fafo/jeol-t330a
11
0
Fork 0
Code Issues 5 Pull requests 2 Actions Packages Projects Releases Wiki Activity

succd: split out http server, daemon state, daemon controller

Browse source 
This improves the structure of the code, separating the data/control
interface out and then implementing the http interface as a user of this
interface.
This commit is contained in:
Serge Bazanski 2024-09-28 08:10:33 +02:00
parent 3ec6fd1d1b
commit 8f7ec7e141
5 changed files with 190 additions and 180 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

75
succbone/succd/http.go
View file

@ -15,6 +15,10 @@ import (
"k8s.io/klog"
)
type httpServer struct {
d daemonController
}
var (
//go:embed index.html
templateIndexText string
@ -23,7 +27,7 @@ var (
favicon []byte
)
func (d *daemon) httpFavicon(w http.ResponseWriter, r *http.Request) {
func (s *httpServer) viewFavicon(w http.ResponseWriter, r *http.Request) {
w.Header().Set("Content-Type", "image/png")
w.Write(favicon)
}
@ -96,12 +100,10 @@ type apiData struct {
// apiData returns the user data model for the current state of the system. If
// skipSystem is set, the System subset is ignored (saves system load, and is
// not being served via websockets).
func (d *daemon) apiData(skipSystem bool) *apiData {
volts, mbar := d.pirani()
rp := d.rpGet()
dp := d.dpGet()
rough, high := d.vacuumStatusGet()
safety := d.safetyStatusGet()
func (s *httpServer) apiData(skipSystem bool) *apiData {
state := s.d.snapshot()
volts, mbar := state.pirani()
rough, high := state.vacuumStatus()
var hostname, load string
var err error
@ -120,13 +122,13 @@ func (d *daemon) apiData(skipSystem bool) *apiData {
}
ad := apiData{}
ad.Safety.Failsafe = safety.failsafe
ad.Safety.HighPressure = safety.highPressure
ad.Safety.Failsafe = state.safety.failsafe
ad.Safety.HighPressure = state.safety.highPressure
ad.Pirani.Volts = formatVolts(volts)
ad.Pirani.Mbar = formatMbar(mbar)
ad.Pirani.MbarFloat = mbar
ad.Pumps.RPOn = rp
ad.Pumps.DPOn = dp
ad.Pumps.RPOn = state.rpOn
ad.Pumps.DPOn = state.dpOn
ad.Feedback.RoughReached = rough
ad.Feedback.HighReached = high
ad.System.Load = load
@ -135,20 +137,20 @@ func (d *daemon) apiData(skipSystem bool) *apiData {
}
// httpIndex is the / view.
func (d *daemon) httpIndex(w http.ResponseWriter, r *http.Request) {
func (s *httpServer) viewIndex(w http.ResponseWriter, r *http.Request) {
if r.URL.Path != "/" {
http.NotFound(w, r)
return
}
data := d.apiData(false)
data := s.apiData(false)
//data.Pirani.Mbar = html.St
templateIndex.Execute(w, data)
}
// httpStream is the websocket clientwards data hose, returning a 10Hz update
// stream of pressure/voltage.
func (d *daemon) httpStream(w http.ResponseWriter, r *http.Request) {
func (s *httpServer) viewStream(w http.ResponseWriter, r *http.Request) {
c, err := websocket.Accept(w, r, nil)
if err != nil {
return
@ -165,7 +167,7 @@ func (d *daemon) httpStream(w http.ResponseWriter, r *http.Request) {
c.Close(websocket.StatusNormalClosure, "")
return
case <-t.C:
v := d.apiData(true)
v := s.apiData(true)
if err := wsjson.Write(ctx, c, v); err != nil {
klog.Errorf("Websocket write failed: %v", err)
return
@ -175,39 +177,54 @@ func (d *daemon) httpStream(w http.ResponseWriter, r *http.Request) {
}
// httpMetrics serves minimalistic Prometheus-compatible metrics.
func (d *daemon) httpMetrics(w http.ResponseWriter, r *http.Request) {
func (s *httpServer) viewMetrics(w http.ResponseWriter, r *http.Request) {
// TODO(q3k): also serve Go stuff using the actual Prometheus metrics client
// library.
_, mbar := d.pirani()
// TODO(q3k): serve the rest of the data model
state := s.d.snapshot()
_, mbar := state.pirani()
fmt.Fprintf(w, "# HELP sem_pressure_mbar Pressure in the SEM chamber, in millibar\n")
fmt.Fprintf(w, "# TYPE sem_pressure_mbar gauge\n")
fmt.Fprintf(w, "sem_pressure_mbar %f\n", mbar)
}
func (d *daemon) httpRoughingPumpEnable(w http.ResponseWriter, r *http.Request) {
d.rpSet(true)
func (s *httpServer) viewRoughingPumpEnable(w http.ResponseWriter, r *http.Request) {
s.d.rpSet(true)
fmt.Fprintf(w, "succ on\n")
}
func (d *daemon) httpRoughingPumpDisable(w http.ResponseWriter, r *http.Request) {
d.rpSet(false)
func (s *httpServer) viewRoughingPumpDisable(w http.ResponseWriter, r *http.Request) {
s.d.rpSet(false)
fmt.Fprintf(w, "succ off\n")
}
func (d *daemon) httpDiffusionPumpEnable(w http.ResponseWriter, r *http.Request) {
d.dpSet(true)
func (s *httpServer) viewDiffusionPumpEnable(w http.ResponseWriter, r *http.Request) {
s.d.dpSet(true)
fmt.Fprintf(w, "deep succ on\n")
}
func (d *daemon) httpDiffusionPumpDisable(w http.ResponseWriter, r *http.Request) {
d.dpSet(false)
func (s *httpServer) viewDiffusionPumpDisable(w http.ResponseWriter, r *http.Request) {
s.d.dpSet(false)
fmt.Fprintf(w, "deep succ off\n")
}
func (d *daemon) httpButtonPumpDown(w http.ResponseWriter, r *http.Request) {
d.pumpDownPress()
func (s *httpServer) viewButtonPumpDown(w http.ResponseWriter, r *http.Request) {
s.d.pumpDownPress()
}
func (d *daemon) httpButtonVent(w http.ResponseWriter, r *http.Request) {
d.ventPress()
func (s *httpServer) viewButtonVent(w http.ResponseWriter, r *http.Request) {
s.d.ventPress()
}
func (s *httpServer) setupViews() {
http.HandleFunc("/", s.viewIndex)
http.HandleFunc("/favicon.png", s.viewFavicon)
http.HandleFunc("/stream", s.viewStream)
http.HandleFunc("/metrics", s.viewMetrics)
http.HandleFunc("/button/vent", s.viewButtonVent)
http.HandleFunc("/button/pumpdown", s.viewButtonPumpDown)
http.HandleFunc("/rp/on", s.viewRoughingPumpEnable)
http.HandleFunc("/rp/off", s.viewRoughingPumpDisable)
http.HandleFunc("/dp/on", s.viewDiffusionPumpEnable)
http.HandleFunc("/dp/off", s.viewDiffusionPumpDisable)
}

