Index: leahi_dialin/fp/modules/boost_pump.py =================================================================== diff -u --- leahi_dialin/fp/modules/boost_pump.py (revision 0) +++ leahi_dialin/fp/modules/boost_pump.py (revision 970453631a6ccccf10dbe89eab0f131a83c1cf37) @@ -0,0 +1,258 @@ +########################################################################### +# +# 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 boost_pump.py +# +# @author (last) Micahel Garthwaite +# @date (last) 17-Aug-2023 +# @author (original) Peter Lucia +# @date (original) 02-Apr-2020 +# +############################################################################ +import struct +from enum import unique +from logging import Logger +from enum import unique + +from leahi_dialin.utils.base import DialinEnum +from .constants import RESET, NO_RESET +from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels +from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum +from leahi_dialin.utils.checks import check_broadcast_interval_override_ms +from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray + +@unique +class FPPumpNames(DialinEnum): + P12_PUMP_RO = 0 + P40_PUMP_BOOSTER = 1 + + +class FPPumps(AbstractSubSystem): + """ + Dialin API sub-class for RO pump related commands. + """ + + def __init__(self, can_interface, logger: Logger): + """ + FPPumps constructor + """ + super().__init__() + self.can_interface = can_interface + self.logger = logger + + if self.can_interface is not None: + channel_id = DenaliChannels.fp_sync_broadcast_ch_id + msg_id = MsgIds.MSG_ID_RO_PUMP_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self._handler_boost_pump_sync) + self.ro_pump_timestamp = 0.0 + self.p12_ro_pump_state = 0 + self.p12_ro_pump_duty_cycle = 0.0 + self.p12_ro_pump_fb_duty_cycle = 0.0 + self.p12_ro_pump_speed = 0.0 + self.p40_boost_pump_state = 0 + self.p40_boost_pump_duty_cycle = 0.0 + self.p40_boost_pump_fb_duty_cycle = 0.0 + self.p40_boost_pump_speed = 0.0 + + + @publish(["ro_pump_timestamp", "p12_ro_pump_state", "p12_ro_pump_duty_cycle", "p12_ro_pump_fb_duty_cycle", + "p12_ro_pump_speed", "p40_boost_pump_state", "p40_boost_pump_duty_cycle", + "p40_boost_pump_fb_duty_cycle", "p40_boost_pump_speed"]) + def _handler_boost_pump_sync(self, message, timestamp=0.0): + """ + Handles published RO pump data messages. RO pump data is captured + for reference. + + @param message: published RO pump data message + @return: none + """ + + rps = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) + rpdc = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) + rpfbdc = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) + rprpm = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) + bps = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) + bpdc = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6])) + bpfbdc = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7])) + bprpm = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8])) + + self.ro_pump_timestamp = timestamp + self.p12_ro_pump_state = rps[0] + self.p12_ro_pump_duty_cycle = rpdc[0] + self.p12_ro_pump_fb_duty_cycle = rpfbdc[0] + self.p12_ro_pump_speed = rprpm[0] + self.p40_boost_pump_state = bps[0] + self.p40_boost_pump_duty_cycle = bpdc[0] + self.p40_boost_pump_fb_duty_cycle = bpfbdc[0] + self.p40_boost_pump_speed = bprpm[0] + + + + def cmd_boost_pump_set_speed_rate_override(self, pump: int, rpm: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the boost pump set point command + Constraints: + Must be logged into FP. + + @param rpm: integer - speed set point (in rpm) + @return: 1 if successful, zero otherwise + """ + rst = integer_to_bytearray(reset) + rpm = integer_to_bytearray(rpm) + pmp = integer_to_bytearray(pump) + payload = rst + rpm + pmp + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SPEED_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override blood flow set point") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + if reset == RESET: + str_res = "reset back to normal" + else: + str_res = str(rpm) + + self.logger.debug("rpm overridden to " + str_res) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False + + def cmd_boost_pump_set_pwm_request(self, pump: int, pwm: int) -> int: + """ + Constructs and sends set pwm request for RO pumps \n + command. + Constraints: + Must be logged into FP. + + @param pwm: integer - counts to override the pwm ( 0 - 500 ) + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + spd = integer_to_bytearray(pwm) + pmp = integer_to_bytearray(pump) + payload = pmp + spd + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_SET_PWM_REQUEST.value, + payload=payload) + + self.logger.debug("setting pump {} to pwm count {}".format(pump,pwm)) + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + + self.logger.debug("pwm set to " + str(pwm)) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False + + def cmd_boost_pump_read_pwm_override(self, pump: int, pwm: float, reset: int = NO_RESET) -> int: + """ + Constructs and sends the read pwm override for the RO pumps \n + command. + Constraints: + Must be logged into FP. + + @param pwm: float - pwm in percentage 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) + rpwm = float_to_bytearray(pwm) + pmp = integer_to_bytearray(pump) + payload = rst + rpwm + pmp + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override read pwm for pump".format(pump)) + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + if reset == RESET: + str_res = "reset back to normal" + else: + str_res = str(rpwm) + + self.logger.debug("pwm overridden to " + str_res) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False + + def cmd_boost_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the RO pump broadcast interval override command + Constraints: + Must be logged into FP. + Given interval must be non-zero and a multiple of the FP 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 + """ + + if not check_broadcast_interval_override_ms(ms): + return False + + rst = integer_to_bytearray(reset) + mis = integer_to_bytearray(ms) + payload = rst + mis + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override FP pump broadcast interval") + + # Send message + 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(mis) + + self.logger.debug("broadcast overridden to " + str_res) + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False \ No newline at end of file Index: leahi_dialin/fp/modules/levels.py =================================================================== diff -u --- leahi_dialin/fp/modules/levels.py (revision 0) +++ leahi_dialin/fp/modules/levels.py (revision 970453631a6ccccf10dbe89eab0f131a83c1cf37) @@ -0,0 +1,135 @@ +########################################################################### +# +# 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 levels.py +# +# @author (last) Michael Garthwaite +# @date (last) 28-Oct-2024 +# @author (original) Dara Navaei +# @date (original) 29-May-2020 +# +############################################################################ + +import struct +from enum import unique +from logging import Logger + +from .constants import NO_RESET +from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions +from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels +from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum +from leahi_dialin.utils.checks import check_broadcast_interval_override_ms +from leahi_dialin.utils.conversions import integer_to_bytearray + +@unique +class FPFloaterLevels(DialinEnum): + LEVEL_STATE_LOW = 0 + LEVEL_STATE_HIGH = 1 + LEVEL_STATE_MEDIUM = 2 + LEVEL_STATE_ILLEGAL = 3 + + +class FPLevels(AbstractSubSystem): + """ + + Dialin API sub-class for levels related commands. + """ + + def __init__(self, can_interface, logger: Logger): + """ + + @param can_interface: Denali CAN Messenger object + """ + + super().__init__() + + self.can_interface = can_interface + self.logger = logger + + if self.can_interface is not None: + channel_id = DenaliChannels.fp_sync_broadcast_ch_id + msg_id = MsgIds.MSG_ID_RO_LEVEL_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_levels_sync) + + self.p25_level = 0 + self.fp_levels_timestamp = 0 + + @publish(["fp_levels_timestamp", + "p25_level",]) + def _handler_levels_sync(self, message, timestamp=0.0): + """ + Handles published levels message + + @param message: published levels data message + @returns none + """ + self.p25_level = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] + + self.fp_levels_timestamp = timestamp + + def cmd_levels_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends an FP levels data broadcast interval override command message. + Constraints: + Must be logged into FP. + Given interval must be non-zero and a multiple of the FP general task interval (50 ms). + + @param ms: (int) Publish time interval in ms + @param reset: (int) 1 to reset a previous override, 0 to override + @returns 1 if successful, zero otherwise + """ + if not check_broadcast_interval_override_ms(ms): + return False + + reset_value = integer_to_bytearray(reset) + interval_value = integer_to_bytearray(ms) + payload = reset_value + interval_value + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_LEVELS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("Sending {} ms publish interval to the FP Levels module".format(ms)) + # Send message + received_message = self.can_interface.send(message) + + # If there is content in message + if received_message is not None: + # Response payload is OK or not + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False + + def cmd_level_state_override(self, level: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends level status override command. + Must be logged into FP. + + @param level_sensor: integer - the level sensor to override its value + @param status: integer - the status value to override + @param reset: (int) 1 to reset a previous override, 0 to override + @returns 1 if successful, zero otherwise + """ + reset_value = integer_to_bytearray(reset) + lvl = integer_to_bytearray(level) + payload = reset_value + lvl + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_LEVELS_STATUS_OVERRIDE_REQUEST.value, + payload=payload) + + # Send message + received_message = self.can_interface.send(message) + + # If there is content in message + if received_message is not None: + # Response payload is OK or not + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False Index: leahi_dialin/fp/modules/valves.py =================================================================== diff -u --- leahi_dialin/fp/modules/valves.py (revision 0) +++ leahi_dialin/fp/modules/valves.py (revision 970453631a6ccccf10dbe89eab0f131a83c1cf37) @@ -0,0 +1,294 @@ +########################################################################### +# +# 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 valves.py +# +# @author (last) Micahel Garthwaite +# @date (last) 17-Aug-2023 +# @author (original) Peman Montazemi +# @date (original) 19-May-2020 +# +############################################################################ + +import struct +from enum import unique +from logging import Logger +from collections import OrderedDict + +from .constants import NO_RESET +from leahi_dialin.common.msg_defs import MsgIds +from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels +from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum +from leahi_dialin.utils.checks import check_broadcast_interval_override_ms +from leahi_dialin.utils.conversions import integer_to_bytearray + +# Valve states +ENERGIZED = True +DEENERGIZED = False + + +@unique +class FPValveStates(DialinEnum): + VALVE_STATE_CLOSED = 0 + VALVE_STATE_OPEN = 1 + + +@unique +class FPValveNames(DialinEnum): + M4_VWI = 0 # Valve (M4 VWi) + P39_VROD = 1 # Valve (P39 VROd) + P6_VFF = 2 # Valve (P6 VFF) + P11_VPI = 3 # Valve (P11 VPi) + P33_VCR = 4 # Valve (P33 VCr) + P34_VCB = 5 # Valve (P34 VCb) + P37_VCD = 6 # Valve (P37 VCd) + M7_VFB = 7 # Valve (M7 VFB) + P20_SPP = 8 # Valve (P20 SPP) + +class FPValves(AbstractSubSystem): + """ + Dialin API sub-class for FP valve related commands. + """ + + # Valves states publish message field positions + START_POS_VALVES_STATES = DenaliMessage.PAYLOAD_START_INDEX + END_POS_VALVES_STATES = START_POS_VALVES_STATES + 2 # Valves States come in as a U16 value (2 bytes) + + def __init__(self, can_interface, logger: Logger): + """ + + @param can_interface: Denali CAN Messenger object + """ + + super().__init__() + self.can_interface = can_interface + self.logger = logger + self.valves_sensed_states = OrderedDict() + self.fp_valves_states_timestamp = 0.0 + + if self.can_interface is not None: + channel_id = DenaliChannels.fp_sync_broadcast_ch_id + msg_id = MsgIds.MSG_ID_RO_VALVES_STATES_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_valves_sync) + + self.valve_states_all = 0x0000 + self.m4_vwi_state= {"id": FPValveNames.M4_VWI.value, "state": DEENERGIZED} + self.p39_vrod_state = {"id": FPValveNames.P39_VFPD.value, "state": DEENERGIZED} + self.p6_vff_state = {"id": FPValveNames.P6_VFF.value, "state": DEENERGIZED} + self.p11_vpi_state = {"id": FPValveNames.P11_VPI.value, "state": DEENERGIZED} + self.p33_vcr_state = {"id": FPValveNames.P33_VCR.value, "state": DEENERGIZED} + self.p34_vcb_state = {"id": FPValveNames.P34_VCB.value, "state": DEENERGIZED} + self.p37_vcd_state = {"id": FPValveNames.P37_VCD.value, "state": DEENERGIZED} + self.m7_vfb_state = {"id": FPValveNames.M7_VFB.value, "state": DEENERGIZED} + self.p20_spp_state = {"id": FPValveNames.P20_SPP.value, "state": DEENERGIZED} + + # NOTE: The len function counts the enums with the same number only once. This is not the case in the DG valves + # class because each valve must have a unique ID. + self.valve_states_enum = [0 for _ in range(len(FPValveNames))] + + for valve in FPValveNames.