Index: leahi_dialin/td/modules/syringe_pump.py =================================================================== diff -u -r8fbb7b6eda15b41620cccfbc4760047ccc9d1043 -r60a4cdf7272161c64bb60aac93b26acf50465494 --- leahi_dialin/td/modules/syringe_pump.py (.../syringe_pump.py) (revision 8fbb7b6eda15b41620cccfbc4760047ccc9d1043) +++ leahi_dialin/td/modules/syringe_pump.py (.../syringe_pump.py) (revision 60a4cdf7272161c64bb60aac93b26acf50465494) @@ -17,12 +17,13 @@ from logging import Logger from leahi_dialin.common.constants import RESET, NO_RESET +from leahi_dialin.common.generic_defs import DataTypes from leahi_dialin.common.td_defs import TDTreaHeparinStates, TDTreaSyringePumpStates, SyringePumpOperations 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.protocols.CAN import DenaliMessage, DenaliChannels -from leahi_dialin.utils.base import AbstractSubSystem, publish -from leahi_dialin.utils.checks import check_broadcast_interval_override_ms +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 class TDSyringePump(AbstractSubSystem): @@ -32,7 +33,7 @@ Treatment Delivery (TD) Dialin API sub-class for syringe pump related commands. """ - def __init__(self, can_interface, logger: Logger): + def __init__(self, can_interface: CanMessenger, logger: Logger): """ @param can_interface: Denali Can Messenger object @@ -42,10 +43,9 @@ self.logger = logger if self.can_interface is not None: - channel_id = DenaliChannels.td_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, - self._handler_syringe_pump_data) + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_DATA.value, + function = self._handler_syringe_pump_data) self.syringe_pump_state = TDTreaSyringePumpStates.SYRINGE_PUMP_INIT_STATE.value #: current syringe pump state self.heparin_state = TDTreaHeparinStates.HEPARIN_STATE_OFF.value #: current heparin state @@ -63,6 +63,7 @@ self.syringe_pump_adc_read_counter = 0 #: current syringe pump ADC read counter self.td_syringe_pump_timestamp = 0.0 #: The timestamp of the syringe pump message + @publish(["td_syringe_pump_timestamp", "syringe_pump_state", "syringe_pump_set_rate_ml_hr", "syringe_pump_meas_rate_ml_hr", "syringe_pump_position", @@ -79,44 +80,25 @@ @param message: published syringe pump data message @return: None """ + msg_list = [] + msg_list.append(('self.syringe_pump_state', DataTypes.U32)) + msg_list.append(('self.heparin_state', DataTypes.U32)) + msg_list.append(('self.syringe_pump_set_rate_ml_hr', DataTypes.F32)) + msg_list.append(('self.syringe_pump_meas_rate_ml_hr', DataTypes.F32)) + msg_list.append(('self.syringe_pump_position', DataTypes.U32)) + msg_list.append(('self.syringe_pump_volume_ml', DataTypes.F32)) + msg_list.append(('self.syringe_pump_home_v', DataTypes.F32)) + msg_list.append(('self.syringe_pump_switch_v', DataTypes.F32)) + msg_list.append(('self.syringe_pump_force_v', DataTypes.F32)) + msg_list.append(('self.syringe_pump_safety_volume_ml', DataTypes.F32)) + msg_list.append(('self.syringe_pump_status', DataTypes.U08)) + msg_list.append(('self.syringe_pump_encoder_status', DataTypes.U08)) + msg_list.append(('self.syringe_pump_adc_dac_status', DataTypes.U08)) + msg_list.append(('self.syringe_pump_adc_read_counter', DataTypes.U08)) - sta = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) - hep = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) - srt = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) - mrt = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) - pos = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) - vol = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) - hom = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) - det = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) - frc = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9])) - saf = struct.unpack('f', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_10:MsgFieldPositions.END_POS_FIELD_10])) - sts = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_11:MsgFieldPositions.END_POS_FIELD_11])) + self.process_into_vars(decoder_list = msg_list, + message = message) - self.syringe_pump_state = sta[0] - self.heparin_state = hep[0] - self.syringe_pump_set_rate_ml_hr = srt[0] - self.syringe_pump_meas_rate_ml_hr = mrt[0] - self.syringe_pump_position = pos[0] - self.syringe_pump_volume_ml = vol[0] - self.syringe_pump_home_v = hom[0] - self.syringe_pump_switch_v = det[0] - self.syringe_pump_force_v = frc[0] - self.syringe_pump_safety_volume_ml = saf[0] - self.syringe_pump_status = (sts[0] & 0xFF000000) >> 24 - self.syringe_pump_encoder_status = (sts[0] & 0x00FF0000) >> 16 - self.syringe_pump_adc_dac_status = (sts[0] & 0x0000FF00) >> 8 - self.syringe_pump_adc_read_counter = (sts[0] & 0x000000FF) self.td_syringe_pump_timestamp = timestamp @@ -149,7 +131,6 @@ SYRINGE_PUMP_OP_BOLUS = 4 SYRINGE_PUMP_OP_CONTINUOUS = 5 """ - op = integer_to_bytearray(operation) rat = float_to_bytearray(rate) vol = float_to_bytearray(volume) @@ -158,7 +139,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_OPERATION_REQUEST, entity_name = f'TD Syringe Pump Operation', override_text = f'{operation} ', @@ -181,7 +162,7 @@ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_HD_SYRINGE_PUMP_PUBLISH_INTERVAL_OVERRIDE, module_name = 'TD Syringe Pump', logger = self.logger, @@ -206,7 +187,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_RATE_OVERRIDE_REQUEST, entity_name = f'TD syringe pump measured rate', override_text = f'{rate} ', @@ -232,7 +213,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_FORCE_OVERRIDE_REQUEST, entity_name = f'TD syringe pump measured force', override_text = f'{volts} ', @@ -258,7 +239,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_HOME_OVERRIDE_REQUEST, entity_name = f'TD syringe pump measured home', override_text = f'{volts} ', @@ -284,7 +265,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_POSITION_OVERRIDE_REQUEST, entity_name = f'TD syringe pump measured position', override_text = f'{position} ', @@ -310,7 +291,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_VOLUME_OVERRIDE_REQUEST, entity_name = f'TD syringe pump volume delivered', override_text = f'{volume} ', @@ -336,7 +317,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_STATUS_OVERRIDE_REQUEST, entity_name = f'TD syringe pump status', override_text = f'{status} ', @@ -362,7 +343,7 @@ return cmd_generic_override( payload = payload, reset = NO_RESET, - channel_id = DenaliChannels.dialin_to_td_ch_id, + channel_id = CanChannels.dialin_to_td_ch_id, msg_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_ENCODER_STATUS_OVERRIDE_REQUEST, entity_name = f'TD syringe pump encoder status', override_text = f'{status} ', @@ -388,7 +369,7 @@ return cmd_generic_override( payload=payload, reset=NO_RESET, - channel_id=DenaliChannels.dialin_to_td_ch_id, + channel_id=CanChannels.dialin_to_td_ch_id, msg_id=MsgIds.MSG_ID_TD_SYRINGE_PUMP_ADC_DAC_STATUS_OVERRIDE_REQUEST, entity_name=f'TD syringe pump ADC & DAC status', override_text=f'{status} ', @@ -414,7 +395,7 @@ return cmd_generic_override( payload=payload, reset=NO_RESET, - channel_id=DenaliChannels.dialin_to_td_ch_id, + channel_id=CanChannels.dialin_to_td_ch_id, msg_id=MsgIds.MSG_ID_TD_SYRINGE_PUMP_ADC_READ_COUNTER_OVERRIDE_REQUEST, entity_name=f'TD syringe pump ADC read counter', override_text=f'{counter} ', @@ -439,13 +420,14 @@ return cmd_generic_override( payload=payload, reset=NO_RESET, - channel_id=DenaliChannels.dialin_to_td_ch_id, + channel_id=CanChannels.dialin_to_td_ch_id, msg_id=MsgIds.MSG_ID_TD_HEPARIN_BOLUS_TARGET_RATE_OVERRIDE_REQUEST, entity_name=f'TD heparin bolus target rate value', override_text=f'{rate} ', logger=self.logger, can_interface=self.can_interface) + def cmd_calibrate_force_sensor(self) -> int: """ Constructs and sends the set syringe pump DAC vRef. The value the DAC is set to is within TD Calibration Record. @@ -460,7 +442,7 @@ return cmd_generic_override( payload=None, reset=NO_RESET, - channel_id=DenaliChannels.dialin_to_td_ch_id, + channel_id=CanChannels.dialin_to_td_ch_id, msg_id=MsgIds.MSG_ID_TD_SYRINGE_PUMP_FORCE_SENSOR_CALIBRATION_REQUEST, entity_name=f'TD syringe pump calibrate force sensor', override_text=f' ',