Index: leahi_dialin/td/treatment_delivery.py =================================================================== diff -u -rb3774ad1df35c613de1c09bef40a55eb0ce4af36 -r9357937d8acaa33c4a5a18799349fbf4aa432ac1 --- leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision b3774ad1df35c613de1c09bef40a55eb0ce4af36) +++ leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision 9357937d8acaa33c4a5a18799349fbf4aa432ac1) @@ -19,19 +19,22 @@ from .modules.air_trap import TDAirTrap from .modules.alarms import TDAlarms from .modules.blood_flow import TDBloodFlow -from .modules.bubble_detector import TDBubbleDectector +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 from .modules.switches import TDSwitches from .modules.treatment import TDTreatment +from .modules.td_test_configs import TDTestConfig from .modules.valves import TDValves from .modules.voltages import TDVoltages from .proxies.dd_proxy import DDProxy +from .proxies.ui_proxy import UIProxy -from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..common.msg_defs import MsgIds, MsgFieldPositions, MsgFieldPositionsFWVersions from ..common.td_defs import TDOpModes from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels from ..utils.base import AbstractSubSystem, publish, LogManager @@ -52,18 +55,6 @@ # TD login password TD_LOGIN_PASSWORD = '123' - # UI version message field positions - START_POS_MAJOR = DenaliMessage.PAYLOAD_START_INDEX - END_POS_MAJOR = START_POS_MAJOR + 1 - START_POS_MINOR = END_POS_MAJOR - END_POS_MINOR = START_POS_MINOR + 1 - START_POS_MICRO = END_POS_MINOR - END_POS_MICRO = START_POS_MICRO + 1 - START_POS_BUILD = END_POS_MICRO - END_POS_BUILD = START_POS_BUILD + 2 - START_POS_COMPATIBILITY_REV = END_POS_BUILD - END_POS_COMPATIBILITY_REV = START_POS_COMPATIBILITY_REV + 4 - def __init__(self, can_interface="can0", log_level=None): """ TD object provides test/service commands for the TD sub-system. @@ -90,27 +81,37 @@ # register handler for TD operation mode broadcast messages if self.can_interface is not None: channel_id = DenaliChannels.td_sync_broadcast_ch_id - msg_id = MsgIds.MSG_ID_TD_OP_MODE_DATA.value - self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self.msg_id_td_op_mode_data = MsgIds.MSG_ID_TD_OP_MODE_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_op_mode_data, self._handler_td_op_mode_sync) + self.msg_id_td_debug_event = MsgIds.MSG_ID_TD_DEBUG_EVENT.value self.can_interface.register_receiving_publication_function(channel_id, - MsgIds.MSG_ID_TD_DEBUG_EVENT.value, + self.msg_id_td_debug_event, self._handler_td_debug_event_sync) + self.msg_id_td_version_response = MsgIds.MSG_ID_TD_VERSION_RESPONSE.value + self.can_interface.register_receiving_publication_function(channel_id, + self.msg_id_td_version_response, + self._handler_td_version_response_sync) + + self.msg_id_ui_version_info_response = MsgIds.MSG_ID_UI_VERSION_INFO_RESPONSE.value self.can_interface.register_receiving_publication_function(DenaliChannels.ui_to_td_ch_id, - MsgIds.MSG_ID_UI_VERSION_INFO_RESPONSE.value, + self.msg_id_ui_version_info_response, self._handler_ui_version_response_sync) # create properties self.td_op_mode_timestamp = 0.0 self.td_debug_events_timestamp = 0.0 self.ui_version_info_response_timestamp = 0.0 + self.td_version_response_timestamp = 0.0 self.td_operation_mode = TDOpModes.MODE_INIT.value self.td_operation_sub_mode = 0 self.td_logged_in = False self.td_set_logged_in_status(False) self.ui_version = None + self.td_version = None + self.td_fpga_version = None self.td_debug_events = [''] * self._TD_DEBUG_EVENT_LIST_COUNT self.td_debug_event_index = 0 self.td_last_debug_event = '' @@ -121,18 +122,21 @@ self.air_trap = TDAirTrap(self.can_interface, self.logger) self.alarms = TDAlarms(self.can_interface, self.logger) self.blood_flow = TDBloodFlow(self.can_interface, self.logger) - self.bubbles = TDBubbleDectector(self.can_interface, self.logger) + self.bubbles = TDBubbleDetector(self.can_interface, self.logger) self.buttons = TDButtons(self.can_interface, self.logger) self.ejector = TDEjector(self.can_interface, self.logger) + self.events = TDEvents(self.can_interface, self.logger) self.pressure_sensors = TDPressureSensors(self.can_interface, self.logger) self.switches = TDSwitches(self.can_interface, self.logger) self.treatment = TDTreatment(self.can_interface, self.logger) + self.test_configs = TDTestConfig(self.can_interface, self.logger) self.valves = TDValves(self.can_interface, self.logger) self.voltages = TDVoltages(self.can_interface, self.logger) self.dd_proxy = DDProxy(self.can_interface, self.logger) + self.ui_proxy = UIProxy(self.can_interface, self.logger) - @publish(["td_debug_events_timestamp","td_debug_events"]) + @publish(["msg_id_td_debug_event", "td_debug_events_timestamp","td_debug_events"]) def _handler_td_debug_event_sync(self, message, timestamp = 0.0): payload = message['message'] @@ -163,7 +167,7 @@ """ self.td_logged_in = logged_in - @publish(["td_op_mode_timestamp","td_operation_mode", "td_operation_sub_mode"]) + @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): """ Handles published TD operation mode messages. Current TD operation mode @@ -181,7 +185,45 @@ 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): + """ + Handler for response from TD regarding its version. + @param message: version response message from TD.\n + + @return: None if not successful, the version string if unpacked successfully + """ + major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): + self.td_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" + self.logger.debug(f"TD VERSION: {self.td_version}") + + if all([len(each) > 0 for each in [fpga_id, fpga_major, fpga_minor, fpga_lab]]): + self.td_fpga_version = f"v{fpga_id[0]}.{fpga_major[0]}.{fpga_minor[0]}-{fpga_lab[0]}" + self.logger.debug(f"TD FPGA VERSION: {self.td_fpga_version}") + + 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): """ Handler for response from TD regarding its version. @@ -196,15 +238,15 @@ @return: None if not successful, the version string if unpacked successfully """ major = struct.unpack(' int: + """ + Constructs and sends a training test override request to the TD. + + @param value: integer - test value 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) + 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 @@ -366,5 +443,39 @@ 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 + +