diff --git a/succbone/succd/http.go b/succbone/succd/http.go
index 61df8a8..506236b 100644
--- a/succbone/succd/http.go
+++ b/succbone/succd/http.go
@@ -36,6 +36,24 @@ func formatVolts(v float32) string {
return fmt.Sprintf("%.4f V", v)
}
+// formatMbar formats a millibar value using scientific notation and returns a
+// HTML fragment (for superscript support).
+func formatMbar(v float32) template.HTML {
+ exp := 0
+ for v < 1 {
+ v *= 10
+ exp -= 1
+ }
+ for v >= 10 {
+ v /= 10
+ exp += 1
+ }
+ res := fmt.Sprintf("%.3f", v)
+ res += fmt.Sprintf(" x 10%d", exp)
+ res += " mbar"
+ return template.HTML(res)
+}
+
// apiData is the data model served to the user via HTTP/WebSockets
type apiData struct {
// Safety interlocks.
@@ -84,8 +102,7 @@ type apiData struct {
// not being served via websockets).
func (s *webServer) apiData(skipSystem bool) *apiData {
state := s.d.snapshot()
- volts := state.piraniVolts100.avg
- mbar := state.piraniMbar100.mbar
+ volts, mbar := state.pirani()
rough, high := state.vacuumStatus()
var hostname, load string
@@ -108,7 +125,7 @@ func (s *webServer) apiData(skipSystem bool) *apiData {
ad.Safety.Failsafe = state.safety.failsafe
ad.Safety.HighPressure = state.safety.highPressure
ad.Pirani.Volts = formatVolts(volts)
- ad.Pirani.Mbar = formatMbarHTML(mbar)
+ ad.Pirani.Mbar = formatMbar(mbar)
ad.Pirani.MbarFloat = mbar
ad.Pumps.RPOn = state.rpOn
ad.Pumps.DPOn = state.dpOn
@@ -165,7 +182,7 @@ func (s *webServer) viewMetrics(w http.ResponseWriter, r *http.Request) {
// library.
// TODO(q3k): serve the rest of the data model
state := s.d.snapshot()
- mbar := state.piraniMbar100.mbar
+ _, 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)
diff --git a/succbone/succd/main.go b/succbone/succd/main.go
index 23427b6..99635ad 100644
--- a/succbone/succd/main.go
+++ b/succbone/succd/main.go
@@ -28,8 +28,6 @@ func main() {
d := daemon{}
d.daemonState.rpOn = true
- d.daemonState.piraniVolts3.limit = 3
- d.daemonState.piraniVolts100.limit = 100
d.aboveRough.threshold = float64(flagPressureThresholdRough)
d.aboveHigh.threshold = float64(flagPressureThresholdHigh)
diff --git a/succbone/succd/process.go b/succbone/succd/process.go
index 550792b..bd3f85e 100644
--- a/succbone/succd/process.go
+++ b/succbone/succd/process.go
@@ -28,36 +28,42 @@ type daemon struct {
daemonState
}
-// 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 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
- }
-
- piraniVolts100 ringbufferInput
- piraniMbar100 pfeifferVoltsToMbar
- piraniVolts3 ringbufferInput
- piraniMbar3 pfeifferVoltsToMbar
-
- 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 (d *daemonState) vacuumStatus() (rough, high bool) {
- rough = !d.aboveRough.output
- high = !d.aboveHigh.output
- return
+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.
@@ -90,60 +96,56 @@ func (d *daemon) processOnce(_ context.Context) error {
d.mu.Lock()
defer d.mu.Unlock()
- // Process pirani ringbuffers.
- d.piraniVolts3.process(v)
- d.piraniMbar3.process(d.piraniVolts3.avg)
- d.piraniVolts100.process(v)
- d.piraniMbar100.process(d.piraniVolts100.avg)
+ // 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()
- // Run safety checks based on small ringbuffer.
- if d.piraniVolts3.saturated() {
- mbar := d.piraniMbar3.mbar
- if !d.safety.failsafe && mbar < 4e-6 {
- // Unrealistic result, Pirani probe probably disconnected. Failsafe mode.
- if !d.safety.failsafe {
- d.safety.failsafe = true
- klog.Errorf("Pirani probe seems disconnected; enabling failsafe mode")
+ _, mbar := d.daemonState.pirani()
+ d.aboveRough.process(float64(mbar))
+ d.aboveHigh.process(float64(mbar))
+
+ // Check if the pirani gauge is disconnected. Note: this will assume the
+ // pirani gauge is connected for the first couple of processing runs as
+ // samples are still being captured.
+ if d.piraniDetection() == piraniDetectionDisconnected {
+ // Unrealistic result, Pirani probe probably disconnected. Failsafe mode.
