Fisheye: Tag bba41bff351f24b5665d1120b2cfb53fbe04dbd7 refers to a dead (removed) revision in file `leahi-dialin/ro/modules/boost_pump.py'. Fisheye: No comparison available. Pass `N' to diff? Fisheye: Tag bba41bff351f24b5665d1120b2cfb53fbe04dbd7 refers to a dead (removed) revision in file `leahi-dialin/ro/modules/levels.py'. Fisheye: No comparison available. Pass `N' to diff? Fisheye: Tag bba41bff351f24b5665d1120b2cfb53fbe04dbd7 refers to a dead (removed) revision in file `leahi-dialin/ro/modules/pressure_sensors.py'. Fisheye: No comparison available. Pass `N' to diff? Fisheye: Tag bba41bff351f24b5665d1120b2cfb53fbe04dbd7 refers to a dead (removed) revision in file `leahi-dialin/ro/modules/valves.py'. Fisheye: No comparison available. Pass `N' to diff? Index: leahi_dialin/ro/modules/boost_pump.py =================================================================== diff -u --- leahi_dialin/ro/modules/boost_pump.py (revision 0) +++ leahi_dialin/ro/modules/boost_pump.py (revision bba41bff351f24b5665d1120b2cfb53fbe04dbd7) @@ -0,0 +1,256 @@ +########################################################################### +# +# 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 blood_flow.py +# +# @author (last) Micahel Garthwaite +# @date (last) 17-Aug-2023 +# @author (original) Peter Lucia +# @date (original) 02-Apr-2020 +# +############################################################################ +import struct +from logging import Logger + +from .constants import PUMP_CONTROL_MODE_CLOSED_LOOP, PUMP_CONTROL_MODE_OPEN_LOOP +from .constants import RESET, NO_RESET +from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..protocols.CAN import DenaliMessage, DenaliChannels +from ..utils.base import AbstractSubSystem, publish +from ..utils.checks import check_broadcast_interval_override_ms +from ..utils.conversions import integer_to_bytearray, float_to_bytearray + + +class ROPumps(AbstractSubSystem): + """ + Treatment Device (RO) Dialin API sub-class for blood-flow related commands. + """ + + def __init__(self, can_interface, logger: Logger): + """ + ROBloodFlow constructor + """ + super().__init__() + self.can_interface = can_interface + self.logger = logger + + if self.can_interface is not None: + channel_id = DenaliChannels.ro_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_blood_flow_sync) + self.ro_pump_timestamp = 0.0 + self.ro_pump_state = 0 + self.ro_pump_duty_cycle = 0.0 + self.ro_pump_fb_duty_cycle = 0.0 + self.ro_pump_speed = 0.0 + self.boost_pump_state = 0 + self.boost_pump_duty_cycle = 0.0 + self.boost_pump_fb_duty_cycle = 0.0 + self.boost_pump_speed = 0.0 + + + @publish(["ro_pump_timestamp", "ro_pump_state", "ro_pump_duty_cycle", "ro_pump_fb_duty_cycle", + "ro_pump_speed", "boost_pump_state", "boost_pump_duty_cycle", + "boost_pump_fb_duty_cycle", "boost_pump_speed"]) + def _handler_boost_pump_sync(self, message, timestamp=0.0): + """ + Handles published blood flow data messages. Blood flow data are captured + for reference. + + @param message: published blood flow 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.ro_pump_state = rps[0] + self.ro_pump_duty_cycle = rpdc[0] + self.ro_pump_fb_duty_cycle = rpfbdc[0] + self.ro_pump_speed = rprpm[0] + self.boost_pump_state = bps[0] + self.boost_pump_duty_cycle = bpdc[0] + self.boost_pump_fb_duty_cycle = bpfbdc[0] + self.boost_pump_speed = bprpm[0] + + + + def cmd_boost_pump_set_speed_rate_override(self, rpm: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the boost pump set point command + Constraints: + Must be logged into RO. + + @param rpm: integer - speed set point (in rpm) + @return: 1 if successful, zero otherwise + """ + rst = integer_to_bytearray(reset) + rpm = integer_to_bytearray(rpm) + payload = rst + rpm + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_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: + # self.logger.debug(received_message) + 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, pwm: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured blood pump motor speed override \n + command. + Constraints: + Must be logged into RO. + + @param pwm: integer - speed (in RPM) 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) + spd = float_to_bytearray(pwm) + payload = rst + spd + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_BLOOD_PUMP_MEASURED_MOTOR_SPEED_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override measured blood pump speed") + + # 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(pwm) + + 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_read_pwm_override(self, pwm: float, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured blood pump rotor speed override \n + command. + Constraints: + Must be logged into RO. + + @param pwm: integer - speed (in RPM) 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) + payload = rst + rpwm + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override measured blood pump rotor speed") + + # 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(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 measured blood flow broadcast interval override command + Constraints: + Must be logged into RO. + Given interval must be non-zero and a multiple of the RO 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_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override boost 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/ro/modules/levels.py =================================================================== diff -u --- leahi_dialin/ro/modules/levels.py (revision 0) +++ leahi_dialin/ro/modules/levels.py (revision bba41bff351f24b5665d1120b2cfb53fbe04dbd7) @@ -0,0 +1,129 @@ +########################################################################### +# +# 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 heaters.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 ..common.msg_defs import MsgIds, MsgFieldPositions +from ..protocols.CAN import DenaliMessage, DenaliChannels +from ..utils.base import AbstractSubSystem, publish, DialinEnum +from ..utils.checks import check_broadcast_interval_override_ms +from ..utils.conversions import integer_to_bytearray, float_to_bytearray + +class ROLevels(AbstractSubSystem): + """ + + Dialysate Delivery (RO) 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 + + self.floater = 0 + self.ro_levels_timestamp = 0 + + if self.can_interface is not None: + channel_id = DenaliChannels.ro_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_heaters_sync) + + @publish(["ro_levels_timestamp", + "floater",]) + def _handler_levels_sync(self, message, timestamp=0.0): + """ + Handles published heaters message + + @param message: published heaters data message + @returns none + """ + self.floater = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0] + + self.ro_levels_timestamp = timestamp + + def cmd_levels_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends broadcast time interval. + Constraints: + Must be logged into DG. + Given interval must be non-zero and a multiple of the DG 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_ro_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 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_status_override(self, level_sensor: int, status: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends heater duty cycle override command + Must be logged into DG + There must be a minimum flow available for the heaters (FMP for primary and FMD for trimmer) + + @param level_sensor the level sensor to override its value (primary, trimmer) (0-1.0 order) + @param status 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_sensor) + sts = integer_to_bytearray(status) + payload = reset_value + sts + lvl + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_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/ro/modules/pressure_sensors.py =================================================================== diff -u --- leahi_dialin/ro/modules/pressure_sensors.py (revision 0) +++ leahi_dialin/ro/modules/pressure_sensors.py (revision bba41bff351f24b5665d1120b2cfb53fbe04dbd7) @@ -0,0 +1,171 @@ +########################################################################### +# +# 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 pressure_occlusion.py +# +# @author (last) Vinayakam Mani +# @date (last) 02-May-2024 +# @author (original) Peter Lucia +# @date (original) 02-Apr-2020 +# +############################################################################ +import struct +from logging import Logger + +from .constants import RESET, NO_RESET +from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..protocols.CAN import DenaliMessage, DenaliChannels +from ..utils.base import AbstractSubSystem, publish +from ..utils.checks import check_broadcast_interval_override_ms +from ..utils.conversions import integer_to_bytearray, float_to_bytearray + + +class ROPressureSensors(AbstractSubSystem): + """ + Treatment Delivery (RO) Dialin API sub-class for pressure related commands. + """ + + def __init__(self, can_interface, logger: Logger): + """ + ROPressureOcclusion constructor + + """ + super().