20
succbone/succd/main.go
View file

@ -26,9 +26,9 @@ func main() {
ctx, _ := signal.NotifyContext(context.Background(), os.Interrupt)
d := daemon{
rpOn: true,
}
d := daemon{}
d.daemonState.rpOn = true
d.aboveRough.threshold = float64(flagPressureThresholdRough)
d.aboveHigh.threshold = float64(flagPressureThresholdHigh)
if flagFake {
@ -65,16 +65,10 @@ func main() {
}
}
http.HandleFunc("/", d.httpIndex)
http.HandleFunc("/favicon.png", d.httpFavicon)
http.HandleFunc("/stream", d.httpStream)
http.HandleFunc("/metrics", d.httpMetrics)
http.HandleFunc("/button/vent", d.httpButtonVent)
http.HandleFunc("/button/pumpdown", d.httpButtonPumpDown)
http.HandleFunc("/rp/on", d.httpRoughingPumpEnable)
http.HandleFunc("/rp/off", d.httpRoughingPumpDisable)
http.HandleFunc("/dp/on", d.httpDiffusionPumpEnable)
http.HandleFunc("/dp/off", d.httpDiffusionPumpDisable)
httpServer := httpServer{
d: &d,
}
httpServer.setupViews()
klog.Infof("Listening for HTTP at %s", flagListenHTTP)
go func() {

