Index: leahi_dialin/common/td_defs.py =================================================================== diff -u -rd10bf8fc145e54979dbeadaedfbaccf0f45d8234 -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/common/td_defs.py (.../td_defs.py) (revision d10bf8fc145e54979dbeadaedfbaccf0f45d8234) +++ leahi_dialin/common/td_defs.py (.../td_defs.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -850,6 +850,38 @@ @unique +class TDBatteryRegisterNames(DialinEnum): + REMAINING_CAPACITY = 0 # Remaining capacity in mAh + BATTERY_STATUS = 1 # Battery pack status + BATTERY_CHARGE_STATUS = 2 # Battery charge status + BATTERY_I2C_STATUS = 3 # Battery I2C status + FAULT_STATUS = 4 # Charger fault status + THERMISTOR_PCT = 5 # Thermistor percentage + BATTERY_VOLTAGE = 6 # Battery voltage in mV + SYSTEM_VOLTAGE = 7 # System voltage in mV + BATTERY_CURRENT = 8 # Battery current in mAh + RELATIVE_STATE_OF_CHARGE = 9 # Relative state of charge + FULL_CHARGE_CAPACITY = 10 # Full charge capacity in mAh + NUM_OF_BATTERIES = 11 # Number of Batteries + +TDBatteryRegisterNames._str_list = { + # Official Name : Accepted strings + 'REMAINING_CAPACITY': [], + 'BATTERY_STATUS': [], + 'BATTERY_CHARGE_STATUS': [], + 'BATTERY_I2C_STATUS': [], + 'FAULT_STATUS': [], + 'THERMISTOR_PCT': [], + 'BATTERY_VOLTAGE': [], + 'SYSTEM_VOLTAGE': [], + 'BATTERY_CURRENT': [], + 'RELATIVE_STATE_OF_CHARGE': [], + 'FULL_CHARGE_CAPACITY': [], + 'NUM_OF_BATTERIES': [], +} + + +@unique class TDEjectorNames(DialinEnum): H5_MOTOR = 0 # TD Ejector Motor NUM_OF_EJECTOR_MOTORS = 1 # Number of Ejector Motors @@ -1161,47 +1193,37 @@ @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 # Number of Valve Positions + 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 -r4c11f61e1e328407ed98a1b81a3e8b0adb278bd5 -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/common/td_defs_proxy.py (.../td_defs_proxy.py) (revision 4c11f61e1e328407ed98a1b81a3e8b0adb278bd5) +++ leahi_dialin/common/td_defs_proxy.py (.../td_defs_proxy.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -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/air_pump.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/modules/air_pump.py (.../air_pump.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/td/modules/air_pump.py (.../air_pump.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -20,7 +20,7 @@ # 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.msg_ids 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 @@ -50,7 +50,6 @@ self.td_air_pump_timestamp = 0.0 #: The timestamp of the last message - #: The Air Trap Level Sensors data in dictionary format self.td_air_pump = { td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name: { td_enum_repository.TDAirPumpAttributes.STATE.name: 0, @@ -64,6 +63,22 @@ } + +# ============================================================ Properties ============================================================ + @property + def td_air_pump(self) -> dict: + """ + The Air Pump data + """ + return self._td_air_pump + + @td_air_pump.setter + def td_air_pump(self, value): + self._td_air_pump = value + + + +# ============================================================ Handlers ============================================================ @publish(["msg_id_td_air_pump_data", "td_air_pump", "td_air_pump_timestamp"]) def _handler_air_pump_sync(self, message, timestamp=0.0): """ @@ -72,21 +87,20 @@ @param message: published air pump data message as: air pump state @return: None """ - sensor_list =[] - sensor_list.append((td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.STATE.name, DataTypes.U32)) - sensor_list.append((td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.DUTY_CYCLE.name, DataTypes.F32)) - sensor_list.append((td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.RPM.name, DataTypes.U32)) + msg_list =[] + msg_list.append((self.td_air_pump, td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.STATE.name, DataTypes.U32)) + msg_list.append((self.td_air_pump, td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.DUTY_CYCLE.name, DataTypes.F32)) + msg_list.append((self.td_air_pump, td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.RPM.name, DataTypes.U32)) # TODO remove after FPGA air pump speed validation - sensor_list.append((td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.FPGA_RPM.name, DataTypes.U32)) - # TODO