Index: leahi_dialin/td/modules/blood_flow.py
===================================================================
diff -u -r52aa7af16b98730ba59fc2577dbe8f73b5959775 -r43fec7787f9a4115d19deeb5cbc1d7bbf23134fe
--- leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision 52aa7af16b98730ba59fc2577dbe8f73b5959775)
+++ leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision 43fec7787f9a4115d19deeb5cbc1d7bbf23134fe)
@@ -41,8 +41,8 @@
 
         if self.can_interface is not None:
             channel_id = DenaliChannels.td_sync_broadcast_ch_id
-            msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_DATA.value
-            self.can_interface.register_receiving_publication_function(channel_id, msg_id,
+            self.msg_id_td_blood_pump_data = MsgIds.MSG_ID_TD_BLOOD_PUMP_DATA.value
+            self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_blood_pump_data,
                                                                        self._handler_blood_flow_sync)
         self.td_blood_flow_timestamp = 0.0
         self.h4_motor = {
@@ -57,7 +57,7 @@
             TDBloodFlowMotorAttributes.ROTOR_HALL_STATE.name: 0
         }
 
-    @publish(["td_blood_flow_timestamp", "h4_motor"])
+    @publish(["msg_id_td_blood_pump_data", "h4_motor", "td_blood_flow_timestamp"])
     def _handler_blood_flow_sync(self, message, timestamp=0.0):
         """
         Handles published blood flow data messages.  Blood flow data are captured
@@ -383,6 +383,30 @@
             self.logger.debug("Timeout!!!!")
             return False
 
+    def cmd_hard_stop_blood_pump(self) -> int:
+        """
+        Constructs and sends hard stop blood pump command.
+        Constraints:
+            Must be logged into TD.
+
+        @return: 1 if successful, zero otherwise
+        """
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id,
+                                              message_id=MsgIds.MSG_ID_TD_HARD_STOP_BLOOD_PUMP.value)
+
+        self.logger.debug("Hard stopping blood pump")
+
+        # Send message
+        received_message = self.can_interface.send(message)
+
+        # If there is content...
+        if received_message is not None:
+            # response payload is OK or not OK
+            return True
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False
+
     def cmd_blood_flow_alpha_y_intercept_override(self, intercept: float, reset: int = NO_RESET) -> int:
         """
         Constructs and sends the blood flow alpha y intercept override.