142
succbone/succd/process.go
View file

@ -4,21 +4,18 @@ import (
"context"
"errors"
"fmt"
"math"
"sync"
"time"
"k8s.io/klog"
)
// daemon is the main state of the succdaemon.
// daemon is the main service of the succdaemon.
type daemon struct {
// adcPirani is the adc implementation returning the voltage of the Pfeiffer
// Pirani gauge.
adcPirani adc
safety safetyStatus
gpioDiffusionPump gpio
gpioRoughingPump gpio
gpioBtnPumpDown gpio
@ -26,27 +23,9 @@ type daemon struct {
gpioBelowRough gpio
gpioBelowHigh gpio
// mu guards state variables below.
// mu guards the state 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
}
type safetyStatus struct {
// failsafe mode is enabled when the pirani gauge appears to be
// disconnected, and is disabled only when an atmosphere is read.
failsafe bool
// highPressure mode is enabled when the pressure reading is above 1e-1
// mbar, locking out the diffusion pump from being enabled.
highPressure bool
daemonState
}
// momentaryOutput is an output that can be triggered for 500ms.
@ -127,7 +106,7 @@ func (d *daemon) processOnce(_ context.Context) error {
d.pumpdown.process()
d.vent.process()
_, mbar := d.piraniUnlocked()
_, mbar := d.daemonState.pirani()
d.aboveRough.process(float64(mbar))
d.aboveHigh.process(float64(mbar))
@ -201,116 +180,3 @@ func (d *daemon) processOnce(_ context.Context) error {
return nil
}
type piraniDetection uint
const (
// piraniDetectionUnknown means the system isn't yet sure whether the pirani
// gauge is connected.
piraniDetectionUnknown piraniDetection = iota
// piraniDetectionConnected means the system assumes the pirani gauge is
// connected.
piraniDetectionConnected = iota
// piraniDetectionDisconnected means the system assumes the pirani gauge is
// disconnected.
piraniDetectionDisconnected = iota
)
// piraniDetection guesses whether the pirani gauge is connected.
func (d *daemon) piraniDetection() piraniDetection {
if len(d.adcPiraniVolts) < 3 {
return piraniDetectionUnknown
}
volts := float32(0.0)
for _, v := range d.adcPiraniVolts[len(d.adcPiraniVolts)-3:] {
volts += v
}
volts /= 3.0
bar := math.Pow(10.0, float64(volts)-8.5)
mbar := float32(bar * 1000.0)
if mbar < 4e-6 {
return piraniDetectionDisconnected
}
return piraniDetectionConnected
}
// 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
}
func (d *daemon) safetyStatusGet() safetyStatus {
d.mu.RLock()
defer d.mu.RUnlock()
return d.safety
}
// 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()
}

49
succbone/succd/process_controller.go Normal file
View file

@ -0,0 +1,49 @@
package main
// daemonController is the control/data interface passed on to external system
// controllers, eg. the web interface.
//
// This is a subset of daemon functions limited to a safe, explicit subset.
type daemonController interface {
// snapshot returns an internally consistent copy of the daemon state.
snapshot() *daemonState
// rpSet enables/disables the roughing pump.
rpSet(bool)
// dpSet enables/disables the diffusion pump.
dpSet(bool)
// pumpDownPress simulates a pumpdown button press.
pumpDownPress()
// ventPRess simulates a vent button press.
ventPress()
}
func (d *daemon) snapshot() *daemonState {
d.mu.RLock()
ds := d.daemonState
d.mu.RUnlock()
return &ds
}
func (d *daemon) rpSet(state bool) {
d.mu.Lock()
defer d.mu.Unlock()
d.rpOn = state
}
func (d *daemon) dpSet(state bool) {
d.mu.Lock()
defer d.mu.Unlock()
d.dpOn = state
}
func (d *daemon) pumpDownPress() {
d.mu.Lock()
defer d.mu.Unlock()
d.pumpdown.trigger()
}
func (d *daemon) ventPress() {
d.mu.Lock()
defer d.mu.Unlock()
d.vent.trigger()
}

84
succbone/succd/process_state.go Normal file
View file

@ -0,0 +1,84 @@
package main
import "math"
// daemonState contains all the state of the daemon. A copy of it can be
// requested for consumers, eg. the web view.
type daemonState struct {
safety safetyStatus
// 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
}
type safetyStatus struct {
// failsafe mode is enabled when the pirani gauge appears to be
// disconnected, and is disabled only when an atmosphere is read.
failsafe bool
// highPressure mode is enabled when the pressure reading is above 1e-1
// mbar, locking out the diffusion pump from being enabled.
highPressure bool
}
type piraniDetection uint
const (
// piraniDetectionUnknown means the system isn't yet sure whether the pirani
// gauge is connected.
piraniDetectionUnknown piraniDetection = iota
// piraniDetectionConnected means the system assumes the pirani gauge is
// connected.
piraniDetectionConnected = iota
// piraniDetectionDisconnected means the system assumes the pirani gauge is
// disconnected.
piraniDetectionDisconnected = iota
)
// piraniDetection guesses whether the pirani gauge is connected.
func (d *daemonState) piraniDetection() piraniDetection {
if len(d.adcPiraniVolts) < 3 {
return piraniDetectionUnknown
}
volts := float32(0.0)
for _, v := range d.adcPiraniVolts[len(d.adcPiraniVolts)-3:] {
volts += v
}
volts /= 3.0
bar := math.Pow(10.0, float64(volts)-8.5)
mbar := float32(bar * 1000.0)
if mbar < 4e-6 {
return piraniDetectionDisconnected
}
return piraniDetectionConnected
}
func (d *daemonState) pirani() (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
}
func (d *daemonState) vacuumStatus() (rough, high bool) {
rough = !d.aboveRough.output
high = !d.aboveHigh.output
return
}