remove after FPGA air pump speed validation - sensor_list.append((td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.SCALAR_POWER.name, DataTypes.U32)) + msg_list.append((self.td_air_pump, td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.FPGA_RPM.name, DataTypes.U32)) + msg_list.append((self.td_air_pump, td_enum_repository.TDAirPumpNames.H12_AIR_PUMP.name, td_enum_repository.TDAirPumpAttributes.SCALAR_POWER.name, DataTypes.U32)) - self.process_into_dict(dict_to_update = self.td_air_pump, - decoder_list = sensor_list, - message = message) + self.process_into_vars(decoder_list = msg_list, message = message) self.td_air_pump_timestamp = timestamp + +# ============================================================ Overrides and Requests ============================================================ def cmd_air_pump_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air pump data broadcast interval override command Index: leahi_dialin/td/modules/air_trap.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/modules/air_trap.py (.../air_trap.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/td/modules/air_trap.py (.../air_trap.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -20,7 +20,7 @@ # 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.msg_ids 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 @@ -53,7 +53,6 @@ self.td_air_trap_timestamp = 0.0 #: The timestamp of the last message - #: The Air Trap Level Sensors data in dictionary format self.air_trap_level_sensors = { td_enum_repository.TDAirTrapLevelSensorNames.H17_LEVEL.name: { td_enum_repository.TDAirTrapLevelSensorAttributes.LEVEL.name: self.AIR_DETECTED_AT_LEVEL, @@ -65,19 +64,94 @@ } } - #: The Air Trap Valves data in dictionary format self.air_trap_valve_states = { td_enum_repository.TDAirTrapValveNames.H13_VALV.name: 0, td_enum_repository.TDAirTrapValveNames.H20_VALV.name: 0 } - self.air_control = 0 #: Is the Air Trap FW logic is active or not - self.airTrapState = 0 #: The Air Trap's State value + self.air_control = 0 + self.air_trap_state = 0 + # TODO remove after testing - self.AirPumpLowerPowerLevel = 0 - # TODO remove after testing - self.AirPumpRaisePowerLevel = 0 + self.air_pump_lower_power = 0 + self.air_pump_raise_power = 0 + +# ============================================================ Properties ============================================================ + @property + def air_trap_level_sensors(self) -> dict: + """ + The Air Trap level sensors data + """ + return self._air_trap_level_sensors + + @air_trap_level_sensors.setter + def air_trap_level_sensors(self, value): + self._air_trap_level_sensors = value + + + @property + def air_trap_valve_states(self) -> dict: + """ + The Air Trap valves data + """ + return self._air_trap_valve_states + + @air_trap_valve_states.setter + def air_trap_valve_states(self, value): + self._air_trap_valve_states = value + + + @property + def air_control(self) -> bool: + """ + Is the Air Trap FW logic is active or not + """ + return self._air_control + + @air_control.setter + def air_control(self, value:bool): + self._air_control = value + + + @property + def air_trap_state(self) -> int: + """ + The Air Trap state value + """ + return self._air_trap_state + + @air_trap_state.setter + def air_trap_state(self, value): + self._air_trap_state = value + + + @property + def air_pump_lower_power(self) -> dict: + """ + The Air Pump lower power value + """ + return self._air_pump_lower_power + + @air_pump_lower_power.setter + def air_pump_lower_power(self, value): + self._air_pump_lower_power = value + + + @property + def air_pump_raise_power(self) -> dict: + """ + The Air Pump raise power value + """ + return self._air_pump_raise_power + + @air_pump_raise_power.setter + def air_pump_raise_power(self, value): + self._air_pump_raise_power = value + + + +# ============================================================ Handlers ============================================================ @publish(["msg_id_td_air_trap_data", "air_trap_level_sensors", "air_trap_valve_states", @@ -91,33 +165,24 @@ @param message: published air trap data message @return: None """ - sensor_list_1 =[] - sensor_list_1.append((td_enum_repository.TDAirTrapLevelSensorNames.H17_LEVEL.name, td_enum_repository.TDAirTrapLevelSensorAttributes.LEVEL.name, DataTypes.U32)) - sensor_list_1.append((td_enum_repository.TDAirTrapLevelSensorNames.H16_LEVEL.name, td_enum_repository.TDAirTrapLevelSensorAttributes.LEVEL.name, DataTypes.U32)) - sensor_list_1.append((td_enum_repository.TDAirTrapLevelSensorNames.H17_LEVEL.name, td_enum_repository.TDAirTrapLevelSensorAttributes.RAW.name, DataTypes.U32)) - sensor_list_1.append((td_enum_repository.TDAirTrapLevelSensorNames.H16_LEVEL.name, td_enum_repository.TDAirTrapLevelSensorAttributes.RAW.name, DataTypes.U32)) - sensor_list_2 =[] - sensor_list_2.append((td_enum_repository.TDAirTrapValveNames.H13_VALV.name, DataTypes.U32)) - sensor_list_2.append((td_enum_repository.TDAirTrapValveNames.H20_VALV.name, DataTypes.U32)) msg_list =[] - msg_list.append(('self.air_control', DataTypes.U32)) - msg_list.append(('self.airTrapState', DataTypes.U32)) - msg_list.append(('self.AirPumpLowerPowerLevel', DataTypes.U32)) - msg_list.append(('self.AirPumpRaisePowerLevel', DataTypes.U32)) + msg_list.append((self.air_trap_level_sensors, td_enum_repository.TDAirPumpNames.H17_LEVEL.name, td_enum_repository.TDAirPumpAttributes.LEVEL.name, DataTypes.U32)) + msg_list.append((self.air_trap_level_sensors, td_enum_repository.TDAirPumpNames.H16_LEVEL.name, td_enum_repository.TDAirPumpAttributes.LEVEL.name, DataTypes.U32)) + msg_list.append((self.air_trap_level_sensors, td_enum_repository.TDAirPumpNames.H17_LEVEL.name, td_enum_repository.TDAirPumpAttributes.RAW.name, DataTypes.U32)) + msg_list.append((self.air_trap_level_sensors, td_enum_repository.TDAirPumpNames.H16_LEVEL.name, td_enum_repository.TDAirPumpAttributes.RAW.name, DataTypes.U32)) + msg_list.append((self.air_trap_valve_states, td_enum_repository.TDAirPumpNames.H13_VALV.name, DataTypes.U32)) + msg_list.append((self.air_trap_valve_states, td_enum_repository.TDAirPumpNames.H20_VALV.name, DataTypes.U32)) + msg_list.append((type(self).air_control, DataTypes.BOOL)) + msg_list.append((type(self).airTrapState, DataTypes.U32)) + msg_list.append((type(self).AirPumpLowerPowerLevel, DataTypes.U32)) + msg_list.append((type(self).AirPumpRaisePowerLevel, DataTypes.U32)) - self.process_into_dict(dict_to_update = self.air_trap_level_sensors, - decoder_list = sensor_list_1, - message = message) - self.process_into_dict(dict_to_update = self.air_trap_valve_states, - decoder_list = sensor_list_2, - message = message, - start_from_byte = len(sensor_list_1) * DataTypes.U32.size()) - self.process_into_vars(decoder_list = msg_list, - message = message, - start_from_byte = (len(sensor_list_1) + len(sensor_list_2)) * DataTypes.U32.size()) + self.process_into_vars(decoder_list = msg_list, message = message) self.td_air_trap_timestamp = timestamp + +# ============================================================ Overrides and Requests ============================================================ def cmd_air_trap_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air trap data broadcast interval override command Index: leahi_dialin/td/modules/battery.py =================================================================== diff -u --- leahi_dialin/td/modules/battery.py (revision 0) +++ leahi_dialin/td/modules/battery.py (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -0,0 +1,180 @@ +########################################################################### +# +# 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_ids 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 + self.battery_data = { + td_enum_repository.TDBatteryRegisterNames.REMAINING_CAPACITY.name: 0, + td_enum_repository.TDBatteryRegisterNames.BATTERY_STATUS.name: 0, + td_enum_repository.TDBatteryRegisterNames.BATTERY_CHARGE_STATUS.name: 0, + td_enum_repository.TDBatteryRegisterNames.BATTERY_I2C_STATUS.name: 0, + td_enum_repository.TDBatteryRegisterNames.FAULT_STATUS.name: 0, + td_enum_repository.TDBatteryRegisterNames.THERMISTOR_PCT.name: 0, + td_enum_repository.TDBatteryRegisterNames.BATTERY_VOLTAGE.name: 0, + td_enum_repository.TDBatteryRegisterNames.SYSTEM_VOLTAGE.name: 0, + td_enum_repository.TDBatteryRegisterNames.BATTERY_CURRENT.name: 0, + td_enum_repository.TDBatteryRegisterNames.RELATIVE_STATE_OF_CHARGE.name: 0, + td_enum_repository.TDBatteryRegisterNames.FULL_CHARGE_CAPACITY.name: 0, + } + + + + +# ============================================================ Properties ============================================================ + @property + def battery_data(self) -> dict: + """ + The Battery data + """ + return self._battery_data + + @battery_data.setter + def battery_data(self, value): + self._battery_data = value + + + +# ============================================================ Handlers ============================================================ + @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((self.battery_data, td_enum_repository.TDBatteryRegisterNames.REMAINING_CAPACITY.