succd: implement threshold outputs, rework processing
This commit is contained in:
parent
781bbaaeb4
commit
6d97eb62a8
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@ -106,18 +106,23 @@ func (d *daemon) httpStream(w http.ResponseWriter, r *http.Request) {
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volts, mbar := d.pirani()
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rp := d.rpGet()
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dp := d.dpGet()
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rough, high := d.vacuumStatusGet()
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v := struct {
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Volts string
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Mbar string
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MbarFloat float32
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RPOn bool
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DPOn bool
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Volts string
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Mbar string
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MbarFloat float32
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RPOn bool
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DPOn bool
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RoughReached bool
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HighReached bool
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}{
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Volts: formatVolts(volts),
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Mbar: string(formatMbar(mbar)),
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MbarFloat: mbar,
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RPOn: rp,
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DPOn: dp,
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Volts: formatVolts(volts),
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Mbar: string(formatMbar(mbar)),
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MbarFloat: mbar,
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RPOn: rp,
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DPOn: dp,
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RoughReached: rough,
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HighReached: high,
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}
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if err := wsjson.Write(ctx, c, v); err != nil {
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klog.Errorf("Websocket write failed: %v", err)
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@ -36,6 +36,10 @@ button {
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padding-right: 1.5em;
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}
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td > span {
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padding: 0.2em;
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}
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.logo {
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float: left;
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margin-right: 2em;
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@ -55,23 +59,29 @@ button {
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<table>
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<tr>
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<th>Voltage</th>
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<td id="volts">{{.volts}}</td>
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<td id="volts" colspan="4">{{.volts}}</td>
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</tr>
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<tr>
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<th>Pressure</th>
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<td id="mbar">{{.mbar}}</td>
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<td id="mbar" colspan="4">{{.mbar}}</td>
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</tr>
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<tr>
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<th>Thresholds</th>
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<td>Rough:</td>
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<td id="trough">...</td>
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<td>High:</td>
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<td id="thigh">...</td>
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</tr>
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<tr>
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<th>Roughing Pump</th>
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<td id="rp">{{ if .rp }}ON{{ else }}OFF{{ end }}</td>
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</tr>
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<tr>
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<th>Diffusion Pump</th>
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<td id="dp">{{ if .dp }}ON{{ else }}OFF{{ end }}</td>
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<th>Pumps</th>
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<td>RP:</td>
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<td id="rp">{{ if .rp }}ON{{ else }}OFF{{ end }}</td>
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<td>DP:</td>
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<td id="dp">{{ if .dp }}ON{{ else }}OFF{{ end }}</td>
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</tr>
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<tr>
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<th>Evac Control</th>
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<td>
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<td colspan="4">
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<button id="pd">Pump Down</button>
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<button id="vent">Vent</button>
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<button id="rpon">RP On</button>
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@ -82,7 +92,7 @@ button {
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</tr>
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<tr>
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<th>Status</th>
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<td id="status">OK</td>
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<td id="status" colspan="4">OK</td>
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</tr>
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</table>
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</p>
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@ -233,6 +243,8 @@ window.addEventListener("load", (_) => {
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let volts = document.querySelector("#volts");
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let mbar = document.querySelector("#mbar");
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let ping = document.querySelector("#ping");
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let trough = document.querySelector("#trough");
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let thigh = document.querySelector("#thigh");
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// Buttons
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let pd = document.querySelector("#pd");
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@ -280,6 +292,22 @@ window.addEventListener("load", (_) => {
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} else {
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dp.style = "background-color: #f06060";
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}
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let t = [];
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if (data.RoughReached) {
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trough.innerHTML = "OK";
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trough.style = "background-color: #60f060";
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} else {
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trough.innerHTML = "NOK";
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trough.style = "background-color: #f06060";
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}
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if (data.HighReached) {
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thigh.innerHTML = "OK";
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thigh.style = "background-color: #60f060";
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} else {
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thigh.innerHTML = "NOK";
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thigh.style = "background-color: #f06060";
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}
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historicalPush(data.MbarFloat);
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ping.innerHTML = Date.now();
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});
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@ -2,166 +2,26 @@ package main
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import (
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"context"
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"errors"
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"flag"
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"fmt"
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"math"
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"net/http"
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"os"
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"os/signal"
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"sync"
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"time"
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"k8s.io/klog"
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)
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// daemon is the main state of the succdaemon.
