Index: leahi_dialin/common/msg_ids.py =================================================================== diff -u -r01af2d84b2cb4aa87c58f10eb8af669820e71f49 -r3dc5b82f0b6f0ad88f51e709ec969b3f62af5240 --- leahi_dialin/common/msg_ids.py (.../msg_ids.py) (revision 01af2d84b2cb4aa87c58f10eb8af669820e71f49) +++ leahi_dialin/common/msg_ids.py (.../msg_ids.py) (revision 3dc5b82f0b6f0ad88f51e709ec969b3f62af5240) @@ -362,7 +362,11 @@ MSG_ID_TD_SYRINGE_PUMP_FORCE_SENSOR_CALIBRATION_REQUEST = 0x8060 MSG_ID_TD_GET_ALARM_PROPERTIES_REQUEST = 0x8061 MSG_ID_TD_ALARM_PROPERTIES_RESPONSE = 0x8062 + MSG_ID_BATTERY_REGISTERS_OVERRIDE_REQUEST = 0x8063 + MSG_ID_TD_BATTERY_PUBLISH_INTERVAL_OVERRIDE_REQUEST = 0x8064 + MSG_ID_TD_BATTERY_I2C_STATUS_OVERRIDE_REQUEST = 0x8068 + MSG_ID_TD_TRAINING_TEST_OVERRIDE_REQUEST = 0x8999 MSG_ID_DD_TESTER_LOGIN_REQUEST = 0xA000 Index: leahi_dialin/common/td_defs.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r3dc5b82f0b6f0ad88f51e709ec969b3f62af5240 --- leahi_dialin/common/td_defs.py (.../td_defs.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/common/td_defs.py (.../td_defs.py) (revision 3dc5b82f0b6f0ad88f51e709ec969b3f62af5240) @@ -1004,7 +1004,20 @@ 'NUM_OF_AIR_PUMP_ATTRIBUTES': [], } +class TDAirPumpStates(DialinEnum): + AIR_PUMP_STATE_INIT = 0 # Air Pump Initialize state + AIR_PUMP_STATE_OFF = 1 # Air Pump Off state + AIR_PUMP_STATE_ON = 2 # Air Pump On state + NUM_OF_AIR_PUMP_STATES = 3 # Number of air pump states +TDAirPumpStates._str_list = { + 'AIR_PUMP_STATE_INIT': ['init'], + 'AIR_PUMP_STATE_OFF': ['off'], + 'AIR_PUMP_STATE_ON': ['on'], + 'NUM_OF_AIR_PUMP_STATES ': [] +} + + @unique class TDAirTrapLevelSensorAttributes(DialinEnum): LEVEL = 0 # Level attribute for Air Trap Level Sensor @@ -1165,47 +1178,37 @@ @unique class TDValvePositions(DialinEnum): - VALVE_POSITION_NOT_IN_POSITION = 0 # Valve not in Position - VALVE_POSITION_A_INSERT_LOAD = 1 # Insert/Eject Valve Position - VALVE_POSITION_B_OPEN_BLOOD = 2 # Open Valve Position - VALVE_POSITION_C_CLOSE_SALINE = 3 # Closed Valve Position - VALVE_POSITION_C_PARTIAL_CLOSE = 4 # Partial Close Valve Position - NUM_OF_VALVE_POSITIONS = 5 # Partial Close Valve Position + NOT_IN_POSITION = 0 # Valve not in Position + A_INSERT_INSERT_EJECT = 1 # Insert/Eject Valve Position + B_OPEN_BLOOD = 2 # Open Valve Position + C_CLOSE = 3 # Closed Valve Position + NUM_OF_VALVE_POSITIONS = 4 # Number of valve positions TDValvePositions._str_list = { # Official Name : Accepted strings - 'VALVE_POSITION_NOT_IN_POSITION': ['not in position'], - 'VALVE_POSITION_A_INSERT_LOAD': ['a', 'insert/eject', 'insert', 'eject', 'load'], - 'VALVE_POSITION_B_OPEN_BLOOD': ['b', 'open', 'blood'], - 'VALVE_POSITION_C_CLOSE_SALINE': ['c', 'close', 'closed', 'saline'], - 'VALVE_POSITION_C_PARTIAL_CLOSE': [], + 'NOT_IN_POSITION': ['not in position'], + 'A_INSERT_INSERT_EJECT': ['a', 'insert/eject', 'insert', 'eject', 'load'], + 'B_OPEN_BLOOD': ['b', 'open', 'blood'], + 'C_CLOSE': ['c', 'close', 'closed', 'saline'], 'NUM_OF_VALVE_POSITIONS': [], } @unique class TDValveStates(DialinEnum): - VALVE_STATE_WAIT_FOR_POST = 0 # Waiting for POST Valve State - VALVE_STATE_RESET_VALVE = 1 # Valve state reset valve. - VALVE_STATE_RESET_ENCODER = 2 # Valve state reset encoder. - VALVE_STATE_ENABLE_VALVE = 3 # Valve state enable valve. - VALVE_STATE_HOMING_NOT_STARTED = 4 # Valve state homing not started. - VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE = 5 # Valve state homing find energized edge. - VALVE_STATE_HOMING_FIND_DEENERGIZED_EDGE = 6 # Valve state homing find. - VALVE_STATE_IDLE = 7 # Idle Valve State. - VALVE_STATE_IN_TRANSITION = 8 # Valve state in transition. + WAIT_FOR_POST = 0 # Waiting for POST Valve State + HOMING_NOT_HOMED = 1 # Valve state homing not homed. + IDLE = 2 # Idle Valve State. + IN_TRANSITION = 3 # Valve state in transition. + NUM_OF_VALVE_STATES = 4 # Number of valve states. TDValveStates._str_list = { # Official Name : Accepted strings - 'VALVE_STATE_WAIT_FOR_POST': ['wait', 'wait for post'], - 'VALVE_STATE_RESET_VALVE': ['reset valve'], - 'VALVE_STATE_RESET_ENCODER': ['reset encoder'], - 'VALVE_STATE_ENABLE_VALVE': ['enable', 'enable valve'], - 'VALVE_STATE_HOMING_NOT_STARTED': ['homing not started', 'not started'], - 'VALVE_STATE_HOMING_FIND_ENERGIZED_EDGE': ['homing find energized edge'], - 'VALVE_STATE_HOMING_FIND_DEENERGIZED_EDGE': ['homing find deenergized edge'], - 'VALVE_STATE_IDLE': ['idle'], - 'VALVE_STATE_IN_TRANSITION': [], + 'WAIT_FOR_POST': ['wait', 'wait for post'], + 'HOMING_NOT_HOMED': ['homing not started', 'not started'], + 'IDLE': ['idle'], + 'IN_TRANSITION': [], + 'NUM_OF_VALVE_STATES': [], } Index: leahi_dialin/common/td_defs_proxy.py =================================================================== diff -u -r01af2d84b2cb4aa87c58f10eb8af669820e71f49 -r3dc5b82f0b6f0ad88f51e709ec969b3f62af5240 --- leahi_dialin/common/td_defs_proxy.py (.../td_defs_proxy.py) (revision 01af2d84b2cb4aa87c58f10eb8af669820e71f49) +++ leahi_dialin/common/td_defs_proxy.py (.../td_defs_proxy.py) (revision 3dc5b82f0b6f0ad88f51e709ec969b3f62af5240) @@ -70,6 +70,7 @@ TDAirTrapValveNames = td_defs.TDAirTrapValveNames TDAirTrapLevelSensorNames = td_defs.TDAirTrapLevelSensorNames TDAirBubbleDetectorNames = td_defs.TDAirBubbleDetectorNames + TDBatteryRegisterNames = td_defs.TDBatteryRegisterNames TDEjectorNames = td_defs.TDEjectorNames TDPressureSensorNames = td_defs.TDPressureSensorNames TDTemperatureSensorNames = td_defs.TDTemperatureSensorNames Index: leahi_dialin/td/modules/battery.py =================================================================== diff -u --- leahi_dialin/td/modules/battery.py (revision 0) +++ leahi_dialin/td/modules/battery.py (revision 3dc5b82f0b6f0ad88f51e709ec969b3f62af5240) @@ -0,0 +1,133 @@ +########################################################################### +# +# Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved. +# +# THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN +# WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. +# +# @file battery.py +# +# @author (last) Zoltan Miskolci +# @date (last) 26-June-2026 +# @author (original) Zoltan Miskolci +# @date (original) 25-June-2026 +# +############################################################################ + +# Module imports +from logging import Logger + +# Project imports +from leahi_dialin.common.constants import NO_RESET +from leahi_dialin.common.generic_defs import DataTypes +from leahi_dialin.common.msg_defs import MsgIds +from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override +from leahi_dialin.common import td_enum_repository +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 + + +class TDBattery(AbstractSubSystem): + """ + Treatment Delivery (TD) Dialin API sub-class for battery related commands. + """ + + def __init__(self, can_interface: CanMessenger, logger: Logger): + """ + @param can_interface: Can Messenger object + """ + super().