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.BATTERY_STATUS.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.BATTERY_CHARGE_STATUS.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.BATTERY_I2C_STATUS.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.FAULT_STATUS.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.THERMISTOR_PCT.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.BATTERY_VOLTAGE.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.SYSTEM_VOLTAGE.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.BATTERY_CURRENT.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.RELATIVE_STATE_OF_CHARGE.name, DataTypes.U32)) + sensor_list.append((self.battery_data, td_enum_repository.TDBatteryRegisterNames.FULL_CHARGE_CAPACITY.name, DataTypes.U32)) + + self.process_into_dict(decoder_list = sensor_list, message = message) + self.battery_broadcast_timestamp = timestamp + + + +# ============================================================ Overrides and Requests ============================================================ + 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: (Integer) 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, register_id: int, power: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the battery override command + Constraints: + Must be logged into TD. + + :param power: (Integer) Power to override the register with + :param register_id: (Integer) The battery register to override + :param reset: (Integer) 1 to reset a previous override, 0 to override + :return: (Integer) 1 if successful, zero otherwise + """ + payload = integer_to_bytearray(reset) + payload += integer_to_bytearray(register_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) + + def cmd_i2c_status_override(self, state: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the battery I2C override command + Constraints: + Must be logged into TD. + + :param state: (Integer) The new I2C value + :param reset: (Integer) 1 to reset a previous override, 0 to override + :return: (Integer) 1 if successful, zero otherwise + """ + payload = integer_to_bytearray(reset) + payload += integer_to_bytearray(state) + + return cmd_generic_override( + payload = payload, + reset = reset, + channel_id = CanChannels.dialin_to_td_ch_id, + msg_id = MsgIds.MSG_ID_TD_BATTERY_I2C_STATUS_OVERRIDE_REQUEST, + entity_name = f'TD Battery I2C', + override_text = f'{str(state)}', + logger = self.logger, + can_interface = self.can_interface) Index: leahi_dialin/td/modules/bubble_detector.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/modules/bubble_detector.py (.../bubble_detector.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/td/modules/bubble_detector.py (.../bubble_detector.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -20,7 +20,7 @@ # 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.msg_ids 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 @@ -59,7 +59,6 @@ self.td_air_bubbles_timestamp = 0.0 #: The timestamp of the last message - #: The TD Bubble Detector data in dictionary format self.h18_bubble_detector = { td_enum_repository.TDAirBubbleDetectorNames.H18_ADV.name: { # Initialize status of ADV air bubble detectors to fluid (no air bubble) detected @@ -70,6 +69,22 @@ } + +# ============================================================ Properties ============================================================ + @property + def h18_bubble_detector(self) -> dict: + """ + The Bubble Detector data + """ + return self._h18_bubble_detector + + @h18_bubble_detector.setter + def h18_bubble_detector(self, value): + self._h18_bubble_detector = value + + + +# ============================================================ Handlers ============================================================ @publish(["msg_id_td_bubbles_data", "h18_bubble_detector", "td_air_bubbles_timestamp"]) def _handler_air_bubbles_data_sync(self, message, timestamp=0.0): """ @@ -78,16 +93,16 @@ @param message: published air bubbles data message as: h18 bubble status, h18 bubble state @return: None """ - sensor_list =[] - sensor_list.append((td_enum_repository.TDAirBubbleDetectorNames.H18_ADV.name, td_enum_repository.TDAirBubbleDetectorAttributes.STATUS.name, DataTypes.U32)) - sensor_list.append((td_enum_repository.TDAirBubbleDetectorNames.H18_ADV.name, td_enum_repository.TDAirBubbleDetectorAttributes.STATE.name, DataTypes.U32)) + msg_list =[] + msg_list.append((self.h18_bubble_detector, td_enum_repository.TDAirBubbleDetectorNames.H18_ADV.name, td_enum_repository.TDAirBubbleDetectorAttributes.STATUS.name, DataTypes.U32)) + msg_list.append((self.h18_bubble_detector, td_enum_repository.TDAirBubbleDetectorNames.H18_ADV.name, td_enum_repository.TDAirBubbleDetectorAttributes.STATE.name, DataTypes.U32)) - self.process_into_dict(dict_to_update = self.h18_bubble_detector, - decoder_list = sensor_list, - message = message) + self.process_into_vars(decoder_list = msg_list, message = message) self.td_air_bubbles_timestamp = timestamp + +# ============================================================ Overrides and Requests ============================================================ def cmd_air_bubbles_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the air bubbles data broadcast interval override command Index: leahi_dialin/td/modules/ejector.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/td/modules/ejector.py (.../ejector.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -20,7 +20,7 @@ # 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.msg_ids 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 @@ -49,7 +49,6 @@ self.td_ejector_timestamp = 0 #: The timestamp of the last message - #: The TD Ejector data in dictionary format self.h5_motor = { td_enum_repository.TDEjectorNames.H5_MOTOR.name: { td_enum_repository.TDEjectorAttributes.STATE.name: td_enum_repository.TDEjectorStates.EJECTOR_STATE_INIT.value, @@ -60,6 +59,22 @@ } + +# ============================================================ Properties ============================================================ + @property + def h5_motor(self) -> dict: + """ + The Ejector data + """ + return self._h5_motor + + @h5_motor.setter + def h5_motor(self, value): + self._h5_motor = value + + + +# ============================================================ Handlers ============================================================ @publish(["msg_id_td_ejector_data", "h5_motor", "td_ejector_timestamp"]) def _handler_ejector_sync(self, message, timestamp=0.0): """ @@ -68,18 +83,18 @@ @param message: published ejector data message as: ejector state @return: None """ - sensor_list =[] - sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.STATE.name, DataTypes.U32)) - sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.SET_SPEED.name, DataTypes.F32)) - sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.OPT_SNSR_RETRACT.name, DataTypes.U32)) - sensor_list.append((td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.OPT_SNSR_ENGAGE.name, DataTypes.U32)) + msg_list =[] + msg_list.append((self.h5_motor, td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.STATE.name, DataTypes.U32)) + msg_list.append((self.h5_motor, td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.SET_SPEED.name, DataTypes.F32)) + msg_list.append((self.h5_motor, td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.OPT_SNSR_RETRACT.name, DataTypes.U32)) + msg_list.append((self.h5_motor, td_enum_repository.TDEjectorNames.H5_MOTOR.name, td_enum_repository.TDEjectorAttributes.OPT_SNSR_ENGAGE.name, DataTypes.U32)) - self.process_into_dict(dict_to_update = self.h5_motor, - decoder_list = sensor_list, - message = message) + self.process_into_vars(decoder_list = msg_list, message = message) self.td_ejector_timestamp = timestamp + +# ============================================================ Overrides and Requests ============================================================ def cmd_ejector_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the ejector motor data broadcast interval override command Index: leahi_dialin/td/modules/switches.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/modules/switches.py (.../switches.