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type daemon struct {
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// adcPirani is the adc implementation returning the voltage of the Pfeiffer
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// Pirani gauge.
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adcPirani adc
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gpioDiffusionPump gpio
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gpioRoughingPump gpio
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gpioBtnPumpDown gpio
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gpioBtnVent gpio
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// mu guards state variables below.
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mu sync.RWMutex
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// adcPiraniVolts is a moving window of read ADC values, used to calculate a
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// moving average.
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adcPiraniVolts []float32
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rpOn bool
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dpOn bool
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// ventScheduled and pumpdownScheduled are timers which expire when the
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// vent/pumpdown relays should be deactivated. This allows these outputs to
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// be controlled momentarily.
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ventScheduled time.Time
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pumpdownScheduled time.Time
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}
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// process runs the pain acquisition and control loop of succd.
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func (d *daemon) process(ctx context.Context) {
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ticker := time.NewTicker(time.Millisecond * 100)
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defer ticker.Stop()
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for {
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select {
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case <-ticker.C:
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if err := d.processOnce(ctx); err != nil {
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if errors.Is(err, ctx.Err()) {
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return
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} else {
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klog.Errorf("Processing error: %v", err)
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time.Sleep(time.Second * 10)
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}
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}
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case <-ctx.Done():
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return
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}
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}
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}
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// processOnce runs the main loop step of succd.
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func (d *daemon) processOnce(_ context.Context) error {
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v, err := d.adcPirani.Read()
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if err != nil {
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return fmt.Errorf("when reading ADC: %w", err)
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}
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d.mu.Lock()
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defer d.mu.Unlock()
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d.adcPiraniVolts = append(d.adcPiraniVolts, v)
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trim := len(d.adcPiraniVolts) - 100
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if trim > 0 {
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d.adcPiraniVolts = d.adcPiraniVolts[trim:]
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}
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if err := d.gpioRoughingPump.set(d.rpOn); err != nil {
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return fmt.Errorf("when configuring RP: %w", err)
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}
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if err := d.gpioDiffusionPump.set(!d.dpOn); err != nil {
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return fmt.Errorf("when configuring RP: %w", err)
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}
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if err := d.gpioBtnPumpDown.set(!d.pumpdownScheduled.After(time.Now())); err != nil {
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return fmt.Errorf("when configuring pumpdown: %w", err)
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}
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if err := d.gpioBtnVent.set(!d.ventScheduled.After(time.Now())); err != nil {
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return fmt.Errorf("when configuring vent: %w", err)
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}
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return nil
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}
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// pirani returns the Pirani gauge voltage and pressure.
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func (d *daemon) pirani() (volts float32, mbar float32) {
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d.mu.RLock()
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volts = 0.0
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for _, v := range d.adcPiraniVolts {
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volts += v
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}
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if len(d.adcPiraniVolts) != 0 {
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volts /= float32(len(d.adcPiraniVolts))
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}
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d.mu.RUnlock()
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// Per Pirani probe docs.
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bar := math.Pow(10.0, float64(volts)-8.5)
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mbar = float32(bar * 1000.0)
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return
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}
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// rpSet enables/disables the roughing pump.
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func (d *daemon) rpSet(state bool) {
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d.mu.Lock()
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defer d.mu.Unlock()
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d.rpOn = state
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}
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// rpGet returns whether the roughing pump is enabled/disabled.
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func (d *daemon) rpGet() bool {
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d.mu.RLock()
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defer d.mu.RUnlock()
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return d.rpOn
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}
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// dpSet enables/disables the diffusion pump.
