Index: leahi_dialin/td/treatment_delivery.py =================================================================== diff -u -rb9e9c4477d1083db8d96beafd98ae6cd96ea432f -r1f2bf6d939eb4033dbedb7d7005494cc12fccbc6 --- leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision b9e9c4477d1083db8d96beafd98ae6cd96ea432f) +++ leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision 1f2bf6d939eb4033dbedb7d7005494cc12fccbc6) @@ -8,14 +8,17 @@ # @file treatment_delivery.py # # @author (last) Zoltan Miskolci -# @date (last) 08-Jan-2026 +# @date (last) 05-May-2026 # @author (original) Peter Lucia # @date (original) 02-Apr-2020 # ############################################################################ +# Module imports import struct +from time import sleep +# Project imports from .modules.air_pump import TDAirPump from .modules.air_trap import TDAirTrap from .modules.alarms import TDAlarms @@ -36,11 +39,13 @@ 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 td_enum_repository +from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..common import td_enum_repository +from ..common.generic_defs import DataTypes 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 ..protocols.CAN import CanMessage, CanMessenger, CanChannels +from ..utils.abstract_classes import AbstractSubSystem +from ..utils.base import publish, LogManager from ..utils.conversions import integer_to_bytearray, bytearray_to_byte @@ -75,71 +80,68 @@ self.logger = self._log_manager.logger # Create listener - self.can_interface = DenaliCanMessenger(can_interface=can_interface, + self.can_interface = CanMessenger(can_interface=can_interface, logger=self.logger) self.can_interface.start() self.callback_id = None # register handler for TD operation mode broadcast messages if self.can_interface is not None: - channel_id = DenaliChannels.td_sync_broadcast_ch_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.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_OP_MODE_DATA.value, + function = 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, - self.msg_id_td_debug_event, - self._handler_td_debug_event_sync) + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_DEBUG_EVENT.value, + function = 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.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_VERSION_RESPONSE.value, + function = 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, - self.msg_id_ui_version_info_response, - self._handler_ui_version_response_sync) + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_UI_VERSION_INFO_RESPONSE.value, + function = self._handler_ui_version_response_sync) + # Dialin will send a login message during construction. This is for the leahi subsystems to start # publishing CAN data when there is no UI connected as the UI typically does this job. self.cmd_log_in_to_td() # 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 = td_enum_repository.TDOpModes.MODE_INIT.value - self.td_operation_sub_mode = 0 - self.td_logged_in = False + self.td_op_mode_timestamp = 0.0 #: The timestamp of the latest operation mode message + self.td_debug_events_timestamp = 0.0 #: The timestamp of the latest events message + self.ui_version_info_response_timestamp = 0.0 #: The timestamp of the latest UI version info message + self.td_version_response_timestamp = 0.0 #: The timestamp of the latest TD version info message + self.td_operation_mode = td_enum_repository.TDOpModes.MODE_INIT.value #: The Operation Mode's value + self.td_operation_sub_mode = 0 #: The Operation Sub-Mode's value + self.td_logged_in = False #: The value showing if the user is logged in or not 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 = '' + self.ui_version = None #: The UI's version value + self.td_version = None #: The TD's version value + self.td_fpga_version = None #: The TD's FPGA version value + self.td_debug_events = [''] * self._TD_DEBUG_EVENT_LIST_COUNT #: The Debug Event's list + self.td_debug_event_index = 0 #: The index of the last Event + self.td_last_debug_event = '' #: The name of the last Event # Create command groups - self.air_pump = TDAirPump(self.can_interface, self.logger) - 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 = 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.temperature_sensors = TDTemperatureSensors(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.air_pump = TDAirPump(self.can_interface, self.logger) #: The Air Pump module + self.air_trap = TDAirTrap(self.can_interface, self.logger) #: The Air Trap module + self.alarms = TDAlarms(self.can_interface, self.logger) #: The Alarms module + self.blood_flow = TDBloodFlow(self.can_interface, self.logger) #: The Blood Flow module + self.bubbles = TDBubbleDetector(self.can_interface, self.logger) #: The Bubble Detector module + self.buttons = TDButtons(self.can_interface, self.logger) #: The Buttons module + self.ejector = TDEjector(self.can_interface, self.logger) #: The Ejector module + self.events = TDEvents(self.can_interface, self.logger) #: The Events module + self.pressure_sensors = TDPressureSensors(self.can_interface, self.logger) #: The Pressure Sensors module + self.switches = TDSwitches(self.can_interface, self.logger) #: The Switches module + self.temperature_sensors = TDTemperatureSensors(self.can_interface, self.logger) #: The Temperature Sensprs module + self.treatment = TDTreatment(self.can_interface, self.logger) #: The Treatment module + self.test_configs = TDTestConfig(self.can_interface, self.logger) #: The Test Configs module + self.valves = TDValves(self.can_interface, self.logger) #: The Valves module + self.voltages = TDVoltages(self.can_interface, self.logger) #: The Voltages module - self.dd_proxy = DDProxy(self.can_interface, self.logger) - self.ui_proxy = UIProxy(self.can_interface, self.logger) + self.dd_proxy = DDProxy(self.can_interface, self.logger) #: The DD Proxy module (imitates commands sent by DD) + self.ui_proxy = UIProxy(self.can_interface, self.logger) #: The UI Proxy module (imitates commands sent by UI) @publish(["msg_id_td_debug_event", "td_debug_events_timestamp","td_debug_events"]) @@ -165,12 +167,12 @@ self.td_debug_event_index = 0 - @publish(["td_logged_in"]) def td_set_logged_in_status(self, logged_in: bool = False): """ Callback for td logged in status change. - @param logged_in boolean logged in status for TD - @return: none + + @param logged_in: Logged in status for TD + @return: None """ self.td_logged_in = logged_in @@ -184,13 +186,12 @@ @param message: published TD operation mode broadcast message @return: None """ - mode = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) - smode = struct.unpack('i', bytearray( - message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) + msg_list = [] + msg_list.append(('self.td_operation_mode', DataTypes.U32)) + msg_list.append(('self.td_operation_sub_mode', DataTypes.U32)) - self.td_operation_mode = mode[0] - self.td_operation_sub_mode = smode[0] + self.process_into_vars(decoder_list = msg_list, + message = message) self.td_op_mode_timestamp = timestamp @@ -203,33 +204,28 @@ @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}") + result = self.process_into_vars(decoder_list = msg_list, + message = message) - 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}") + if all([len(each) > 0 for each in [result['major'], result['minor'], result['micro'], result['build'], result['compatibility']]]): + self.td_version = f"v{result['major']}.{result['minor']}.{result['micro']}-{result['build']}.{result['compatibility']}" + self.logger.debug(f'TD VERSION: {self.td_version}') + if all([len(each) > 0 for each in [result['fpga_id'], result['fpga_major'], result['fpga_minor'], result['fpga_lab']]]): + self.td_fpga_version = f"v{result['fpga_id']}.{result['fpga_major']}.{result['fpga_minor']}-{result['fpga_lab']}" + self.logger.debug(f'TD FPGA VERSION: {self.td_fpga_version}') + self.td_version_response_timestamp = timestamp @@ -247,28 +243,24 @@ @return: None if not successful, the version string if unpacked successfully """ - major = struct.unpack(' 0 for each in [major, minor, micro, build, compatibility]]): - self.ui_version = f"v{major[0]}.{minor[0]}.{micro[0]}-{build[0]}.{compatibility[0]}" - self.logger.debug(f"UI VERSION: {self.ui_version}") - + if all([len(each) > 0 for each in [result['major'], result['minor'], result['micro'], result['build'], result['compatibility']]]): + self.ui_version = f"v{result['major']}.{result['minor']}.{result['micro']}-{result['build']}.{result['compatibility']}" + self.logger.debug(f'UI VERSION: {self.ui_version}') else: self.ui_version = None self.logger.debug("Failed to retrieve UI Version.") + self.ui_version_info_response_timestamp = timestamp - 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 @@ -283,7 +275,7 @@ 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_TD_OP_MODE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'TD Operation Mode', logger = self.logger, @@ -298,7 +290,7 @@ @param resend: (bool) if False (default), try to login once. Otherwise, tries to login indefinitely @return: 1 if logged in, 0 if log in failed """ - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, + message = CanMessage.build_message(channel_id=CanChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_TESTER_LOGIN_REQUEST.value, payload=list(map(int, map(ord, self.TD_LOGIN_PASSWORD)))) @@ -308,14 +300,14 @@ received_message = self.can_interface.send(message, resend=resend) if received_message is not None: - if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: + if received_message['message'][CanMessage.PAYLOAD_START_INDEX] == 1: self.logger.debug("Success: Logged In") self.td_set_logged_in_status(True) #self._send_td_checkin_message() # Timer starts interval first #self.can_interface.transmit_interval_dictionary[self.callback_id].start() else: self.logger.debug("Failure: Log In Failed.") - return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + return received_message['message'][CanMessage.PAYLOAD_START_INDEX] else: self.logger.debug("Login Timeout!!!!") return False @@ -346,7 +338,7 @@ 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_OP_MODE_OVERRIDE_REQUEST, entity_name = 'TD Operation Mode', override_text = td_enum_repository.TDOpModes(new_mode).name, @@ -362,15 +354,19 @@ @return: None """ - return cmd_generic_override( + resp = 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_SOFTWARE_RESET_REQUEST, entity_name = 'TD Software Reset', override_text = '', logger = self.logger, can_interface = self.can_interface) + + sleep(1) # Wait for reboot to happen + resp_login = self.cmd_log_in_to_td() + return resp and resp_login def cmd_td_safety_shutdown_override(self, active: int, reset: int = NO_RESET) -> int: @@ -390,7 +386,7 @@ 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_SAFETY_SHUTDOWN_OVERRIDE_REQUEST, entity_name = 'TD Safety Shutdown', override_text = str(active), @@ -404,7 +400,7 @@ @return: none """ - message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id, + message = CanMessage.build_message(channel_id=CanChannels.dialin_to_td_ch_id, message_id=MsgIds.MSG_ID_TD_UI_VERSION_INFO_REQUEST.value) self.logger.debug("Sending an UI version request to the TD.") @@ -426,7 +422,7 @@ 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_TRAINING_TEST_OVERRIDE_REQUEST, entity_name = 'TD Training Test Override', override_text = str(value),