Index: leahi_dialin/td/modules/blood_flow.py
===================================================================
diff -u -r2ef41bc7fb2b7ddd59061ee453ec7efd9f676eda -rf4759a283992acdf2e66198ce4ab0747a5aa34a1
--- leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision 2ef41bc7fb2b7ddd59061ee453ec7efd9f676eda)
+++ leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision f4759a283992acdf2e66198ce4ab0747a5aa34a1)
@@ -44,20 +44,20 @@
             self.can_interface.register_receiving_publication_function(channel_id, msg_id,
                                                                        self._handler_blood_flow_sync)
         self.td_blood_flow_timestamp = 0.0
-        self.set_blood_flow_rate = 0
-        self.measured_blood_flow_rate = 0.0
-        self.measured_blood_pump_rotor_speed = 0.0
-        self.measured_blood_pump_speed = 0.0
-        self.measured_blood_pump_motor_current = 0.0
-        self.set_rpm = 0.0
-        self.rotor_count = 0
-        self.pres_blood_flow_rate = 0
-        self.rotor_hall_state = 0
+        self.h4_set_blood_flow_rate = 0
+        self.h4_measured_blood_flow_rate = 0.0
+        self.h4_measured_blood_pump_rotor_speed = 0.0
+        self.h4_measured_blood_pump_speed = 0.0
+        self.h4_measured_blood_pump_motor_current = 0.0
+        self.h4_set_rpm = 0.0
+        self.h4_rotor_count = 0
+        self.h4_pres_blood_flow_rate = 0
+        self.h4_rotor_hall_state = 0
 
 
-    @publish(["td_blood_flow_timestamp", "set_blood_flow_rate", "measured_blood_flow_rate", "measured_blood_pump_rotor_speed",
-              "measured_blood_pump_speed", "measured_blood_pump_motor_current", "set_rpm",
-              "rotor_count", "pres_blood_flow_rate", "rotor_hall_state"])
+    @publish(["td_blood_flow_timestamp", "h4_set_blood_flow_rate", "h4_measured_blood_flow_rate", "h4_measured_blood_pump_rotor_speed",
+              "h4_measured_blood_pump_speed", "h4_measured_blood_pump_motor_current", "h4_set_rpm",
+              "h4_rotor_count", "h4_pres_blood_flow_rate", "h4_rotor_hall_state"])
     def _handler_blood_flow_sync(self, message, timestamp=0.0):
         """
         Handles published blood flow data messages.  Blood flow data are captured
@@ -67,34 +67,25 @@
         @return: none
         """
 
-        tgt = struct.unpack('i', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))
-        flow = struct.unpack('f', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))
-        rotor = struct.unpack('f', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))
-        speed = struct.unpack('f', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))
-        mccurr = struct.unpack('f', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))
-        rpm = struct.unpack('f', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))
-        rot = struct.unpack('I', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))
-        pres = struct.unpack('I', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))
-        hal = struct.unpack('I', bytearray(
-            message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))
+        self.h4_set_blood_flow_rate = struct.unpack('i', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]
+        self.h4_measured_blood_flow_rate = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0]
+        self.h4_measured_blood_pump_rotor_speed = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0]
+        self.h4_measured_blood_pump_speed = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0]
+        self.h4_measured_blood_pump_motor_current = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0]
+        self.h4_set_rpm = struct.unpack('f', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0]
+        self.h4_rotor_count = struct.unpack('I', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))[0]
+        self.h4_pres_blood_flow_rate = struct.unpack('I', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))[0]
+        self.h4_rotor_hall_state = struct.unpack('I', bytearray(
+            message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))[0]
 
-        self.set_blood_flow_rate = tgt[0]
-        self.measured_blood_flow_rate = flow[0]
-        self.measured_blood_pump_rotor_speed = rotor[0]
-        self.measured_blood_pump_speed = speed[0]
-        self.measured_blood_pump_motor_current = mccurr[0]
-        self.set_rpm = rpm[0]
-        self.rotor_count = rot[0]
-        self.pres_blood_flow_rate = pres[0]
-        self.rotor_hall_state = hal[0]
         self.td_blood_flow_timestamp = timestamp
 
     def cmd_blood_flow_set_flow_rate_request(self, flow: int, mode: int = PUMP_CONTROL_MODE_CLOSED_LOOP) -> int:
@@ -123,19 +114,8 @@
 
         # 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(flow)
-
-            if mode == PUMP_CONTROL_MODE_OPEN_LOOP:
-                str_mode = " (open loop): "
-            else:
-                str_mode = " (closed loop): "
             self.logger.debug(
-                "Blood flow set point overridden to " + str_res + " mL/min" + str_mode +
-
+                "Blood flow set point overridden to " + str(flo) + " mL/min" + str(mod) +
                 str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]))
             # response payload is OK or not OK
             return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
@@ -145,7 +125,7 @@
 
     def cmd_blood_flow_set_speed_rate_request(self, rpm: int) -> int:
         """
-        Constructs and sends the blood flow set point command
+        Constructs and sends the blood flow set speed command
         Constraints:
             Must be logged into TD.
 
@@ -167,10 +147,9 @@
 
         # If there is content...
         if received_message is not None:
-            # # self.logger.debug(received_message)
-            # self.logger.debug(
-            #     "Blood flow set point overridden to " + str_res + " mL/min" + str_mode +
-            #     str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]))
+            self.logger.debug(
+                "Blood flow speed rate to " + str(rpm) +
+                str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]))
             # response payload is OK or not OK
             return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
         else: