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succd: implement threshold outputs, rework processing

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This commit is contained in:
Serge Bazanski 2024-09-27 02:11:04 +02:00
parent 781bbaaeb4
commit 6d97eb62a8
5 changed files with 323 additions and 167 deletions
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5
succbone/succd/http.go
View file

@ -106,18 +106,23 @@ func (d *daemon) httpStream(w http.ResponseWriter, r *http.Request) {
volts, mbar := d.pirani()
rp := d.rpGet()
dp := d.dpGet()
rough, high := d.vacuumStatusGet()
v := struct {
Volts string
Mbar string
MbarFloat float32
RPOn bool
DPOn bool
RoughReached bool
HighReached bool
}{
Volts: formatVolts(volts),
Mbar: string(formatMbar(mbar)),
MbarFloat: mbar,
RPOn: rp,
DPOn: dp,
RoughReached: rough,
HighReached: high,
}
if err := wsjson.Write(ctx, c, v); err != nil {
klog.Errorf("Websocket write failed: %v", err)

44
succbone/succd/index.html
View file

@ -36,6 +36,10 @@ button {
padding-right: 1.5em;
}
td > span {
padding: 0.2em;
}
.logo {
float: left;
margin-right: 2em;
@ -55,23 +59,29 @@ button {
<table>
<tr>
<th>Voltage</th>
<td id="volts">{{.volts}}</td>
<td id="volts" colspan="4">{{.volts}}</td>
</tr>
<tr>
<th>Pressure</th>
<td id="mbar">{{.mbar}}</td>
<td id="mbar" colspan="4">{{.mbar}}</td>
</tr>
<tr>
<th>Roughing Pump</th>
<th>Thresholds</th>
<td>Rough:</td>
<td id="trough">...</td>
<td>High:</td>
<td id="thigh">...</td>
</tr>
<tr>
<th>Pumps</th>
<td>RP:</td>
<td id="rp">{{ if .rp }}ON{{ else }}OFF{{ end }}</td>
</tr>
<tr>
<th>Diffusion Pump</th>
<td>DP:</td>
<td id="dp">{{ if .dp }}ON{{ else }}OFF{{ end }}</td>
</tr>
<tr>
<th>Evac Control</th>
<td>
<td colspan="4">
<button id="pd">Pump Down</button>
<button id="vent">Vent</button>
<button id="rpon">RP On</button>
@ -82,7 +92,7 @@ button {
</tr>
<tr>
<th>Status</th>
<td id="status">OK</td>
<td id="status" colspan="4">OK</td>
</tr>
</table>
</p>
@ -233,6 +243,8 @@ window.addEventListener("load", (_) => {
let volts = document.querySelector("#volts");
let mbar = document.querySelector("#mbar");
let ping = document.querySelector("#ping");
let trough = document.querySelector("#trough");
let thigh = document.querySelector("#thigh");
// Buttons
let pd = document.querySelector("#pd");
@ -280,6 +292,22 @@ window.addEventListener("load", (_) => {
} else {
dp.style = "background-color: #f06060";
}
let t = [];
if (data.RoughReached) {
trough.innerHTML = "OK";
trough.style = "background-color: #60f060";
} else {
trough.innerHTML = "NOK";
trough.style = "background-color: #f06060";
}
if (data.HighReached) {
thigh.innerHTML = "OK";
thigh.style = "background-color: #60f060";
} else {
thigh.innerHTML = "NOK";
thigh.style = "background-color: #f06060";
}
historicalPush(data.MbarFloat);
ping.innerHTML = Date.now();
});

155
succbone/succd/main.go
View file

@ -2,166 +2,26 @@ package main
import (
"context"
"errors"
"flag"
"fmt"
"math"
"net/http"
"os"
"os/signal"
"sync"
"time"
"k8s.io/klog"
)
// daemon is the main state of the succdaemon.
type daemon struct {
// adcPirani is the adc implementation returning the voltage of the Pfeiffer
// Pirani gauge.
adcPirani adc
gpioDiffusionPump gpio
gpioRoughingPump gpio
gpioBtnPumpDown gpio
gpioBtnVent gpio
// mu guards state variables below.
mu sync.RWMutex
// adcPiraniVolts is a moving window of read ADC values, used to calculate a
// moving average.
adcPiraniVolts []float32
rpOn bool
dpOn bool
// ventScheduled and pumpdownScheduled are timers which expire when the
// vent/pumpdown relays should be deactivated. This allows these outputs to
// be controlled momentarily.
ventScheduled time.Time
pumpdownScheduled time.Time
}
// process runs the pain acquisition and control loop of succd.
func (d *daemon) process(ctx context.Context) {
ticker := time.NewTicker(time.Millisecond * 100)
defer ticker.Stop()
for {
select {
case <-ticker.C:
if err := d.processOnce(ctx); err != nil {
if errors.Is(err, ctx.Err()) {
return
} else {
klog.Errorf("Processing error: %v", err)
time.Sleep(time.Second * 10)
}
}
case <-ctx.Done():
return
}
}
}
// processOnce runs the main loop step of succd.
func (d *daemon) processOnce(_ context.Context) error {
v, err := d.adcPirani.Read()
if err != nil {
return fmt.Errorf("when reading ADC: %w", err)
}
d.mu.Lock()
defer d.mu.Unlock()
d.adcPiraniVolts = append(d.adcPiraniVolts, v)
trim := len(d.adcPiraniVolts) - 100
if trim > 0 {
d.adcPiraniVolts = d.adcPiraniVolts[trim:]
}
if err := d.gpioRoughingPump.set(d.rpOn); err != nil {
return fmt.Errorf("when configuring RP: %w", err)
}
if err := d.gpioDiffusionPump.set(!d.dpOn); err != nil {
return fmt.Errorf("when configuring RP: %w", err)
}
if err := d.gpioBtnPumpDown.set(!d.pumpdownScheduled.After(time.Now())); err != nil {
return fmt.Errorf("when configuring pumpdown: %w", err)
}
if err := d.gpioBtnVent.set(!d.ventScheduled.After(time.Now())); err != nil {
return fmt.Errorf("when configuring vent: %w", err)
}
return nil
}
// pirani returns the Pirani gauge voltage and pressure.
func (d *daemon) pirani() (volts float32, mbar float32) {
d.mu.RLock()
volts = 0.0
for _, v := range d.adcPiraniVolts {
volts += v
}
if len(d.adcPiraniVolts) != 0 {
volts /= float32(len(d.adcPiraniVolts))
}
d.mu.RUnlock()
// 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
}
// pumpDownPressed toggles the pump down relay for 500ms.
func (d *daemon) pumpDownPress() {
d.mu.Lock()
defer d.mu.Unlock()
if d.pumpdownScheduled.Before(time.Now()) {
d.pumpdownScheduled = time.Now().Add(500 * time.Millisecond)
}
}
// ventPress toggles the vent relay for 500ms.
func (d *daemon) ventPress() {
d.mu.Lock()
defer d.mu.Unlock()
if d.ventScheduled.Before(time.Now()) {
d.ventScheduled = time.Now().Add(500 * time.Millisecond)
}
}
var (
flagFake bool
flagListenHTTP string
flagPressureThresholdRough = ScientificNotationValue(1e-1)
flagPressureThresholdHigh = ScientificNotationValue(1e-4)
)
func main() {
flag.BoolVar(&flagFake, "fake", false, "Enable fake mode which allows to run succd for tests outside the succbone")
flag.StringVar(&flagListenHTTP, "listen_http", ":8080", "Address at which to listen for HTTP requests")
flag.TextVar(&flagPressureThresholdRough, "pressure_threshold_rough", &flagPressureThresholdRough, "Threshold for opening up diffusion pump (mbar)")
flag.TextVar(&flagPressureThresholdHigh, "pressure_threshold_high", &flagPressureThresholdHigh, "Threshold for enabling high voltage circuits (mbar)")
flag.Parse()
ctx, _ := signal.NotifyContext(context.Background(), os.Interrupt)
@ -169,6 +29,8 @@ func main() {
d := daemon{
rpOn: true,
}
d.aboveRough.threshold = float64(flagPressureThresholdRough)
d.aboveHigh.threshold = float64(flagPressureThresholdHigh)
if flagFake {
klog.Infof("Starting with fake peripherals")
d.adcPirani = &fakeADC{}
@ -176,6 +38,8 @@ func main() {
d.gpioDiffusionPump = &fakeGPIO{desc: "~dp"}
d.gpioBtnPumpDown = &fakeGPIO{desc: "~pd"}
d.gpioBtnVent = &fakeGPIO{desc: "~vent"}
d.gpioBelowRough = &fakeGPIO{desc: "~rough"}
d.gpioBelowHigh = &fakeGPIO{desc: "~high"}
} else {
adc, err := newBBADC(0)
if err != nil {
@ -191,8 +55,9 @@ func main() {
{&d.gpioDiffusionPump, 49},
{&d.gpioBtnPumpDown, 48},
{&d.gpioBtnVent, 60},
{&d.gpioBelowRough, 30},
{&d.gpioBelowHigh, 7},
} {
// Relay, active low.
*c.out, err = newBBGPIO(c.num, true)
if err != nil {
klog.Exitf("Failed to setup GPIO: %v", err)

