Index: leahi_dialin/td/modules/blood_flow.py =================================================================== diff -u -r7c8e829c563547ee50c517f1d6b84cb800b72027 -r03dc6c3ff80d7f76a5b6438ba067e02a37e2ce93 --- leahi_dialin/td/modules/blood_flow.py (.../blood_flow.py) (revision 7c8e829c563547ee50c517f1d6b84cb800b72027) +++ leahi_dialin/td/modules/blood_flow.py (.../blood_flow.py) (revision 03dc6c3ff80d7f76a5b6438ba067e02a37e2ce93) @@ -7,22 +7,22 @@ # # @file blood_flow.py # -# @author (last) Micahel Garthwaite -# @date (last) 17-Aug-2023 +# @author (last) Zoltan Miskolci +# @date (last) 08-Jan-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ + import struct from logging import Logger -from .constants import PUMP_CONTROL_MODE_CLOSED_LOOP, PUMP_CONTROL_MODE_OPEN_LOOP -from .constants import RESET, NO_RESET +from leahi_dialin.common.constants import NO_RESET, PUMP_CONTROL_MODE_CLOSED_LOOP from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.common.td_defs import TDBloodFlowMotorAttributes -from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels +from leahi_dialin.protocols.CAN import DenaliChannels from leahi_dialin.utils.base import AbstractSubSystem, publish -from leahi_dialin.utils.checks import check_broadcast_interval_override_ms from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray @@ -57,6 +57,7 @@ TDBloodFlowMotorAttributes.ROTOR_HALL_STATE.name: 0, } + @publish(["msg_id_td_blood_pump_data", "h4_motor", "td_blood_flow_timestamp"]) def _handler_blood_flow_sync(self, message, timestamp=0.0): """ @@ -66,7 +67,6 @@ @param message: published blood flow data message @return: none """ - self.h4_motor[TDBloodFlowMotorAttributes.SET_BLOOD_FLOW_RATE.name] = struct.unpack('i', bytearray( message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] self.h4_motor[TDBloodFlowMotorAttributes.MEASURED_BLOOD_FLOW_RATE.name] = struct.unpack('f', bytearray( @@ -88,6 +88,28 @@ self.td_blood_flow_timestamp = timestamp + + def cmd_blood_flow_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured blood flow broadcast interval override command + Constraints: + Must be logged into TD. + Given interval must be non-zero and a multiple of the TD general task interval (50 ms). + + @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 + """ + return cmd_generic_broadcast_interval_override( + ms = ms, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'TD Blood Flow', + logger = self.logger, + can_interface = self.can_interface) + + def cmd_blood_flow_set_flow_rate_request(self, flow: int, mode: int = PUMP_CONTROL_MODE_CLOSED_LOOP) -> int: """ Constructs and sends the blood flow set point command @@ -98,31 +120,21 @@ @param mode: integer - 0 for closed loop control mode or 1 for open loop control mode @return: 1 if successful, zero otherwise """ - flo = integer_to_bytearray(flow) mod = integer_to_bytearray(mode) payload = flo + mod - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_FLOW_RATE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_FLOW_RATE_REQUEST, + entity_name = f'TD Blood Flow flow rate', + override_text = f'{str(flow)} mL/min', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override blood flow set point") - # Send message - received_message = self.can_interface.send(message) - - # If there is content... - if received_message is not None: - self.logger.debug( - "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] - else: - self.logger.debug("Timeout!!!!") - return False - def cmd_blood_flow_set_speed_rate_request(self, rpm: int) -> int: """ Constructs and sends the blood flow set speed command @@ -132,30 +144,20 @@ @param rpm: integer - speed set point (in rpm) between 80 - 3080 @return: 1 if successful, zero otherwise """ - rpm = integer_to_bytearray(rpm) payload = rpm - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_SPEED_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_SET_SPEED_REQUEST, + entity_name = f'TD Blood Flow RPM', + override_text = f'{str(rpm)}', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override blood flow set point") - # Send message - received_message = self.can_interface.send(message) - - # If there is content... - if received_message is not None: - 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: - self.logger.debug("Timeout!!!!") - return False - def cmd_blood_flow_measured_override(self, flow: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood flow override command @@ -166,35 +168,21 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) flo = float_to_bytearray(flow) payload = rst + flo - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_FLOW_RATE_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_FLOW_RATE_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow measured flow rate', + override_text = f'{str(flow)} mL/min', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override measured blood flow") - # 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(flow) - self.logger.debug("Blood flow (measured)) overridden to " + str_res + " mL/min: " + - str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - def cmd_blood_pump_measured_motor_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump motor speed override \n @@ -206,35 +194,21 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) spd = float_to_bytearray(speed) payload = rst + spd - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_MOTOR_SPEED_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_MOTOR_SPEED_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow measured motor RPM', + override_text = f'{str(spd)}', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override measured blood pump speed") - # 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(speed) - self.logger.debug("Blood pump speed (measured) overridden to " + str_res + " 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: - self.logger.debug("Timeout!!!!") - return False - def cmd_blood_pump_measured_rotor_speed_override(self, speed: int, reset: int = NO_RESET) -> int: """ Constructs and sends the measured blood pump rotor speed override \n @@ -246,78 +220,22 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) spd = float_to_bytearray(speed) payload = rst + spd - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_ROTOR_SPEED_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_MEASURED_ROTOR_SPEED_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow measured rotor RPM', + override_text = f'{str(spd)}', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override measured blood pump rotor speed") - # Send message - received_message = self.can_interface.send(message) - # If there is contentleahi_dialin.. - if received_message is not None: - # self.logger.debug(received_message) - if reset == RESET: - str_res = "reset back to normal" - else: - str_res = str(speed) - self.logger.debug("Blood pump rotor speed (measured) overridden to " + str_res + " 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: - self.logger.debug("Timeout!!!!") - return False - - def cmd_blood_flow_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: - """ - Constructs and sends the measured blood flow broadcast interval override command - Constraints: - Must be logged into TD. - Given interval must be non-zero and a multiple of the TD general task interval (50 ms). - - @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) - mis = integer_to_bytearray(ms) - payload = rst + mis - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override blood flow 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(ms) + " ms: " - self.logger.debug("Blood flow broadcast interval overridden to " + str_res + - str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - def cmd_blood_pump_rotor_count_override(self, rot_count: int, reset: int = NO_RESET) -> int: """ Constructs and sends the blood pump rotor count override command @@ -329,35 +247,21 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - rst = integer_to_bytearray(reset) cnt = integer_to_bytearray(rot_count) payload = rst + cnt - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_ROTOR_COUNT_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_PUMP_ROTOR_COUNT_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow rotor count', + override_text = f'{str(rot_count)}', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("override blood pump rotor count") - # 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(rot_count) + ": " - self.logger.debug("Blood pump rotor count overridden to " + str_res + - str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX])) - # response payload is OK or not OK - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - def cmd_home_blood_pump(self) -> int: """ Constructs and sends home blood pump command. @@ -366,23 +270,17 @@ @return: 1 if successful, zero otherwise """ + return cmd_generic_override( + payload = None, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_HOME_BLOOD_PUMP_REQUEST, + entity_name = f'TD Blood Flow homing', + override_text = f'Active', + logger = self.logger, + can_interface = self.can_interface) - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_HOME_BLOOD_PUMP_REQUEST.value) - self.logger.debug("homing 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_hard_stop_blood_pump(self) -> int: """ Constructs and sends hard stop blood pump command. @@ -391,22 +289,17 @@ @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) + return cmd_generic_override( + payload = None, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_HARD_STOP_BLOOD_PUMP, + entity_name = f'TD Blood Flow Pump hard stop', + override_text = f'Active', + logger = self.logger, + can_interface = self.can_interface) - 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. @@ -418,26 +311,21 @@ @return: 1 if successful, zero otherwise """ - reset_byte_array = integer_to_bytearray(reset) intercept_byte_array = float_to_bytearray(intercept) payload = reset_byte_array + intercept_byte_array - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_FLOW_ALPHA_Y_INTERCEPT_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_FLOW_ALPHA_Y_INTERCEPT_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow alpha Y intercept', + override_text = f'{str(intercept)}', + logger = self.logger, + can_interface = self.can_interface) - # 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 received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.error("Timeout!!!!") - return False - def cmd_blood_flow_wear_a_term_override(self, a_term: float, reset: int = NO_RESET) -> int: """ Constructs and sends the blood flow wear a term override @@ -449,26 +337,21 @@ @return: 1 if successful, zero otherwise """ - reset_byte_array = integer_to_bytearray(reset) term_byte_array = float_to_bytearray(a_term) payload = reset_byte_array + term_byte_array - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_A_TERM_OVERRIDE_REQUEST.value, - payload=payload) + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_A_TERM_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow wear A term', + override_text = f'{str(a_term)}', + logger = self.logger, + can_interface = self.can_interface) - # 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 received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.error("Timeout!!!!") - return False - def cmd_blood_flow_wear_b_term_override(self, b_term: float, reset: int = NO_RESET) -> int: """ Constructs and sends the blood flow wear b term override @@ -480,22 +363,16 @@ @return: 1 if successful, zero otherwise """ - reset_byte_array = integer_to_bytearray(reset) term_byte_array = float_to_bytearray(b_term) payload = reset_byte_array + term_byte_array - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_B_TERM_OVERRIDE_REQUEST.value, - payload=payload) - - # 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 received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.error("Timeout!!!!") - return False \ No newline at end of file + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BLOOD_FLOW_WEAR_B_TERM_OVERRIDE_REQUEST, + entity_name = f'TD Blood Flow wear B term', + override_text = f'{str(b_term)}', + logger = self.logger, + can_interface = self.can_interface)