Index: leahi_dialin/td/modules/pressure_sensors.py =================================================================== diff -u -r4b63107021e34fd1968e02f9d72bbb31f38fefd7 -r60a4cdf7272161c64bb60aac93b26acf50465494 --- leahi_dialin/td/modules/pressure_sensors.py (.../pressure_sensors.py) (revision 4b63107021e34fd1968e02f9d72bbb31f38fefd7) +++ leahi_dialin/td/modules/pressure_sensors.py (.../pressure_sensors.py) (revision 60a4cdf7272161c64bb60aac93b26acf50465494) @@ -7,21 +7,26 @@ # # @file pressure_occlusion.py # -# @author (last) Vinayakam Mani -# @date (last) 02-May-2024 +# @author (last) Zoltan Miskolci +# @date (last) 05-May-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ -import struct + +# Module imports from logging import Logger -from leahi_dialin.common.constants import RESET, NO_RESET +# Project imports +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common.generic_defs import DataTypes from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions -from leahi_dialin.common.td_defs import TDPressureSensorNames, TDPressureSensorAttributes from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override -from leahi_dialin.protocols.CAN import DenaliChannels -from leahi_dialin.utils.base import AbstractSubSystem, publish +from leahi_dialin.common import td_enum_repository + +from leahi_dialin.protocols.CAN import CanMessenger, CanChannels +from leahi_dialin.utils.abstract_classes import AbstractSubSystem +from leahi_dialin.utils.base import publish from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray @@ -30,49 +35,55 @@ Treatment Delivery (TD) Dialin API sub-class for pressure related commands. """ - def __init__(self, can_interface, logger: Logger): + def __init__(self, can_interface: CanMessenger, logger: Logger): """ TDPressureSensors constructor - """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: - channel_id = DenaliChannels.td_sync_broadcast_ch_id - self.msg_id_td_pressure_data = MsgIds.MSG_ID_TD_PRESSURE_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_pressure_data, - self._handler_pressure_sync) - self.td_pressure_timestamp = 0.0 + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_PRESSURE_DATA.value, + function = self._handler_pressure_sync) + + self.td_pressure_timestamp = 0.0 #: The timestamp of the latest message + + #: The Pressure data in dictionary format self.td_pressure_sensors = { - TDPressureSensorNames.H2_PRES.name: { - TDPressureSensorAttributes.PRES.name: 0.0, - TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name: 0.0, - TDPressureSensorAttributes.PRES_LIMIT_MIN.name: 0, - TDPressureSensorAttributes.PRES_LIMIT_MAX.name: 0 + td_enum_repository.TDPressureSensorNames.H2_PRES.name: { + td_enum_repository.TDPressureSensorAttributes.PRES.name: 0.0, + td_enum_repository.TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name: 0.0, + td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MIN.name: 0, + td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MAX.name: 0 }, - TDPressureSensorNames.H14_PRES.name: { - TDPressureSensorAttributes.PRES.name: 0.0, - TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name: 0.0, - TDPressureSensorAttributes.PRES_LIMIT_MIN.name: 0, - TDPressureSensorAttributes.PRES_LIMIT_MAX.name: 0 + td_enum_repository.TDPressureSensorNames.H14_PRES.name: { + td_enum_repository.TDPressureSensorAttributes.PRES.name: 0.0, + td_enum_repository.TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name: 0.0, + td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MIN.name: 0, + td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MAX.name: 0 }, - TDPressureSensorNames.H23_PRES.name: { - TDPressureSensorAttributes.PRES.name : 0.0 + td_enum_repository.TDPressureSensorNames.H23_PRES.name: { + td_enum_repository.TDPressureSensorAttributes.PRES.name : 0.0 + }, + 'TMP_PRES': { + td_enum_repository.TDPressureSensorAttributes.PRES.name: 0.0, + td_enum_repository.TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name: 0.0, + td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MIN.name: 0, + td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MAX.name: 0 } } - self.pressure_limits_state = 0 - self.tmp_pressure = 0.0 - self.tmp_min_limit = 0.0 - self.tmp_max_limit = 0.0 + + self.pressure_limits_state = 0 #: Pressure limits state value @publish([ "msg_id_td_pressure_data", "td_pressure_sensors", "pressure_limits_state", "tmp_pressure", + "tmp_long_filtered_pressure", "tmp_min_limit", "tmp_max_limit", "td_pressure_timestamp" @@ -86,49 +97,61 @@ @return: none """ - art = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) - ven = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) - pls = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) - apl = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) - apu = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) - vpl = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) - vpu = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) - lfa = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) - lfv = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) - tps = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10])) - tmin = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11])) - tmax = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_12:MsgFieldPositions.END_POS_FIELD_12])) - baro = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_13:MsgFieldPositions.END_POS_FIELD_13])) + sensor_list_1 = [] + sensor_list_1.append((td_enum_repository.TDPressureSensorNames.H2_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES.name, DataTypes.F32)) + sensor_list_1.append((td_enum_repository.TDPressureSensorNames.H14_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES.name, DataTypes.F32)) + msg_list_1 = [] + msg_list_1.append(['self.pressure_limits_state', DataTypes.U32]) + sensor_list_2 = [] + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H2_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MIN.name, DataTypes.S32)) + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H2_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MAX.name, DataTypes.S32)) + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H14_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MIN.name, DataTypes.S32)) + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H14_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MAX.name, DataTypes.S32)) + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H2_PRES.name, td_enum_repository.TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name, DataTypes.F32)) + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H14_PRES.name, td_enum_repository.TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name, DataTypes.F32)) + sensor_list_2.append(('TMP_PRES', td_enum_repository.TDPressureSensorAttributes.PRES.name, DataTypes.F32)) + sensor_list_2.append(('TMP_PRES', td_enum_repository.TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name, DataTypes.F32)) + sensor_list_2.append(('TMP_PRES', td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MIN.name, DataTypes.F32)) + sensor_list_2.append(('TMP_PRES', td_enum_repository.TDPressureSensorAttributes.PRES_LIMIT_MAX.name, DataTypes.F32)) + sensor_list_2.append((td_enum_repository.TDPressureSensorNames.H23_PRES.name, td_enum_repository.TDPressureSensorAttributes.PRES.name, DataTypes.F32)) - self.td_pressure_sensors[TDPressureSensorNames.H2_PRES.name][TDPressureSensorAttributes.PRES.name] = art[0] - self.td_pressure_sensors[TDPressureSensorNames.H14_PRES.name][TDPressureSensorAttributes.PRES.name] = ven[0] - self.pressure_limits_state = pls[0] - self.td_pressure_sensors[TDPressureSensorNames.H2_PRES.name][TDPressureSensorAttributes.PRES_LIMIT_MIN.name] = apl[0] - self.td_pressure_sensors[TDPressureSensorNames.H2_PRES.name][TDPressureSensorAttributes.PRES_LIMIT_MAX.name] = apu[0] - self.td_pressure_sensors[TDPressureSensorNames.H14_PRES.name][TDPressureSensorAttributes.PRES_LIMIT_MIN.name] = vpl[0] - self.td_pressure_sensors[TDPressureSensorNames.H14_PRES.name][TDPressureSensorAttributes.PRES_LIMIT_MAX.name] = vpu[0] - self.td_pressure_sensors[TDPressureSensorNames.H2_PRES.name][TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name] = lfa[0] - self.td_pressure_sensors[TDPressureSensorNames.H14_PRES.name][TDPressureSensorAttributes.LONG_FILTERED_PRESSURE.name] = lfv[0] - self.tmp_pressure = tps[0] - self.tmp_min_limit = tmin[0] - self.tmp_max_limit = tmax[0] - self.td_pressure_sensors[TDPressureSensorNames.H23_PRES.name][TDPressureSensorAttributes.PRES.name] = baro[0] + self.process_into_dict(dict_to_update = self.td_pressure_sensors, + decoder_list = sensor_list_1, + message = message) + + self.process_into_vars(decoder_list = msg_list_1, + message = message, + start_from_byte = len(sensor_list_1) * DataTypes.F32.size()) + + self.process_into_dict(dict_to_update = self.td_pressure_sensors, + decoder_list = sensor_list_2, + message = message, + start_from_byte = (len(sensor_list_1) + len(msg_list_1)) * DataTypes.F32.size()) + self.td_pressure_timestamp = timestamp + def cmd_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured pressure sensors 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 = CanChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'TD Pressure Sensors', + logger = self.logger, + can_interface = self.can_interface) + + def cmd_pressure_sensor_override(self, sensor: int, pressure: float, reset: int = NO_RESET) -> int: """ Constructs and sends the measured pressure sensor override command @@ -141,24 +164,21 @@ @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ - - sensor_name = TDPressureSensorNames(sensor).name.split('_')[0] - rst = integer_to_bytearray(reset) sen = integer_to_bytearray(sensor) prs = float_to_bytearray(pressure) payload = rst + prs + sen + sensor_name = td_enum_repository.TDPressureSensorNames(sensor).name.split('_')[0] return cmd_generic_override( payload = payload, reset = reset, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_PRESSURE_OVERRIDE_REQUEST, - entity_name = f'{sensor_name} pressure', + entity_name = f'TD {sensor_name} Pressure Sensor pressure', override_text = str(prs) + " mmHg. ", logger = self.logger, - can_interface = self.can_interface - ) + can_interface = self.can_interface) def cmd_tmp_sensor_override(self, pressure: float, reset: int = NO_RESET) -> int: @@ -172,40 +192,42 @@ @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 return cmd_generic_override( payload = payload, reset = reset, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_TMP_PRESSURE_OVERRIDE_REQUEST, - entity_name = 'TMP pressure', + entity_name = 'TD TMP Pressure Sensor pressure', override_text = str(prs) + " mmHg. ", logger = self.logger, - can_interface = self.can_interface - ) + can_interface = self.can_interface) - def cmd_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + def cmd_baro_sensor_override(self, pressure: float, reset: int = NO_RESET) -> int: """ - Constructs and sends the measured pressure sensors broadcast interval override command + Constructs and sends the barometric sensor 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 pressure: float - measured pressure (in PSI) to override with @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 - return cmd_generic_broadcast_interval_override( - ms = ms, + return cmd_generic_override( + payload = payload, reset = reset, - channel_id = DenaliChannels.dialin_to_td_ch_id, - msg_id = MsgIds.MSG_ID_TD_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, - module_name = 'TD pressure sensors', + channel_id = CanChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BARO_PRESSURE_OVERRIDE, + entity_name = 'TD Barometric Pressure Sensor pressure', + override_text = str(prs) + " PSI. ", logger = self.logger, can_interface = self.can_interface)