Index: leahi_dialin/fp/modules/boost_pump.py =================================================================== diff -u -r655a085797b495280e38876b711735455b0b55c0 -rdf000f9b784efe89bca7a8a010596322560f6f95 --- leahi_dialin/fp/modules/boost_pump.py (.../boost_pump.py) (revision 655a085797b495280e38876b711735455b0b55c0) +++ leahi_dialin/fp/modules/boost_pump.py (.../boost_pump.py) (revision df000f9b784efe89bca7a8a010596322560f6f95) @@ -14,178 +14,184 @@ # ############################################################################ import struct -from enum import unique + from logging import Logger -from enum import unique + from leahi_dialin.utils.base import DialinEnum from .constants import RESET, NO_RESET from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.common.fp_defs import BoostPumpNames, FPPumpAttributes 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, float_to_bytearray -@unique -class FPPumpNames(DialinEnum): - P12_PUMP_RO = 0 - P40_PUMP_BOOSTER = 1 - - -class FPPumps(AbstractSubSystem): +class FPBoostPump(AbstractSubSystem): """ - Dialin API sub-class for RO pump related commands. + Dialin API sub-class for FP Boost pump controller related commands. """ def __init__(self, can_interface, logger: Logger): """ - FPPumps constructor + FPBoostPump constructor """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: channel_id = DenaliChannels.fp_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_RO_PUMP_DATA.value + msg_id = MsgIds.MSG_ID_FP_BOOST_PUMP_DATA.value self.can_interface.register_receiving_publication_function(channel_id, msg_id, - self._handler_boost_pump_sync) - self.ro_pump_timestamp = 0.0 - self.p12_pump_state = 0 - self.p12_pump_duty_cycle = 0.0 - self.p12_pump_fb_duty_cycle = 0.0 - self.p12_pump_speed = 0.0 - self.p40_pump_state = 0 - self.p40_pump_duty_cycle = 0.0 - self.p40_pump_fb_duty_cycle = 0.0 - self.p40_pump_speed = 0.0 + self._handler_pump_sync) + self.boost_pump_timestamp = 0.0 + self.boost_pump = { + BoostPumpNames.P40_PUMP.name: { + FPPumpAttributes.STATE.name: 0, + FPPumpAttributes.DUTY_CYCLE.name: 0, + FPPumpAttributes.FB_DUTY_CYCLE.name: 0, + FPPumpAttributes.SPEED.name: 0.0, + FPPumpAttributes.TARGET_PRESSURE.name: 0.0, + FPPumpAttributes.TARGET_FLOW.name: 0.0, + FPPumpAttributes.TARGET_DUTY_CYCLE.name: 0.0, + FPPumpAttributes.DUTY_CYCLE_PCT.name: 0.0, + FPPumpAttributes.FB_DUTY_CYCLE_PCT.name: 0.0 + } + } - - @publish(["ro_pump_timestamp", "p12_pump_state", "p12_pump_duty_cycle", "p12_pump_fb_duty_cycle", - "p12_pump_speed", "p40_pump_state", "p40_pump_duty_cycle", - "p40_pump_fb_duty_cycle", "p40_pump_speed"]) - def _handler_boost_pump_sync(self, message, timestamp=0.0): + @publish(["boost_pump_timestamp", "boost_pump" ]) + def _handler_pump_sync(self, message, timestamp=0.0): """ - Handles published RO pump data messages. RO pump data is captured + Handles published FP ro pump data messages. FP ro pump data is captured for reference. - @param message: published RO pump data message + @param message: published FP ro pump data message @return: none """ - self.p12_pump_state = struct.unpack('i', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.STATE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] - self.p12_pump_duty_cycle = struct.unpack('i', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.DUTY_CYCLE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0] - self.p12_pump_fb_duty_cycle = struct.unpack('i', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.FB_DUTY_CYCLE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0] - self.p12_pump_speed = struct.unpack('f', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.SPEED.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0] - self.p40_pump_state = struct.unpack('i', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.TARGET_PRESSURE.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0] - self.p40_pump_duty_cycle = struct.unpack('i', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.TARGET_FLOW.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0] - self.p40_pump_fb_duty_cycle = struct.unpack('i', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.TARGET_DUTY_CYCLE.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0] - self.p40_pump_speed = struct.unpack('f', bytearray( + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.DUTY_CYCLE_PCT.name] = struct.unpack('f', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0] + self.boost_pump[BoostPumpNames.P40_PUMP.name][FPPumpAttributes.FB_DUTY_CYCLE_PCT.name] = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0] - self.ro_pump_timestamp = timestamp + self.boost_pump_timestamp = timestamp - def cmd_boost_pump_set_speed_rate_override(self, pump: int, rpm: int, reset: int = NO_RESET) -> int: + def cmd_boost_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ - Constructs and sends the boost pump set point command + Constructs and sends the FP boost pump broadcast interval override command Constraints: Must be logged into FP. + Given interval must be non-zero and a multiple of the FP general task interval (50 ms). - @param rpm: integer - speed set point (in rpm) + @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) - rpm = integer_to_bytearray(rpm) - pmp = integer_to_bytearray(pump) - payload = rst + rpm + pmp + mis = integer_to_bytearray(ms) + payload = rst + mis