__members__: + self.valves_sensed_states[valve] = '' + + def get_valve_states(self): + """ + Gets the valve states + + @return: All valve states + """ + return [ + self.m4_vwi_state.get("state"), + self.p39_vrod_state.get("state"), + self.p6_vff_state.get("state"), + self.p11_vpi_state.get("state"), + self.p33_vcr_state.get("state"), + self.p34_vcb_state.get("state"), + self.p37_vcd_state.get("state"), + self.m7_vfb_state.get("state"), + self.p20_spp_state.get("state") + ] + + @staticmethod + def sort_by_id(observation): + """ + Converts a published dictionary of valve state information to an ordered list + of tuples. + + @param observation: dictionary of the observed valve states + @return: a list of tuples of the valve states + """ + + result = [] + for key, value in observation.items(): + if isinstance(value, dict): + result.append((key, value.get("id", None), value.get("state", None))) + + result = sorted(result, key=lambda each: each[1]) + return result + + @staticmethod + def _binary_to_valve_state(binary) -> bool: + """ + @param binary: binary value + @return: 1 = energized, otherwise de-energized + """ + + if binary != 0: + return ENERGIZED + else: + return DEENERGIZED + + @publish([ + "fp_valves_states_timestamp", + "valve_states_all", + "m4_vwi_state", + "p39_vrod_state", + "p6_vff_state", + "p11_vpi_state", + "p33_vcr_state", + "p34_vcb_state", + "p37_vcd_state", + "m7_vfb_state", + "p20_spp_state", + "valve_states_enum" + ]) + def _handler_valves_sync(self, message, timestamp=0.0): + """ + Handles published FP valves states message. + + @param message: published FP valves states message + @return: none + """ + + vst = struct.unpack('H', bytearray(message['message'][self.START_POS_VALVES_STATES:self.END_POS_VALVES_STATES])) + self.valve_states_all = vst[0] + # Extract each valve state from U16 valves states using bit-masking + self.m4_vwi_state["state"] = self._binary_to_valve_state(vst[0] & 1) + self.p39_vrod_state["state"] = self._binary_to_valve_state(vst[0] & 2) + self.p6_vff_state["state"] = self._binary_to_valve_state(vst[0] & 4) + self.p11_vpi_state["state"] = self._binary_to_valve_state(vst[0] & 8) + self.p33_vcr_state["state"] = self._binary_to_valve_state(vst[0] & 16) + self.p34_vcb_state["state"] = self._binary_to_valve_state(vst[0] & 32) + self.p37_vcd_state["state"] = self._binary_to_valve_state(vst[0] & 64) + self.m7_vfb_state["state"] = self._binary_to_valve_state(vst[0] & 128) + self.p20_spp_state["state"] = self._binary_to_valve_state(vst[0] & 256) + + start = self.END_POS_VALVES_STATES + end = start + 1 + for valve_id in self.valves_sensed_states: + valve_state_number = struct.unpack('B', bytearray(message['message'][start:end]))[0] + self.valves_sensed_states[valve_id] = FPValveStates(valve_state_number).name + start = end + end += 1 + + self.fp_valves_states_timestamp = timestamp + + def cmd_valve_sensed_state_override(self, valve: int, state: bool, reset: int = NO_RESET) -> int: + """ + Constructs and sends the valve sensed state override command. + Constraints: + Must be logged into FP. + Given valve ID must be one of the valve IDs listed below. + + @param valve: unsigned int - valve ID + @param state: bool - valve state + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + rst = integer_to_bytearray(reset) + ste = integer_to_bytearray(int(state)) + vlv = integer_to_bytearray(valve) + payload = rst + ste + vlv + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_VALVE_SENSED_STATE_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("Override valve sensed state") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False + + def cmd_valve_override(self, valve: int, state: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the FP valve state override command. + Constraints: + Must be logged into FP. + Given valve ID must be one of the valve IDs listed below. + + @param valve: unsigned int - valve ID + @param state: int - valve state (0=de-energized/closed, 1=energized/open) + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + rst = integer_to_bytearray(reset) + ste = integer_to_bytearray(state) + vlv = integer_to_bytearray(valve) + payload = rst + ste + vlv + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_VALVE_CMD_STATE_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("Override valve state") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content... + if received_message is not None: + # response payload is OK or not OK + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False + + def cmd_valve_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the FP valve state override