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func (d *daemon) dpSet(state bool) {
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d.mu.Lock()
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defer d.mu.Unlock()
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d.dpOn = state
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}
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// dpGet returns whether the diffusion pump is enabled/disabled.
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func (d *daemon) dpGet() bool {
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d.mu.RLock()
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defer d.mu.RUnlock()
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return d.dpOn
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}
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// pumpDownPressed toggles the pump down relay for 500ms.
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func (d *daemon) pumpDownPress() {
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d.mu.Lock()
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defer d.mu.Unlock()
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if d.pumpdownScheduled.Before(time.Now()) {
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d.pumpdownScheduled = time.Now().Add(500 * time.Millisecond)
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}
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}
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// ventPress toggles the vent relay for 500ms.
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func (d *daemon) ventPress() {
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d.mu.Lock()
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defer d.mu.Unlock()
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if d.ventScheduled.Before(time.Now()) {
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d.ventScheduled = time.Now().Add(500 * time.Millisecond)
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}
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}
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var (
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flagFake bool
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flagListenHTTP string
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flagFake bool
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flagListenHTTP string
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flagPressureThresholdRough = ScientificNotationValue(1e-1)
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flagPressureThresholdHigh = ScientificNotationValue(1e-4)
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)
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func main() {
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flag.BoolVar(&flagFake, "fake", false, "Enable fake mode which allows to run succd for tests outside the succbone")
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flag.StringVar(&flagListenHTTP, "listen_http", ":8080", "Address at which to listen for HTTP requests")
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flag.TextVar(&flagPressureThresholdRough, "pressure_threshold_rough", &flagPressureThresholdRough, "Threshold for opening up diffusion pump (mbar)")
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flag.TextVar(&flagPressureThresholdHigh, "pressure_threshold_high", &flagPressureThresholdHigh, "Threshold for enabling high voltage circuits (mbar)")
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flag.Parse()
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ctx, _ := signal.NotifyContext(context.Background(), os.Interrupt)
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@ -169,6 +29,8 @@ func main() {
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d := daemon{
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rpOn: true,
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}
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d.aboveRough.threshold = float64(flagPressureThresholdRough)
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d.aboveHigh.threshold = float64(flagPressureThresholdHigh)
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if flagFake {
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klog.Infof("Starting with fake peripherals")
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d.adcPirani = &fakeADC{}
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@ -176,6 +38,8 @@ func main() {
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d.gpioDiffusionPump = &fakeGPIO{desc: "~dp"}
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d.gpioBtnPumpDown = &fakeGPIO{desc: "~pd"}
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d.gpioBtnVent = &fakeGPIO{desc: "~vent"}
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d.gpioBelowRough = &fakeGPIO{desc: "~rough"}
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d.gpioBelowHigh = &fakeGPIO{desc: "~high"}
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} else {
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adc, err := newBBADC(0)
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if err != nil {
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@ -191,8 +55,9 @@ func main() {
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{&d.gpioDiffusionPump, 49},
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{&d.gpioBtnPumpDown, 48},
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{&d.gpioBtnVent, 60},
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{&d.gpioBelowRough, 30},
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{&d.gpioBelowHigh, 7},
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} {
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// Relay, active low.
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*c.out, err = newBBGPIO(c.num, true)
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if err != nil {
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klog.Exitf("Failed to setup GPIO: %v", err)
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225
succbone/succd/process.go
Normal file
225
succbone/succd/process.go
Normal file
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@ -0,0 +1,225 @@
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package main
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import (
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"context"
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"errors"
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"fmt"
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"math"
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"sync"
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"time"
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"k8s.io/klog"
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)
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// daemon is the main state of the succdaemon.
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type daemon struct {
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// adcPirani is the adc implementation returning the voltage of the Pfeiffer
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// Pirani gauge.
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adcPirani adc
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gpioDiffusionPump gpio
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gpioRoughingPump gpio
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gpioBtnPumpDown gpio
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gpioBtnVent gpio
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gpioBelowRough gpio
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gpioBelowHigh gpio
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// mu guards state variables below.