__init__() + self.can_interface = can_interface + self.logger = logger + + if self.can_interface is not None: + channel_id = DenaliChannels.ro_sync_broadcast_ch_id + msg_id = MsgIds.MSG_ID_RO_PRESSURES_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self._handler_pressure_sync) + + self.ro_pressure_timestamp = 0.0 + self.pressure_sensor_water_inlet_pre_reg = 0.0 + self.pressure_sensor_water_inlet_post_reg = 0.0 + self.pressure_sensor_water_inlet_pre_cond = 0.0 + self.pressure_sensor_pre_ro_filter = 0.0 + self.pressure_sensor_post_ro_filter = 0.0 + + + @publish([ + "ro_pressure_timestamp", + "pressure_sensor_water_inlet_pre_reg", + "pressure_sensor_water_inlet_post_reg", + "pressure_sensor_water_inlet_pre_cond", + "pressure_sensor_pre_ro_filter", + "pressure_sensor_post_ro_filter", + ]) + def _handler_pressure_sync(self, message, timestamp=0.0): + """ + Handles published pressure & occlusion data messages. Pressure data are captured + for reference. + + @param message: published pressure & occlusion data message + @return: none + """ + + pre_reg_wi = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) + post_reg_wi = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) + pre_cond_wi = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3])) + pre_ro = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4])) + post_ro = struct.unpack('f', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5])) + + self.pressure_sensor_water_inlet_pre_reg = pre_reg_wi[0] + self.pressure_sensor_water_inlet_post_reg = post_reg_wi[0] + self.pressure_sensor_water_inlet_pre_cond = pre_cond_wi[0] + self.pressure_sensor_pre_ro_filter = pre_ro[0] + self.pressure_sensor_post_ro_filter = post_ro[0] + self.ro_pressure_timestamp = timestamp + + def cmd_pressure_sensor_override(self, pressure: float, sensor: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured arterial pressure override command + Constraints: + Must be logged into RO. + + @param pressure: float - measured arterial pressure (in mmHg) to override with + @param sensor: bool - switch between filtered override and raw override + @param reset: integer - 1 to reset a previous override, 0 to override + @return: 1 if successful, zero otherwise + """ + + rst = integer_to_bytearray(reset) + sen = integer_to_bytearray(sensor) + prs = float_to_bytearray(pressure) + payload = rst + prs + sen + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_PRESSURE_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override pressure sensor") + + # Send message + received_message = self.can_interface.send(message) + + # If there is content...S + if received_message is not None: + if reset == RESET: + str_res = "reset back to normal. " + else: + str_res = str(pressure) + " mmHg. " + self.logger.debug("pressure (measured)) 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_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: + """ + Constructs and sends the measured pressure sensors broadcast interval override command + Constraints: + Must be logged into RO. + Given interval must be non-zero and a multiple of the RO 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_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value, + payload=payload) + + self.logger.debug("override blood flow 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(ms) + " ms: " + self.logger.debug("Blood flow broadcast interval 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 \ No newline at end of file Index: leahi_dialin/ro/modules/valves.py =================================================================== diff -u --- leahi_dialin/ro/modules/valves.py (revision 0) +++ leahi_dialin/ro/modules/valves.py (revision