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/td/modules/switches.py (.../switches.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -20,7 +20,7 @@ # 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.msg_ids 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 @@ -50,10 +50,25 @@ self.td_switches_timestamp = 0.0 #: The timestamp of the latest message - # The Switches data in dictionary format self.td_switches_status = { td_enum_repository.TDSwitchNames.H9_FRONT_DOOR.name: td_enum_repository.TDSwitchStatus.CLOSED.value } + +# ============================================================ Properties ============================================================ + @property + def td_switches_status(self) -> dict: + """ + The Switches data + """ + return self._switches + + @td_switches_status.setter + def td_switches_status(self, value): + self._switches = value + + + +# ============================================================ Handlers ============================================================ @publish(["msg_id_td_switches_data", "td_switches_status", "td_switches_timestamp"]) def _handler_switches_sync(self, message, timestamp=0.0): """ @@ -62,15 +77,15 @@ @param message: published switches data message @return: none """ - sensor_list =[] - sensor_list.append((td_enum_repository.TDSwitchNames.H9_FRONT_DOOR.name, DataTypes.U32)) + msg_list =[] + msg_list.append((self.td_switches_status, td_enum_repository.TDSwitchNames.H9_FRONT_DOOR.name, DataTypes.U32)) - self.process_into_dict(dict_to_update = self.td_switches_status, - decoder_list = sensor_list, - message = message) + self.process_into_vars(decoder_list = msg_list, message = message) self.td_switches_timestamp = timestamp + +# ============================================================ Overrides and Requests ============================================================ def cmd_switches_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the TD switch data publication override command. Index: leahi_dialin/td/modules/syringe_pump.py =================================================================== diff -u -r12f6d9b3476d413d861dc9589635ec05bf8e6f9d -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/modules/syringe_pump.py (.../syringe_pump.py) (revision 12f6d9b3476d413d861dc9589635ec05bf8e6f9d) +++ leahi_dialin/td/modules/syringe_pump.py (.../syringe_pump.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -13,16 +13,20 @@ # @date (original) 12-Mar-2021 # ############################################################################ -import struct + +# Module imports from logging import Logger +from typing import Union +# Project imports from leahi_dialin.common.constants import RESET, NO_RESET from leahi_dialin.common.generic_defs import DataTypes -from leahi_dialin.common.td_defs import TDTreaHeparinStates, TDTreaSyringePumpStates, SyringePumpOperations -from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.common.td_defs import TDTreaHeparinStates, TDTreaSyringePumpStates, TDSyringePumpStates +from leahi_dialin.common.msg_ids import MsgIds from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.protocols.CAN import CanMessenger, CanChannels from leahi_dialin.utils.abstract_classes import AbstractSubSystem +from leahi_dialin.utils import DialinEnum from leahi_dialin.utils.base import publish from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray @@ -45,23 +49,204 @@ message_id = MsgIds.MSG_ID_TD_SYRINGE_PUMP_DATA.value, function = self._handler_syringe_pump_data) - self.syringe_pump_state = TDTreaSyringePumpStates.SYRINGE_PUMP_INIT_STATE.value #: current syringe pump state - self.heparin_state = TDTreaHeparinStates.HEPARIN_STATE_OFF.value #: current heparin state - self.syringe_pump_set_rate_ml_hr = 0.0 #: current set syringe pump rate. - self.syringe_pump_meas_rate_ml_hr = 0.0 #: current measured syringe pump rate. - self.syringe_pump_position = 0 #: current syringe pump position. - self.syringe_pump_volume_ml = 0.0 #: current syringe pump volume delivered in ml. - self.syringe_pump_safety_volume_ml = 0.0 #: current syringe pump safety volume reading - self.syringe_pump_home_v = 0.0 #: current syringe pump home voltage reading - self.syringe_pump_switch_v = 0.0 #: current syringe pump switch voltage reading - self.syringe_pump_force_v = 0.0 #: current syringe pump force voltage reading - self.syringe_pump_status = 0 #: current syringe pump status - self.syringe_pump_encoder_status = 0 #: current syringe pump encoder status - self.syringe_pump_adc_dac_status = 0 #: current syringe pump ADC & DAC status - self.syringe_pump_adc_read_counter = 0 #: current syringe pump ADC read counter + self.syringe_pump_state = TDTreaSyringePumpStates.SYRINGE_PUMP_INIT_STATE + self.heparin_state = TDTreaHeparinStates.HEPARIN_STATE_OFF + self.syringe_pump_set_rate_ml_hr = 0.0 + self.syringe_pump_meas_rate_ml_hr = 0.0 + self.syringe_pump_position = 0 + self.syringe_pump_volume_ml = 0.0 + self.syringe_pump_safety_volume_ml = 0.0 + self.syringe_pump_home_v = 0.0 + self.syringe_pump_switch_v = 0.0 + self.syringe_pump_force_v = 0.0 + self.syringe_pump_status = TDSyringePumpStates.STOP + self.syringe_pump_encoder_status = 0 + self.syringe_pump_adc_dac_status = 0 + self.syringe_pump_adc_read_counter = 0 self.td_syringe_pump_timestamp = 0.0 #: The timestamp of the syringe pump message + +# ============================================================ Properties ============================================================ + @property + def syringe_pump_state(self) -> TDTreaSyringePumpStates: + """ + The Srynge Pump State + """ + return self._syringe_pump_state + + @syringe_pump_state.setter + def syringe_pump_state(self, value: Union[int, DialinEnum]): + if isinstance(value, int): + self._syringe_pump_state = TDTreaSyringePumpStates(value) + else: + self._syringe_pump_state = value + + + @property + def heparin_state(self) -> TDTreaHeparinStates: + """ + The Heparin State + """ + return self._heparin_state + + @heparin_state.setter + def heparin_state(self, value: Union[int, DialinEnum]): + if isinstance(value, int): + self._heparin_state = TDTreaHeparinStates(value) + else: + self._heparin_state = value + + + @property + def syringe_pump_set_rate_ml_hr(self) -> float: + """ + The Set Syringe Pump rate + """ + return self._syringe_pump_set_rate_ml_hr + + @syringe_pump_set_rate_ml_hr.setter + def syringe_pump_set_rate_ml_hr(self, value): + self._syringe_pump_set_rate_ml_hr = value + + + @property + def syringe_pump_meas_rate_ml_hr(self) -> float: + """ + The Measured Syringe Pump rate + """ + return self._syringe_pump_meas_rate_ml_hr + + @syringe_pump_meas_rate_ml_hr.setter + def syringe_pump_meas_rate_ml_hr(self, value): + self._syringe_pump_meas_rate_ml_hr = value + + + @property + def syringe_pump_position(self) -> int: + """ + The Syringe Pump position + """ + return self._syringe_pump_position + + @syringe_pump_position.setter + def syringe_pump_position(self, value): + self._syringe_pump_position = value + + + @property + def syringe_pump_volume_ml(self) -> float: + """ + The Syringe Pump volume delivered in ml + """ + return self._syringe_pump_volume_ml + + @syringe_pump_volume_ml.setter + def syringe_pump_volume_ml(self, value): + self._syringe_pump_volume_ml = value + + + @property + def syringe_pump_safety_volume_ml(self) -> float: + """ + The Syringe Pump safety volume reading + """ + return self._syringe_pump_safety_volume_ml + + @syringe_pump_safety_volume_ml.setter + def syringe_pump_safety_volume_ml(self, value): + self._syringe_pump_safety_volume_ml = value + + + @property + def syringe_pump_home_v(self) -> float: + """ + The Syringe Pump home voltage reading + """ + return self._syringe_pump_home_v + + @syringe_pump_home_v.setter + def syringe_pump_home_v(self, value): + self._syringe_pump_home_v = value + + + @property + def syringe_pump_switch_v(self) -> float: + """ + The Syringe Pump switch voltage reading + """ + return self._syringe_pump_switch_v + + @syringe_pump_switch_v.setter + def syringe_pump_switch_v(self, value): + self._syringe_pump_switch_v = value + + + @property + def syringe_pump_force_v(self) -> float: + """ + The Syringe Pump force voltage reading + """ + return self._syringe_pump_force_v + + @syringe_pump_force_v.setter + def syringe_pump_force_v(self, value): + self._syringe_pump_force_v = value + + + @property + def syringe_pump_status(self) -> TDSyringePumpStates: + """ + The Syringe Pump status + """ + return self._syringe_pump_status + + @syringe_pump_status.setter + def syringe_pump_status(self, value: Union[int, DialinEnum]): + if isinstance(value, int): + self._syringe_pump_status = TDSyringePumpStates(value) + else: + self._syringe_pump_status = value + + + @property + def syringe_pump_encoder_status(self) -> int: + """ + The Syringe Pump encoder status + """ + return self._syringe_pump_encoder_status + + @syringe_pump_encoder_status.setter + def syringe_pump_encoder_status(self, value): + self._syringe_pump_encoder_status = value + + + @property + def syringe_pump_adc_dac_status(self) -> int: + """ + The Syringe Pump ADC & DAC status + """ + return self._syringe_pump_adc_dac_status + + @syringe_pump_adc_dac_status.setter + def syringe_pump_adc_dac_status(self, value): + self._syringe_pump_adc_dac_status = value + + + @property + def syringe_pump_adc_read_counter(self) -> int: + """ + The Syringe Pump ADC read counter + """ + return self._syringe_pump_adc_read_counter + + @syringe_pump_adc_read_counter.setter + def syringe_pump_adc_read_counter(self, value): + self._syringe_pump_adc_read_counter = value + + + +# ============================================================ Handlers ============================================================ @publish(["td_syringe_pump_timestamp", "syringe_pump_state", "syringe_pump_set_rate_ml_hr", "syringe_pump_meas_rate_ml_hr", "syringe_pump_position", @@ -79,28 +264,28 @@ @return: None """ msg_list = [] - msg_list.append(('self.syringe_pump_state', DataTypes.U32)) - msg_list.append(('self.heparin_state', DataTypes.U32)) - msg_list.append(('self.syringe_pump_set_rate_ml_hr', DataTypes.F32)) - msg_list.append(('self.syringe_pump_meas_rate_ml_hr', DataTypes.F32)) - msg_list.append(('self.syringe_pump_position', DataTypes.U32)) - msg_list.append(('self.syringe_pump_volume_ml', DataTypes.F32)) - msg_list.append(('self.syringe_pump_home_v', DataTypes.F32)) - msg_list.append(('self.syringe_pump_switch_v', DataTypes.F32)) - msg_list.append(('self.syringe_pump_force_v', DataTypes.F32)) - msg_list.append(('self.syringe_pump_safety_volume_ml', DataTypes.F32)) - msg_list.append(('self.syringe_pump_status', DataTypes.U08)) - msg_list.append(('self.syringe_pump_encoder_status', DataTypes.U08)) - msg_list.append(('self.syringe_pump_adc_dac_status', DataTypes.U08)) - msg_list.append(('self.syringe_pump_adc_read_counter', DataTypes.U08)) + msg_list.append((type(self).syringe_pump_state, DataTypes.U32)) + msg_list.append((type(self).heparin_state, DataTypes.U32)) + msg_list.append((type(self).syringe_pump_set_rate_ml_hr, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_meas_rate_ml_hr, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_position, DataTypes.U32)) + msg_list.append((type(self).syringe_pump_volume_ml, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_home_v, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_switch_v, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_force_v, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_safety_volume_ml, DataTypes.F32)) + msg_list.append((type(self).syringe_pump_status, DataTypes.U08)) + msg_list.append((type(self).syringe_pump_encoder_status, DataTypes.U08)) + msg_list.append((type(self).syringe_pump_adc_dac_status, DataTypes.U08)) + msg_list.append((type(self).syringe_pump_adc_read_counter, DataTypes.U08)) - self.process_into_vars(decoder_list = msg_list, - message = message) - + self.process_into_vars(decoder_list = msg_list, message = message) self.td_syringe_pump_timestamp = timestamp - def cmd_syringe_pump_operation(self, operation: int = SyringePumpOperations.SYRINGE_PUMP_OP_STOP.value, + +# ============================================================ Overrides and Requests ============================================================ + def cmd_syringe_pump_operation(self, operation: int = TDSyringePumpStates.SYRINGE_PUMP_OP_STOP.value, rate: float = 0.0, volume: float = 0.0) -> int: """ Index: leahi_dialin/td/treatment_delivery.py =================================================================== diff -u -reca9e15bc984af2b7f59eb38f3836ca354ee1251 -r43f69b19f03145572d88f5f3c0cc739503c6d647 --- leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision eca9e15bc984af2b7f59eb38f3836ca354ee1251) +++ leahi_dialin/td/treatment_delivery.py (.../treatment_delivery.py) (revision 43f69b19f03145572d88f5f3c0cc739503c6d647) @@ -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 @@ -127,6 +128,7 @@ 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