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mu sync.RWMutex
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// adcPiraniVolts is a moving window of read ADC values, used to calculate a
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// moving average.
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adcPiraniVolts []float32
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rpOn bool
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dpOn bool
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vent momentaryOutput
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pumpdown momentaryOutput
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aboveRough thresholdOutput
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aboveHigh thresholdOutput
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}
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// momentaryOutput is an output that can be triggered for 500ms.
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type momentaryOutput struct {
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// output of the block.
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output bool
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// scheduledOff is when the block should be outputting false again.
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scheduledOff time.Time
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}
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func (m *momentaryOutput) process() {
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m.output = m.scheduledOff.After(time.Now())
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}
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func (m *momentaryOutput) trigger() {
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m.scheduledOff = time.Now().Add(time.Millisecond * 500)
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}
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// thresholdOutput outputs true if a given value is above a setpoint/threshold.
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// It contains debounce logic for processing noisy analog signals.
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type thresholdOutput struct {
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// output of the block.
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output bool
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// debounce is when the debouncer should be inactive again.
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debounce time.Time
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// threshold is the setpoint of the block.
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threshold float64
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}
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func (t *thresholdOutput) process(value float64) {
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if time.Now().Before(t.debounce) {
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return
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}
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new := value > t.threshold
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if new != t.output {
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t.output = new
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t.debounce = time.Now().Add(time.Second * 5)
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}
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}
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// process runs the pain acquisition and control loop of succd.
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func (d *daemon) process(ctx context.Context) {
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ticker := time.NewTicker(time.Millisecond * 100)
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defer ticker.Stop()
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for {
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select {
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case <-ticker.C:
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if err := d.processOnce(ctx); err != nil {
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if errors.Is(err, ctx.Err()) {
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return
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} else {
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klog.Errorf("Processing error: %v", err)
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time.Sleep(time.Second * 10)
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}
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}
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case <-ctx.Done():
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return
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}
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}
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}
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// processOnce runs the main loop step of succd.
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func (d *daemon) processOnce(_ context.Context) error {
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v, err := d.adcPirani.Read()
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if err != nil {
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return fmt.Errorf("when reading ADC: %w", err)
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}
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d.mu.Lock()
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defer d.mu.Unlock()
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// Process pirani ringbuffer.
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d.adcPiraniVolts = append(d.adcPiraniVolts, v)
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trim := len(d.adcPiraniVolts) - 100
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if trim > 0 {
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d.adcPiraniVolts = d.adcPiraniVolts[trim:]
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}
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d.pumpdown.process()
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d.vent.process()
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_, mbar := d.piraniUnlocked()
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d.aboveRough.process(float64(mbar))
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d.aboveHigh.process(float64(mbar))
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// Update relay outputs.
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for _, rel := range []struct {
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name string
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gpio gpio
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// activeHigh means the relay is active high, ie. a true source will
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// mean that NO/COM get connected, and a false source means that NC/COM
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// get connected.
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activeHigh bool
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source bool
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}{
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{"rp", d.gpioRoughingPump, false, d.rpOn},
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{"dp", d.gpioDiffusionPump, true, d.dpOn},
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{"pumpdown", d.gpioBtnPumpDown, true, d.pumpdown.output},
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{"vent", d.gpioBtnVent, true, d.vent.output},
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{"rough", d.gpioBelowRough, false, d.aboveRough.output},
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{"high", d.gpioBelowHigh, false, d.aboveHigh.output},
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} {
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val := rel.source
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if rel.activeHigh {
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// Invert because the relays go through logical inversion (ie. a
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// GPIO false is a relay trigger).