225
succbone/succd/process.go Normal file
View file

@ -0,0 +1,225 @@
package main
import (
"context"
"errors"
"fmt"
"math"
"sync"
"time"
"k8s.io/klog"
)
// daemon is the main state of the succdaemon.
type daemon struct {
// adcPirani is the adc implementation returning the voltage of the Pfeiffer
// Pirani gauge.
adcPirani adc
gpioDiffusionPump gpio
gpioRoughingPump gpio
gpioBtnPumpDown gpio
gpioBtnVent gpio
gpioBelowRough gpio
gpioBelowHigh gpio
// mu guards state variables below.
mu sync.RWMutex
// adcPiraniVolts is a moving window of read ADC values, used to calculate a
// moving average.
adcPiraniVolts []float32
rpOn bool
dpOn bool
vent momentaryOutput
pumpdown momentaryOutput
aboveRough thresholdOutput
aboveHigh thresholdOutput
}
// momentaryOutput is an output that can be triggered for 500ms.
type momentaryOutput struct {
// output of the block.
output bool
// scheduledOff is when the block should be outputting false again.
scheduledOff time.Time
}
func (m *momentaryOutput) process() {
m.output = m.scheduledOff.After(time.Now())
}
func (m *momentaryOutput) trigger() {
m.scheduledOff = time.Now().Add(time.Millisecond * 500)
}
// thresholdOutput outputs true if a given value is above a setpoint/threshold.
// It contains debounce logic for processing noisy analog signals.
type thresholdOutput struct {
// output of the block.
output bool
// debounce is when the debouncer should be inactive again.
debounce time.Time
// threshold is the setpoint of the block.
threshold float64
}
func (t *thresholdOutput) process(value float64) {
if time.Now().Before(t.debounce) {
return
}
new := value > t.threshold
if new != t.output {
t.output = new
t.debounce = time.Now().Add(time.Second * 5)
}
}
// process runs the pain acquisition and control loop of succd.
func (d *daemon) process(ctx context.Context) {
ticker := time.NewTicker(time.Millisecond * 100)
defer ticker.Stop()
for {
select {
case <-ticker.C:
if err := d.processOnce(ctx); err != nil {
if errors.Is(err, ctx.Err()) {
return
} else {
klog.Errorf("Processing error: %v", err)
time.Sleep(time.Second * 10)
}
}
case <-ctx.Done():
return
}
}
}
// processOnce runs the main loop step of succd.
func (d *daemon) processOnce(_ context.Context) error {
v, err := d.adcPirani.Read()
if err != nil {
return fmt.Errorf("when reading ADC: %w", err)
}
d.mu.Lock()
defer d.mu.Unlock()
// Process pirani ringbuffer.
d.adcPiraniVolts = append(d.adcPiraniVolts, v)
trim := len(d.adcPiraniVolts) - 100
if trim > 0 {
d.adcPiraniVolts = d.adcPiraniVolts[trim:]
}
d.pumpdown.process()
d.vent.process()
_, mbar := d.piraniUnlocked()
d.aboveRough.process(float64(mbar))
d.aboveHigh.process(float64(mbar))
// Update relay outputs.
for _, rel := range []struct {
name string
gpio gpio
// activeHigh means the relay is active high, ie. a true source will
// mean that NO/COM get connected, and a false source means that NC/COM
// get connected.
activeHigh bool
source bool
}{
{"rp", d.gpioRoughingPump, false, d.rpOn},
{"dp", d.gpioDiffusionPump, true, d.dpOn},
{"pumpdown", d.gpioBtnPumpDown, true, d.pumpdown.output},
{"vent", d.gpioBtnVent, true, d.vent.output},
{"rough", d.gpioBelowRough, false, d.aboveRough.output},
{"high", d.gpioBelowHigh, false, d.aboveHigh.output},
} {
val := rel.source
if rel.activeHigh {
// Invert because the relays go through logical inversion (ie. a
// GPIO false is a relay trigger).
val = !val
}
if err := rel.gpio.set(val); err != nil {
return fmt.Errorf("when outputting %s: %w", rel.name, err)
}
}
return nil
}
// 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
View 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
}