Index: leahi_dialin/td/modules/blood_flow.py
===================================================================
diff -u -rdf2b51a17a2ccdaf3587f631de7623fa7fcae624 -reb02c56e88faeeda46ed62b1c0ec841dca0b9aba
--- leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision df2b51a17a2ccdaf3587f631de7623fa7fcae624)
+++ leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision eb02c56e88faeeda46ed62b1c0ec841dca0b9aba)
@@ -55,7 +55,7 @@
         self.h4_rotor_hall_state = 0
 
 
-    @publish(["td_blood_flow_timestamp", "h4_set_blood_flow_rate", "h4_measured_blood_flow_rate", "h4_measured_blood_pump_rotor_speed",
+    @publish(["td_blood_flow_timestamp", "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):
@@ -67,25 +67,34 @@
         @return: none
         """
 
-        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]
+        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 = tgt[0]
+        self.h4_measured_blood_flow_rate = flow[0]
+        self.h4_measured_blood_pump_rotor_speed = rotor[0]
+        self.h4_measured_blood_pump_speed = speed[0]
+        self.h4_measured_blood_pump_motor_current = mccurr[0]
+        self.h4_set_rpm = rpm[0]
+        self.h4_rotor_count = rot[0]
+        self.h4_pres_blood_flow_rate = pres[0]
+        self.h4_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:
@@ -357,28 +366,3 @@
         else:
             self.logger.debug("Timeout!!!!")
             return False
-
-    def cmd_home_blood_pump(self) -> int:
-        """
-        Constructs and sends home 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_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