bba41bff351f24b5665d1120b2cfb53fbe04dbd7) @@ -0,0 +1 @@ \ No newline at end of file Index: leahi_dialin/ro/reverse_osmosis.py =================================================================== diff -u -r2138d06d100fdcf23f2e9069f35ee2fdee62008f -rbba41bff351f24b5665d1120b2cfb53fbe04dbd7 --- leahi_dialin/ro/reverse_osmosis.py (.../reverse_osmosis.py) (revision 2138d06d100fdcf23f2e9069f35ee2fdee62008f) +++ leahi_dialin/ro/reverse_osmosis.py (.../reverse_osmosis.py) (revision bba41bff351f24b5665d1120b2cfb53fbe04dbd7) @@ -1 +1,245 @@ +########################################################################### +# +# 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 treatment_delivery.py +# +# @author (last) Dara Navaei +# @date (last) 26-Feb-2024 +# @author (original) Peter Lucia +# @date (original) 02-Apr-2020 +# +############################################################################ +import struct + +from .modules.boost_pump import ROPumps +from .modules.levels import ROLevels +from .modules.pressure_sensors import ROPressureSensors +from .modules.valves import ROValves + + +from ..common.msg_defs import MsgIds, MsgFieldPositions +from ..protocols.CAN import DenaliMessage, DenaliCanMessenger, DenaliChannels +from ..utils.base import AbstractSubSystem, publish, LogManager +from ..utils.checks import check_broadcast_interval_override_ms +from ..utils.conversions import integer_to_bytearray, unsigned_short_to_bytearray, bytearray_to_integer, \ + bytearray_to_byte + + +class RO(AbstractSubSystem): + """ + Treatment Delivery (RO) Dialin object API. + It provides the basic interface to communicate with the RO firmware. + """ + # RO debug event max count + _RO_DEBUG_EVENT_LIST_COUNT = 10 + _RO_DEBUG_EVENT_MSG_LEN_INDEX = 5 + + # RO login password + RO_LOGIN_PASSWORD = '123' + + # UI version message field positions + START_POS_MAJOR = DenaliMessage.PAYLOAD_START_INDEX + END_POS_MAJOR = START_POS_MAJOR + 1 + START_POS_MINOR = END_POS_MAJOR + END_POS_MINOR = START_POS_MINOR + 1 + START_POS_MICRO = END_POS_MINOR + END_POS_MICRO = START_POS_MICRO + 1 + START_POS_BUILD = END_POS_MICRO + END_POS_BUILD = START_POS_BUILD + 2 + START_POS_COMPATIBILITY_REV = END_POS_BUILD + END_POS_COMPATIBILITY_REV = START_POS_COMPATIBILITY_REV + 4 + + def __init__(self, can_interface="can0", log_level=None): + """ + RO object provides test/service commands for the RO sub-system. + + >> RO_object = RO('can0') + >> RO_object = RO(can_interface='can0', log_level="DEBUG") + + Possible log levels: + ["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL", "CAN_ONLY", "PRINT_ONLY"] + + @param can_interface: (str) CANBus interface name, e.g. "can0" + @param log_level: (str) Logging level, defaults to None + """ + + super().__init__() + self._log_manager = LogManager(log_level=log_level, log_filepath=self.__class__.__name__ + ".log") + self.logger = self._log_manager.logger + + # Create listener + self.can_interface = DenaliCanMessenger(can_interface=can_interface, + logger=self.logger) + self.can_interface.start() + self.callback_id = None + # register handler for RO operation mode broadcast messages + if self.can_interface is not None: + channel_id = DenaliChannels.ro_sync_broadcast_ch_id + msg_id = MsgIds.MSG_ID_RO_OP_MODE_DATA.value + self.can_interface.register_receiving_publication_function(channel_id, msg_id, + self._handler_ro_op_mode_sync) + + self.can_interface.register_receiving_publication_function(channel_id, + MsgIds.MSG_ID_RO_DEBUG_EVENT.value, + self._handler_ro_debug_event_sync) + + # create properties + self.ro_op_mode_timestamp = 0.0 + self.ro_debug_events_timestamp = 0.0 + self.ui_version_info_response_timestamp = 0.0 + + self.ro_operation_sub_mode = 0 + self.ro_logged_in = False + self.ro_set_logged_in_status(False) + self.ui_version = None + self.ro_debug_events = [''] * self._RO_DEBUG_EVENT_LIST_COUNT + self.ro_debug_event_index = 0 + self.ro_last_debug_event = '' + + # Create command groups + + self.pumps = ROPumps(self.can_interface, self.logger) + self.levels = ROLevels(self.can_interface, self.logger) + self.pressures = ROPressureSensors(self.can_interface, self.logger) + self.valves = ROValves(self.can_interface, self.logger) + + @publish(["ro_debug_events_timestamp","ro_debug_events"]) + def _handler_ro_debug_event_sync(self, message, timestamp = 0.0): + + payload = message['message'] + message_length = payload[self._RO_DEBUG_EVENT_MSG_LEN_INDEX] + temp_message = '' + + index = MsgFieldPositions.START_POS_FIELD_1 + + for i in range(0, message_length): + # Loop through the length and get the + char, char_index = bytearray_to_byte(payload, index + i, False) + temp_message += chr(char) + + self.ro_debug_events_timestamp = timestamp + self.ro_debug_events.insert(self.ro_debug_event_index, temp_message) + self.ro_last_debug_event = temp_message + + self.ro_debug_event_index += 1 + if self.ro_debug_event_index == self._RO_DEBUG_EVENT_LIST_COUNT: + self.ro_debug_event_index = 0 + + @publish(["ro_logged_in"]) + def ro_set_logged_in_status(self, logged_in: bool = False): + """ + Callback for ro logged in status change. + @param logged_in boolean logged in status for RO + @return: none + """ + self.ro_logged_in = logged_in + + @publish(["ro_op_mode_timestamp","ro_operation_mode", "ro_operation_sub_mode"]) + def _handler_ro_op_mode_sync(self, message, timestamp = 0.0): + """ + Handles published RO operation mode messages. Current RO operation mode + is captured for reference. + + @param message: published RO operation mode broadcast message + @return: None + """ + mode = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1])) + smode = struct.unpack('i', bytearray( + message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2])) + + self.ro_operation_mode = mode[0] + self.ro_operation_sub_mode = smode[0] + self.ro_op_mode_timestamp = timestamp + + def cmd_log_in_to_ro(self, resend: bool = False) -> int: + """ + Constructs and sends a login command via CAN bus. Login required before \n + other commands can be sent to the RO. + + @param resend: (bool) if False (default), try to login once. Otherwise, tries to login indefinitely + @return: 1 if logged in, 0 if log in failed + """ + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, + message_id=MsgIds.MSG_ID_TESTER_LOGIN_REQUEST.value, + payload=list(map(int, map(ord, self.RO_LOGIN_PASSWORD)))) + + self.logger.debug("Logging in...") + + # Send message + received_message = self.can_interface.send(message, resend=resend) + + if received_message is not None: + if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: + self.logger.debug("Success: Logged In") + self.ro_set_logged_in_status(True) + #self._send_ro_checkin_message() # Timer starts interval first + #self.can_interface.transmit_interval_dictionary[self.callback_id].start() + else: + self.logger.debug("Failure: Log In Failed.") + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("Login Timeout!!!!") + return False + + def cmd_ro_set_operation_mode(self, new_mode: int = 0) -> int: + """ + Constructs and sends a set operation mode request command via CAN bus. + Constraints: + Must be logged into RO. + Transition from current to requested op mode must be legal. + NOTE: for POST the RO device shall be in Standby Mode + + @param new_mode: ID of operation mode to transition to + + @return: 1 if successful, zero otherwise + + """ + + payload = integer_to_bytearray(new_mode) + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_SET_OP_MODE_REQUEST.value, + payload=payload) + + self.logger.debug("Requesting RO mode change to " + str(new_mode)) + + # Send message + received_message = self.can_interface.send(message) + + if received_message is not None: + if received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] == 1: + self.logger.debug("Success: Mode change accepted") + else: + self.logger.debug("Failure: Mode change rejected.") + return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX] + else: + self.logger.debug("RO mode change request Timeout!!!!") + return False + + + def cmd_ro_software_reset_request(self) -> None: + """ + Constructs and sends an RO software reset request via CAN bus. + Constraints: + Must be logged into RO. + + @return: None + """ + + message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id, + message_id=MsgIds.MSG_ID_RO_SOFTWARE_RESET_REQUEST.value) + + self.logger.debug("requesting RO software reset") + + # Send message + self.can_interface.send(message, 0) + self.logger.debug("Sent request to RO to reset...") + self.ro_set_logged_in_status(False) + +