message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SPEED_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, payload=payload) - self.logger.debug("override blood flow set point") + self.logger.debug("override FP boost pump broadcast interval") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: + # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: - str_res = str(rpm) + str_res = str(mis) - self.logger.debug("rpm overridden to " + str_res) + self.logger.debug("broadcast overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False - def cmd_boost_pump_set_pwm_request(self, pump: int, pwm: int) -> int: + def cmd_boost_pump_target_pressure_override(self, pressure: float, reset: int = NO_RESET) -> int: """ - Constructs and sends set pwm request for RO pumps \n - command. + Constructs and sends the target pressure override for the boost pump. This will drive + the boost pump in a closed loop to the pressure. Constraints: Must be logged into FP. - @param pump: integer - the pump id to set pwm - @param pwm: integer - counts to override the pwm ( 0 - 500 ) + @param pressure: float - target pressure in PSI between 10 - 40 + @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ + rst = integer_to_bytearray(reset) + prs = float_to_bytearray(pressure) + payload = rst + prs - spd = integer_to_bytearray(pwm) - pmp = integer_to_bytearray(pump) - payload = pmp + spd - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SET_PWM_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_TARGET_PRESSURE_OVERRIDE_REQUEST.value, payload=payload) - self.logger.debug("setting pump {} to pwm count {}".format(pump,pwm)) + self.logger.debug("override boost pump target pressure") # 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(pressure) - self.logger.debug("pwm set to " + str(pwm)) + self.logger.debug("boost target pressure overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False - def cmd_boost_pump_read_pwm_override(self, pump: int, pwm: float, reset: int = NO_RESET) -> int: + def cmd_boost_pump_target_flow_override(self, flow: int, reset: int = NO_RESET) -> int: """ - Constructs and sends the read pwm override for the RO pumps \n - command. + Constructs and sends the target flow override for the boost pump. This will drive + the boost pump in a closed loop to the flow. Constraints: Must be logged into FP. - @param pwm: float - pwm in percentage to override with + @param flow: float - target flow in mL/min between 0 - 1500 @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) - rpwm = float_to_bytearray(pwm) - pmp = integer_to_bytearray(pump) - payload = rst + rpwm + pmp + flw = integer_to_bytearray(flow) + payload = rst + flw message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_TARGET_FLOW_OVERRIDE_REQUEST.value, payload=payload) - self.logger.debug("override read pwm for pump".format(pump)) + self.logger.debug("override BOOST pump target flow") # Send message received_message = self.can_interface.send(message) @@ -195,54 +201,78 @@ if reset == RESET: str_res = "reset back to normal" else: - str_res = str(rpwm) + str_res = str(flow) - self.logger.debug("pwm overridden to " + str_res) + self.logger.debug("BOOST target flow overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") return False - def cmd_boost_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + def cmd_boost_pump_target_pwm_override(self, duty_cycle: float, reset: int = NO_RESET) -> int: """ - Constructs and sends the RO pump broadcast interval override command + Constructs and sends the target duty cycle override for the boost pump. This will drive + the boost pump in an open loop to the pwm. Constraints: Must be logged into FP. - Given interval must be non-zero and a multiple of the FP general task interval (50 ms). - @param ms: integer - interval (in ms) to override with + @param pressure: float - target duty cycle between 0 - 0.90 @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 + pwm = float_to_bytearray(duty_cycle) + payload = rst + pwm message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, - message_id=MsgIds.MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_TARGET_PWM_OVERRIDE_REQUEST.value, payload=payload) - self.logger.debug("override FP pump broadcast interval") + self.logger.debug("override boost pump target pwm") # Send message received_message = self.can_interface.send(message) # If there is content... if received_message is not None: - # self.logger.debug(received_message) if reset == RESET: str_res = "reset back to normal" else: - str_res = str(mis) + str_res = str(duty_cycle) - self.logger.debug("broadcast overridden to " + str_res) + self.logger.debug("boost target pwm overridden to " + str_res) # response payload is OK or not OK return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Timeout!!!!") - return False \ No newline at end of file + return False + + + def cmd_boost_pump_set_hard_stop(self) -> int: + """ + Constructs and sends the hard stop for the boost pump. This will stop + the boost pump. + Constraints: + Must be logged into FP. + + @return: 1 if successful, zero otherwise + """ + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_FP_BOOST_PUMP_STOP_REQUEST.value) + + self.logger.debug("hard stopping boost pump") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + self.logger.debug(" boost pump stopped ") + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False +