DEENERGIZED} - self.d69_valv = {"id": DDValveNames.D69_VALV.value, "state": DEENERGIZED} - self.d71_valv = {"id": DDValveNames.D71_VALV.value, "state": DEENERGIZED} - self.d70_valv = {"id": DDValveNames.D70_VALV.value, "state": DEENERGIZED} - self.d72_valv = {"id": DDValveNames.D72_VALV.value, "state": DEENERGIZED} - - # NOTE: The len function counts the enums with the same number only once. This is not the case in the DD valves # class because each valve must have a unique ID. self.valve_states_enum = [0 for _ in range(len(DDValveNames))] @@ -152,29 +108,26 @@ self.d8_valv.get("state", None), self.d54_valv.get("state", None), self.d53_valv.get("state", None), - self.d65_valv.get("state", None), + self.d34_valv.get("state", None), self.d64_valv.get("state", None), self.d31_valv.get("state", None), - self.d34_valv.get("state", None), + self.d65_valv.get("state", None), self.d35_valv.get("state", None), self.d40_valv.get("state", None), self.d47_valv.get("state", None), self.d3_valv.get("state", None), - self.m4_valv.get("state", None), + self.d80_valv.get("state", None), + self.d81_valv.get("state", None), self.rsvrd1.get("state", None), - self.rsvrd2.get("state", None), + self.d23_valv.get("state", None), self.d19_valv.get("state", None), self.d25_valv.get("state", None), self.d26_valv.get("state", None), self.d24_valv.get("state", None), self.d20_valv.get("state", None), self.d21_valv.get("state", None), - self.d22_valv.get("state", None), - self.d69_valv.get("state", None), - self.d71_valv.get("state", None), - self.d70_valv.get("state", None), - self.d72_valv.get("state", None) + self.d22_valv.get("state", None) ] @staticmethod @@ -207,25 +160,25 @@ else: return DEENERGIZED - @publish([ + @publish(["msg_id_dd_valves_states_data", "dd_valves_states_timestamp", "valve_states_all", "d14_valv", "d52_valv", "d8_valv", "d54_valv", "d53_valv", - "d65_valv", + "d34_valv", "d64_valv", "d31_valv", - "d34_valv", + "d65_valv", "d35_valv", "d40_valv", "d47_valv", "d3_valv", - "m4_valv", + "d80_valv", + "d81_valv", "rsvrd1", - "rsvrd2", "d23_valv", "d19_valv", "d25_valv", @@ -234,10 +187,6 @@ "d20_valv", "d21_valv", "d22_valv", - "d69_valv", - "d71_valv", - "d70_valv", - "d72_valv", "valve_states_enum" ]) def _handler_valves_sync(self, message, timestamp=0.0): @@ -266,9 +215,9 @@ self.d40_valv["state"] = self._binary_to_valve_state(vst[0] & 1024) self.d47_valv["state"] = self._binary_to_valve_state(vst[0] & 2048) self.d3_valv["state"] = self._binary_to_valve_state(vst[0] & 4096) - self.m4_valv["state"] = self._binary_to_valve_state(vst[0] & 8192) - self.rsvrd1["state"] = self._binary_to_valve_state(vst[0] & 16384) - self.rsvrd2["state"] = self._binary_to_valve_state(vst[0] & 32768) + self.d80_valv["state"] = self._binary_to_valve_state(vst[0] & 8192) + self.d81_valv["state"] = self._binary_to_valve_state(vst[0] & 16384) + self.rsvrd1["state"] = self._binary_to_valve_state(vst[0] & 32768) bcv = struct.unpack('B', bytearray(message['message'][self.START_POS_BCV_VALVES_STATES:self.END_POS_BCV_VALVES_STATES])) self.d23_valv["state"] = self._binary_to_valve_state(bcv[0] & 1) @@ -280,13 +229,7 @@ self.d21_valv["state"] = self._binary_to_valve_state(bcv[0] & 64) self.d22_valv["state"] = self._binary_to_valve_state(bcv[0] & 128) - ufi = struct.unpack('B', bytearray(message['message'][self.START_POS_UFI_VALVES_STATES:self.END_POS_UFI_VALVES_STATES])) - self.d69_valv["state"] = self._binary_to_valve_state(ufi[0] & 1) - self.d69_valv["state"] = self._binary_to_valve_state(ufi[0] & 2) - self.d70_valv["state"] = self._binary_to_valve_state(ufi[0] & 4) - self.d72_valv["state"] = self._binary_to_valve_state(ufi[0] & 8) - - start = self.END_POS_UFI_VALVES_STATES + start = self.END_POS_BCV_VALVES_STATES end = start + 1 for valve_id in self.valves_sensed_states: valve_state_number = struct.unpack('B', bytearray(message['message'][start:end]))[0]