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val = !val
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}
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if err := rel.gpio.set(val); err != nil {
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return fmt.Errorf("when outputting %s: %w", rel.name, err)
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}
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}
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return nil
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}
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// pirani returns the Pirani gauge voltage and pressure.
|
||||
func (d *daemon) pirani() (volts float32, mbar float32) {
|
||||
d.mu.RLock()
|
||||
volts, mbar = d.piraniUnlocked()
|
||||
d.mu.RUnlock()
|
||||
return
|
||||
}
|
||||
|
||||
func (d *daemon) piraniUnlocked() (volts float32, mbar float32) {
|
||||
volts = 0.0
|
||||
for _, v := range d.adcPiraniVolts {
|
||||
volts += v
|
||||
}
|
||||
if len(d.adcPiraniVolts) != 0 {
|
||||
volts /= float32(len(d.adcPiraniVolts))
|
||||
}
|
||||
|
||||
// Per Pirani probe docs.
|
||||
bar := math.Pow(10.0, float64(volts)-8.5)
|
||||
mbar = float32(bar * 1000.0)
|
||||
return
|
||||
}
|
||||
|
||||
// rpSet enables/disables the roughing pump.
|
||||
func (d *daemon) rpSet(state bool) {
|
||||
d.mu.Lock()
|
||||
defer d.mu.Unlock()
|
||||
d.rpOn = state
|
||||
}
|
||||
|
||||
// rpGet returns whether the roughing pump is enabled/disabled.
|
||||
func (d *daemon) rpGet() bool {
|
||||
d.mu.RLock()
|
||||
defer d.mu.RUnlock()
|
||||
return d.rpOn
|
||||
}
|
||||
|
||||
// dpSet enables/disables the diffusion pump.
|
||||
func (d *daemon) dpSet(state bool) {
|
||||
d.mu.Lock()
|
||||
defer d.mu.Unlock()
|
||||
d.dpOn = state
|
||||
}
|
||||
|
||||
// dpGet returns whether the diffusion pump is enabled/disabled.
|
||||
func (d *daemon) dpGet() bool {
|
||||
d.mu.RLock()
|
||||
defer d.mu.RUnlock()
|
||||
return d.dpOn
|
||||
}
|
||||
|
||||
func (d *daemon) vacuumStatusGet() (rough, high bool) {
|
||||
d.mu.RLock()
|
||||
defer d.mu.RUnlock()
|
||||
rough = !d.aboveRough.output
|
||||
high = !d.aboveHigh.output
|
||||
return
|
||||
}
|
||||
|
||||
// pumpDownPressed toggles the pump down relay for 500ms.
|
||||
func (d *daemon) pumpDownPress() {
|
||||
d.mu.Lock()
|
||||
defer d.mu.Unlock()
|
||||
d.pumpdown.trigger()
|
||||
}
|
||||
|
||||
// ventPress toggles the vent relay for 500ms.
|
||||
func (d *daemon) ventPress() {
|
||||
d.mu.Lock()
|
||||
defer d.mu.Unlock()
|
||||
d.vent.trigger()
|
||||
}
|
||||
33
succbone/succd/scientific.go
Normal file
33
succbone/succd/scientific.go
Normal file
|
|
@ -0,0 +1,33 @@
|
|||
package main
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"strconv"
|
||||
)
|
||||
|
||||
type ScientificNotationValue float64
|
||||
|
||||
func (s *ScientificNotationValue) UnmarshalText(text []byte) error {
|
||||
f, err := strconv.ParseFloat(string(text), 64)
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
*s = ScientificNotationValue(f)
|
||||
return nil
|
||||
}
|
||||
|
||||
func (s *ScientificNotationValue) MarshalText() ([]byte, error) {
|
||||
v := float64(*s)
|
||||
exp := 0
|
||||
for v < 1 {
|
||||
v *= 10
|
||||
exp -= 1
|
||||
}
|
||||
for v >= 10 {
|
||||
v /= 10
|
||||
exp += 1
|
||||
}
|
||||
res := fmt.Sprintf("%.3f", v)
|
||||
res += fmt.Sprintf("e%d", exp)
|
||||
return []byte(res), nil
|
||||
}
|
||||
Loading…
Reference in a new issue