Index: leahi_dialin/td/treatment_delivery.py =================================================================== diff -u -r76bd18ef10a248d1375dbca242ed3123281041b2 -rf762fd31ac5b03734f000f9fcd671851581def8a --- leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision 76bd18ef10a248d1375dbca242ed3123281041b2) +++ leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision f762fd31ac5b03734f000f9fcd671851581def8a) @@ -7,12 +7,13 @@ # # @file treatment_delivery.py # -# @author (last) Dara Navaei -# @date (last) 26-Feb-2024 +# @author (last) Zoltan Miskolci +# @date (last) 08-Jan-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ + import struct from .modules.air_pump import TDAirPump @@ -21,7 +22,6 @@ from .modules.blood_flow import TDBloodFlow from .modules.bubble_detector import TDBubbleDetector from .modules.buttons import TDButtons -from .modules.constants import NO_RESET, RESET from .modules.ejector import TDEjector from .modules.events import TDEvents from .modules.pressure_sensors import TDPressureSensors @@ -35,13 +35,13 @@ from .proxies.dd_proxy import DDProxy from .proxies.ui_proxy import UIProxy +from ..common.constants import NO_RESET from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions from ..common.td_defs import TDOpModes +from ..common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager -from ..utils.checks import check_broadcast_interval_override_ms -from ..utils.conversions import integer_to_bytearray, unsigned_short_to_bytearray, bytearray_to_integer, \ - bytearray_to_byte +from ..utils.conversions import integer_to_bytearray, bytearray_to_byte class TD(AbstractSubSystem): @@ -138,6 +138,7 @@ self.dd_proxy = DDProxy(self.can_interface, self.logger) self.ui_proxy = UIProxy(self.can_interface, self.logger) + @publish(["msg_id_td_debug_event", "td_debug_events_timestamp","td_debug_events"]) def _handler_td_debug_event_sync(self, message, timestamp = 0.0): @@ -160,6 +161,7 @@ if self.td_debug_event_index == self._TD_DEBUG_EVENT_LIST_COUNT: self.td_debug_event_index = 0 + @publish(["td_logged_in"]) def td_set_logged_in_status(self, logged_in: bool = False): """ @@ -169,6 +171,7 @@ """ self.td_logged_in = logged_in + @publish(["msg_id_td_op_mode_data", "td_op_mode_timestamp","td_operation_mode", "td_operation_sub_mode"]) def _handler_td_op_mode_sync(self, message, timestamp = 0.0): """ @@ -187,6 +190,7 @@ self.td_operation_sub_mode = smode[0] self.td_op_mode_timestamp = timestamp + @publish(["msg_id_td_version_response", "td_version, td_fpga_version"]) def _handler_td_version_response_sync(self,message, timestamp = 0.0): """ @@ -225,6 +229,7 @@ self.td_version_response_timestamp = timestamp + @publish(["msg_id_ui_version_info_response", "ui_version", "ui_version_info_response_timestamp"]) def _handler_ui_version_response_sync(self,message, timestamp = 0.0): """ @@ -260,6 +265,29 @@ self.ui_version = None self.logger.debug("Failed to retrieve UI Version.") + + def cmd_op_mode_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured op mode 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_OP_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'TD Operation Mode', + logger = self.logger, + can_interface = self.can_interface) + + def cmd_log_in_to_td(self, resend: bool = False) -> int: """ Constructs and sends a login command via CAN bus. Login required before \n @@ -291,6 +319,7 @@ self.logger.debug("Login Timeout!!!!") return False + def cmd_td_set_operation_mode(self, new_mode: int = 0) -> int: """ Constructs and sends a set operation mode request command via CAN bus. @@ -315,26 +344,17 @@ payload = integer_to_bytearray(new_mode) - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_OP_MODE_OVERRIDE_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_OP_MODE_OVERRIDE_REQUEST, + entity_name = 'TD Operation Mode', + override_text = TDOpModes(new_mode).name, + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("Requesting TD mode change to " + str(new_mode)) - # Send message - received_message = self.can_interface.send(message) - - if received_message is not None: - if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: - self.logger.debug("Success: Mode change accepted") - else: - self.logger.debug("Failure: Mode change rejected.") - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("TD mode change request Timeout!!!!") - return False - - def cmd_td_software_reset_request(self) -> None: """ Constructs and sends an TD software reset request via CAN bus. @@ -344,16 +364,44 @@ @return: None """ - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_SOFTWARE_RESET_REQUEST.value) + return cmd_generic_override( + payload = None, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_SOFTWARE_RESET_REQUEST, + entity_name = 'TD Software Reset', + override_text = '', + logger = self.logger, + can_interface = self.can_interface) - self.logger.debug("requesting TD software reset") - # Send message - self.can_interface.send(message, 0) - self.logger.debug("Sent request to TD to reset...") - self.td_set_logged_in_status(False) + def cmd_td_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends an TD safety shutdown override command via CAN bus. + Constraints: + Must be logged into TD. + @param active: int - True to activate safety shutdown, False to deactivate + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + + """ + + rst = integer_to_bytearray(reset) + saf = integer_to_bytearray(active) + payload = rst + saf + + return cmd_generic_override( + payload = payload, + reset = NO_RESET, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_SAFETY_SHUTDOWN_OVERRIDE_REQUEST, + entity_name = 'TD Safety Shutdown', + override_text = str(active), + logger = self.logger, + can_interface = self.can_interface) + + def cmd_request_ui_version(self) -> None: """ Constructs and sends a ui version request to the TD. @@ -367,6 +415,7 @@ self.logger.debug("Sending an UI version request to the TD.") self.can_interface.send(message, 0) + def cmd_training_test_override(self, value: int, reset: int = NO_RESET) -> int: """ Constructs and sends a training test override request to the TD. @@ -380,104 +429,12 @@ val = integer_to_bytearray(value) payload = rst + val - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_TRAINING_TEST_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("Sending a training test override request to the TD.") - 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(val) + " value: " - self.logger.debug("Training test value 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_op_mode_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: - """ - Constructs and sends the measured op mode 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_OP_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("override op mode 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_td_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: - """ - Constructs and sends an TD safety shutdown override command via CAN bus. - Constraints: - Must be logged into TD. - - @param active: int - True to activate safety shutdown, False to deactivate - @param reset: integer - 1 to reset a previous override, 0 to override - @return: 1 if successful, zero otherwise - - """ - - rst = integer_to_bytearray(reset) - saf = integer_to_bytearray(active) - payload = rst + saf - - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, - message_id=MsgIds.MSG_ID_TD_SAFETY_SHUTDOWN_OVERRIDE_REQUEST.value, - payload=payload) - - self.logger.debug("overriding TD safety shutdown") - - # Send message - received_message = self.can_interface.send(message) - - if received_message is not None: - if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: - self.logger.debug("Safety shutdown signal overridden") - else: - self.logger.debug("Safety shutdown signal override failed.") - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] - else: - self.logger.debug("Timeout!!!!") - return False - - + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = DenaliChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_TRAINING_TEST_OVERRIDE_REQUEST, + entity_name = 'TD Training Test Override', + override_text = str(value), + logger = self.logger, + can_interface = self.can_interface)