command. + Constraints: + Must be logged into FP. + Given interval must be non-zero and a multiple of the FP general task interval (50 ms). + + @param ms: unsigned int - broadcast interval (in ms) + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + + """ + + if not check_broadcast_interval_override_ms(ms): + return False + + rst = integer_to_bytearray(reset) + ivl = integer_to_bytearray(ms) + payload = rst + ivl + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id, + message_id=MsgIds.MSG_ID_RO_VALVE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override FP valves states publish interval") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content in message + if received_message is not None: + # Response payload is OK or not + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Timeout!!!!") + return False Index: leahi_dialin/protocols/CAN.py =================================================================== diff -u -r0f08c28544b557b2bbd8c04b10cff284f41e4fb9 -r970453631a6ccccf10dbe89eab0f131a83c1cf37 --- leahi_dialin/protocols/CAN.py (.../CAN.py) (revision 0f08c28544b557b2bbd8c04b10cff284f41e4fb9) +++ leahi_dialin/protocols/CAN.py (.../CAN.py) (revision 970453631a6ccccf10dbe89eab0f131a83c1cf37) @@ -287,7 +287,7 @@ DenaliChannels.dd_to_td_ch_id: DenaliChannels.dialin_to_dd_ch_id, DenaliChannels.td_to_ui_ch_id: DenaliChannels.dialin_to_td_ch_id, DenaliChannels.td_sync_broadcast_ch_id: None, - DenaliChannels.dg_to_ui_ch_id: DenaliChannels.dialin_to_dd_ch_id, + # DenaliChannels.dd_to_ui_ch_id: DenaliChannels.dialin_to_dd_ch_id, DenaliChannels.dd_sync_broadcast_ch_id: None, DenaliChannels.ui_to_td_ch_id: DenaliChannels.dialin_to_ui_ch_id, DenaliChannels.ui_sync_broadcast_ch_id: DenaliChannels.dialin_to_ui_ch_id, @@ -697,8 +697,7 @@ @return: true, if the channel is the ui channel. """ if channel_id in { - DenaliChannels.ui_to_hd_ch_id, - DenaliChannels.ui_to_dg_ch_id, + DenaliChannels.ui_to_td_ch_id, DenaliChannels.ui_to_dialin_ch_id, DenaliChannels.ui_sync_broadcast_ch_id, DenaliChannels.ui_alarm_broadcast_ch_id Index: tests/test_uf.py =================================================================== diff -u -r0f08c28544b557b2bbd8c04b10cff284f41e4fb9 -r970453631a6ccccf10dbe89eab0f131a83c1cf37 --- tests/test_uf.py (.../test_uf.py) (revision 0f08c28544b557b2bbd8c04b10cff284f41e4fb9) +++ tests/test_uf.py (.../test_uf.py) (revision 970453631a6ccccf10dbe89eab0f131a83c1cf37) @@ -16,10 +16,6 @@ import sys sys.path.append("..") -from dialin.hd.hemodialysis_device import HD -from dialin.dg.dialysate_generator import DG -from dialin.hd.valves import ValvesEnum -from dialin.dg.temperatures import DGTemperaturesNames from time import sleep from leahi_dialin.td.treatment_delivery import TD @@ -37,23 +33,22 @@ # fp = RO(log_level="DEBUG") sleep(2) -# hd.ui.cmd_ui_start_treatment_request() -# exit(0) - - # log in to HD and DG as tester -# if hd.cmd_log_in_to_hd() == 0: + # log in to TD, DD and RO as tester + if td.cmd_log_in_to_td() == 0: + exit(1) +# if dd.cmd_log_in_to_dd() == 0: # exit(1) # if fp.cmd_log_in_to_ro() == 0: # exit(1) # sleep(1) -# hd.bloodflow.cmd_blood_flow_set_point_override(0) -# exit(1) + # send command to show round-trip communication w/ firmware is working + td.blood_flow.cmd_blood_flow_set_speed_rate_request(1000) # create log file - with open("UF_test.log", "w") as f: + with open("TD_test.log", "w") as f: - # collect UF related data from HD and DG + # collect data and display/log it while True: sleep(1) modes = "TD.m, " + '{:2d}'.format(td.td_operation_mode) + \ @@ -80,34 +75,20 @@ # log data f.write(modes) - f.write(loadCells) - f.write(ultraFilt) - f.write(valves) f.write(pumpSetPts) f.write(pumpMeasSpds) - f.write(pumpPWMs) - f.write(dgPress) - f.write(alarms) - f.write(accels) - f.write(hdPress) - f.write(Temps) - f.write(htrs) - f.write(air) + f.write(press) + # f.write(valves) + # f.write(air) + # f.write(alarms) f.write("\n") # print to console - print(" Modes: "+modes) - print(" Load Cells: "+loadCells) - print("Ultrafiltration: "+ultraFilt) - print(" DG Valves: "+valves) - print("Pump Set Points: "+pumpSetPts) - print(" Pump Speeds: "+pumpMeasSpds) - print(" Pump PWMs/DACs: "+pumpPWMs) - print(" DG Pressures: "+dgPress) - print(" HD Pressures: "+hdPress) - print(" DG Heaters: "+htrs) - print(" Temperatures: "+Temps) - print(" Air: "+air) - print(" Accelerometer: "+accels) - print(" Alarms: "+alarms) + print(" Modes: "+modes) + print("Pump Set Pts: "+pumpSetPts) + print(" Pump Speeds: "+pumpMeasSpds) + print(" Pressures: "+press) + # print(" Valves: "+valves) + # print(" Air: "+air) + # print(" Alarms: "+alarms)