Index: leahi_dialin/td/treatment_delivery.py
===================================================================
diff -u -rbac0a2d09d57dc27cfa2f2a596d57fdcbed392ee -r79697500614904bafb56f3d33e368b954ba78f7d
--- leahi_dialin/td/treatment_delivery.py	(.../treatment_delivery.py)	(revision bac0a2d09d57dc27cfa2f2a596d57fdcbed392ee)
+++ leahi_dialin/td/treatment_delivery.py	(.../treatment_delivery.py)	(revision 79697500614904bafb56f3d33e368b954ba78f7d)
@@ -81,20 +81,23 @@
         # 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,
-                                                                       MsgIds.MSG_ID_TD_VERSION_RESPONSE.value,
+                                                                       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
@@ -133,7 +136,7 @@
         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']
@@ -164,7 +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
@@ -182,7 +185,7 @@
         self.td_operation_sub_mode = smode[0]
         self.td_op_mode_timestamp = timestamp
 
-    @publish(["td_version, td_fpga_version"])
+    @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.
@@ -220,7 +223,7 @@
 
         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):
         """
         Handler for response from TD regarding its version.
@@ -235,15 +238,15 @@
         @return: None if not successful, the version string if unpacked successfully
         """
         major = struct.unpack('<B', bytearray(
-            message['message'][self.START_POS_MAJOR:self.END_POS_MAJOR]))
+            message['message'][MsgFieldPositionsFWVersions.START_POS_MAJOR:MsgFieldPositionsFWVersions.END_POS_MAJOR]))
         minor = struct.unpack('<B', bytearray(
-            message['message'][self.START_POS_MINOR:self.END_POS_MINOR]))
+            message['message'][MsgFieldPositionsFWVersions.START_POS_MINOR:MsgFieldPositionsFWVersions.END_POS_MINOR]))
         micro = struct.unpack('<B', bytearray(
-            message['message'][self.START_POS_MICRO:self.END_POS_MICRO]))
+            message['message'][MsgFieldPositionsFWVersions.START_POS_MICRO:MsgFieldPositionsFWVersions.END_POS_MICRO]))
         build = struct.unpack('<H', bytearray(
-            message['message'][self.START_POS_BUILD:self.END_POS_BUILD]))
+            message['message'][MsgFieldPositionsFWVersions.START_POS_BUILD:MsgFieldPositionsFWVersions.END_POS_BUILD]))
         compatibility = struct.unpack('<I', bytearray(
-            message['message'][self.START_POS_COMPATIBILITY_REV:self.END_POS_COMPATIBILITY_REV]))
+            message['message'][MsgFieldPositionsFWVersions.START_POS_COMPATIBILITY_REV:MsgFieldPositionsFWVersions.END_POS_COMPATIBILITY_REV]))
 
         self.ui_version_info_response_timestamp = 0
 
@@ -356,12 +359,47 @@
         @return: none
         """
 
-        message = DenaliMessage.build_message(channel_id=DenaliChannels.td_to_ui_ch_id,
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.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.")
         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.
+
+        @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