Index: leahi-dialin/common/msg_ids.py =================================================================== diff -u -r4e2e867e7ee1fcf889b286167a3d6bb7f4fefb80 -rc54ffa668322f1a2d915a3b22df180a9734ef5d3 --- leahi-dialin/common/msg_ids.py (.../msg_ids.py) (revision 4e2e867e7ee1fcf889b286167a3d6bb7f4fefb80) +++ leahi-dialin/common/msg_ids.py (.../msg_ids.py) (revision c54ffa668322f1a2d915a3b22df180a9734ef5d3) @@ -69,8 +69,12 @@ MSG_ID_DD_BAL_CHAMBER_DATA = 0x2E MSG_ID_DD_GEN_DIALYSATE_MODE_DATA = 0x2F MSG_ID_DD_GEN_DIALYSATE_REQUEST_DATA = 0x30 + MSG_ID_RO_VALVES_STATES_DATA = 0x31 + MSG_ID_RO_PUMP_DATA = 0x32 + MSG_ID_RO_OP_MODE_DATA = 0x33 + MSG_ID_RO_PRESSURES_DATA = 0x34 + MSG_ID_RO_LEVEL_DATA = 0x35 - MSG_ID_TESTER_LOGIN_REQUEST = 0x8000 MSG_ID_TD_SOFTWARE_RESET_REQUEST = 0x8001 MSG_ID_TD_SEND_TEST_CONFIGURATION = 0x8002 @@ -165,7 +169,27 @@ MSG_ID_DD_HEATERS_START_STOP_OVERRIDE_REQUEST = 0xA02E MSG_ID_DD_VALVES_OPEN_CLOSE_STATE_OVERRIDE_REQUEST = 0xA02F + MSG_ID_FIRST_RO_TESTER_MESSAGE = 0xB000 + MSG_ID_RO_SOFTWARE_RESET_REQUEST = 0xB001 + MSG_ID_RO_SEND_TEST_CONFIGURATION = 0xB002 + MSG_ID_RO_VALVE_PUBLISH_INTERVAL_OVERRIDE_REQUEST = 0xB003 + MSG_ID_RO_VALVE_CMD_STATE_OVERRIDE_REQUEST = 0xB004 + MSG_ID_RO_VALVE_SENSED_STATE_OVERRIDE_REQUEST = 0xB005 + MSG_ID_RO_BOOST_PUMP_SET_PWM_REQUEST = 0xB006 + MSG_ID_RO_BOOST_PUMP_READ_PWM_OVERRIDE_REQUEST = 0xB007 + MSG_ID_RO_BOOST_PUMP_SPEED_OVERRIDE_REQUEST = 0xB008 + MSG_ID_RO_BOOST_PUMPS_PUBLISH_INTERVAL_OVERRIDE_REQUEST = 0xB009 + MSG_ID_RO_PRESSURE_OVERRIDE_REQUEST = 0xB00A + MSG_ID_RO_PRESSURE_TEMP_OVERRIDE_REQUEST = 0xB00B + MSG_ID_RO_PRESSURE_READ_COUNT_OVERRIDE_REQUEST = 0xB00C + MSG_ID_RO_PRESSURE_ERROR_COUNT_OVERRIDE_REQUEST = 0xB00D + MSG_ID_RO_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST = 0xB00E + MSG_ID_RO_LEVEL_PUBLISH_INTERVAL_OVERRIDE_REQUEST = 0xB00F + MSG_ID_RO_LEVEL_OVERRIDE_REQUEST = 0xB010 + MSG_ID_TD_DEBUG_EVENT = 0xFFF1 MSG_ID_DD_DEBUG_EVENT = 0xFFF2 + MSG_ID_RO_DEBUG_EVENT = 0xFFF3 + MSG_ID_ACK_MESSAGE_THAT_REQUIRES_ACK = 0xFFFF \ No newline at end of file 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 c54ffa668322f1a2d915a3b22df180a9734ef5d3) @@ -0,0 +1,263 @@ +########################################################################### +# +# 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 ROBloodFlow(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 = 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(flow) + + if mode == PUMP_CONTROL_MODE_OPEN_LOOP: + str_mode = " (open loop): " + else: + str_mode = " (closed loop): " + self.logger.debug( + "Blood flow set point overridden to " + str_res + " mL/min" + str_mode + + + 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_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(speed) + self.logger.debug("Blood pump speed (measured) overridden to " + str_res + " RPM: " + + 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_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) + 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_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(speed) + self.logger.debug("Blood pump rotor speed (measured) overridden to " + str_res + " RPM: " + + 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_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(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/levels.py =================================================================== diff -u --- leahi-dialin/ro/modules/levels.py (revision 0) +++ leahi-dialin/ro/modules/levels.py (revision c54ffa668322f1a2d915a3b22df180a9734ef5d3) @@ -0,0 +1,130 @@ +########################################################################### +# +# 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 Heaters 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) + + self.logger.debug("Overriding {} heater's duty cycle to {:5.3f} %".format(HeatersNames(heater).name, duty_cycle)) + # 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 c54ffa668322f1a2d915a3b22df180a9734ef5d3) @@ -0,0 +1,173 @@ +########################################################################### +# +# 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 ROPressureOcclusion(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 + PRESSURE_SENSOR_ARTERIAL = 0 ///< Arterial blood line pressure sensor + PRESSURE_SENSOR_VENOUS = 1 ///< Vensous blood line pressure sensor + 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(pres) + " 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 c54ffa668322f1a2d915a3b22df180a9734ef5d3) @@ -0,0 +1 @@ \ No newline at end of file