__init__() + self.can_interface = can_interface + self.logger = logger + + if self.can_interface is not None: + self.can_interface.register_receiving_publication_function(channel_id = CanChannels.td_sync_broadcast_ch_id, + message_id = MsgIds.MSG_ID_TD_BATTERY_DATA.value, + function = self._handler_battery_sync) + + self.battery_broadcast_timestamp = 0.0 #: The timestamp of the last message + + #: The Battery data in dictionary format + self.battery_data = { + td_enum_repository.TDBatteryRegisterNames.REMAINING_CAPACITY.name: 0, + } + + + @publish(["msg_id_td_battery_data", + "battery_data", + "battery_broadcast_timestamp"]) + def _handler_battery_sync(self, message, timestamp=0.0): + """ + Handles published battery data messages. + Battery data are captured for reference. + + @param message: published data message + @return: None + """ + sensor_list =[] + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.REMAINING_CAPACITY.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.BATTERY_STATUS.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.BATTERY_CHARGE_STATUS.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.BATTERY_I2C_STATUS.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.FAULT_STATUS.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.THERMISTOR_PCT.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.BATTERY_VOLTAGE.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.SYSTEM_VOLTAGE.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.BATTERY_CURRENT.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.RELATIVE_STATE_OF_CHARGE.name, DataTypes.U32)) + sensor_list.append((td_enum_repository.TDBatteryRegisterNames.FULL_CHARGE_CAPACITY.name, DataTypes.U32)) + + self.process_into_dict(dict_to_update = self.battery_data, + decoder_list = sensor_list, + message = message) + + self.battery_broadcast_timestamp = timestamp + + + def cmd_battery_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the battery data 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 = CanChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BATTERY_PUBLISH_INTERVAL_OVERRIDE_REQUEST, + module_name = 'TD Battery', + logger = self.logger, + can_interface = self.can_interface) + + + def cmd_battery_override(self, battery_id: int, power: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the battery 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 power: integer - power to override the level lower to it + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + payload = integer_to_bytearray(reset) + payload += integer_to_bytearray(battery_id) + payload += integer_to_bytearray(power) + + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = CanChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_BATTERY_REGISTERS_OVERRIDE_REQUEST, + entity_name = f'TD Battery power', + override_text = f'{str(power)}', + logger = self.logger, + can_interface = self.can_interface) Index: leahi_dialin/td/treatment_delivery.py =================================================================== diff -u -r01af2d84b2cb4aa87c58f10eb8af669820e71f49 -r3dc5b82f0b6f0ad88f51e709ec969b3f62af5240 --- leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision 01af2d84b2cb4aa87c58f10eb8af669820e71f49) +++ leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision 3dc5b82f0b6f0ad88f51e709ec969b3f62af5240) @@ -22,6 +22,7 @@ from .modules.air_pump import TDAirPump from .modules.air_trap import TDAirTrap from .modules.alarms import TDAlarms +from .modules.battery import TDBattery from .modules.blood_flow import TDBloodFlow from .modules.blood_pressure import TDBloodPressure from .modules.bubble_detector import TDBubbleDetector @@ -130,6 +131,7 @@ 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.battery = TDBattery(self.can_interface, self.logger) #: The Battery module self.blood_flow = TDBloodFlow(self.can_interface, self.logger) #: The Blood Flow module self.blood_pressure = TDBloodPressure(self.can_interface, self.logger) #: The Blood Pressure module self.bubbles = TDBubbleDetector(self.can_interface, self.logger) #: The Bubble Detector module