+ if !d.safety.failsafe {
+ d.safety.failsafe = true
+ klog.Errorf("Pirani probe seems disconnected; enabling failsafe mode")
+ }
+ } else {
+ if d.safety.failsafe {
+ if mbar >= 1e2 {
+ d.safety.failsafe = false
+ klog.Infof("Values are plausible again; quitting failsafe mode")
}
}
- if d.safety.failsafe && mbar > 1e2 {
- d.safety.failsafe = false
- klog.Infof("Pirani probe value (%s) is plausible again; quitting failsafe mode", formatMbar(mbar))
- }
+ }
- if !d.safety.highPressure && mbar >= 1e-1 {
+ if mbar >= 1e-1 {
+ if !d.safety.highPressure {
d.safety.highPressure = true
- klog.Warningf("Pressure is too high (%s mbar); enabling diffusion pump lockout", formatMbar(mbar))
+ klog.Errorf("Pressure is too high; enabling diffusion pump lockout")
}
- if d.safety.highPressure && mbar < (1e-1)-(1e-2) {
+ } else if mbar < (1e-1)-(1e-2) {
+ if d.safety.highPressure {
d.safety.highPressure = false
- klog.Infof("Pressure is low enough (%s mbar) for diffusion pump operation; quitting diffusion pump lockout", formatMbar(mbar))
+ klog.Infof("Pressure is low enough for diffusion pump operation; quitting diffusion pump lockout")
}
- } else {
- d.safety.failsafe = true
- d.safety.highPressure = true
}
- // Control threhold/feedback values based on main pirani ringbuffer, failing
- // safe if not enough data is present.
- if d.piraniVolts100.saturated() {
- mbar := d.piraniMbar100.mbar
- d.aboveRough.process(float64(mbar))
- d.aboveHigh.process(float64(mbar))
- } else {
- d.aboveRough.output = true
- d.aboveHigh.output = true
- }
-
- // Apply safety overrides.
if d.safety.failsafe {
d.aboveRough.output = true
d.aboveHigh.output = true
d.dpOn = false
}
+
if d.safety.highPressure {
d.dpOn = false
}
diff --git a/succbone/succd/process_blocks.go b/succbone/succd/process_blocks.go
deleted file mode 100644
index 0b37193..0000000
--- a/succbone/succd/process_blocks.go
+++ /dev/null
@@ -1,88 +0,0 @@
-package main
-
-import (
- "math"
- "time"
-)
-
-// 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)
- }
-}
-
-// ringbufferInput accumulates analog data up to limit samples, and calculates
-// an average.
-type ringbufferInput struct {
- data []float32
- limit uint
- // avg is the mean average of the samples in data, or 0.0 if no data is
- // present yet. This is the main output of the block.
- avg float32
-}
-
-func (r *ringbufferInput) process(input float32) {
- // TODO(q3k): use actual ringbuffer
- // TODO(q3k): optimize average calculation
- // TODO(q3k): precalculate value in mbar
- r.data = append(r.data, input)
- trim := len(r.data) - int(r.limit)
- if trim > 0 {
- r.data = r.data[trim:]
- }
- avg := float32(0.0)
- for _, v := range r.data {
- avg += v
- }
- if len(r.data) != 0 {
- avg /= float32(len(r.data))
- }
- r.avg = avg
-}
-
-// saturated returns true if the number of samples is at the configured limit.
-func (r *ringbufferInput) saturated() bool {
- return len(r.data) >= int(r.limit)
-}
-
-type pfeifferVoltsToMbar struct {
- mbar float32
-}
-
-func (p *pfeifferVoltsToMbar) process(volts float32) {
- // Per Pirani probe docs.
- bar := math.Pow(10.0, float64(volts)-8.5)
- p.mbar = float32(bar * 1000.0)
-}
diff --git a/succbone/succd/process_state.go b/succbone/succd/process_state.go
new file mode 100644
index 0000000..0bbb09e
--- /dev/null
+++ b/succbone/succd/process_state.go
@@ -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
+}
diff --git a/succbone/succd/scientific.go b/succbone/succd/scientific.go
index a15f273..d2df8d8 100644
--- a/succbone/succd/scientific.go
+++ b/succbone/succd/scientific.go
@@ -2,7 +2,6 @@ package main
import (
"fmt"
- "html/template"
"strconv"
)
@@ -17,25 +16,8 @@ func (s *ScientificNotationValue) UnmarshalText(text []byte) error {
return nil
}
-// formatMbarHTML formats a millibar value using scientific notation and returns
-// a HTML fragment (for superscript support).
-func formatMbarHTML(v float32) template.HTML {
- exp := 0
- for v < 1 {
- v *= 10
- exp -= 1
- }
- for v >= 10 {
- v /= 10
- exp += 1
- }
- res := fmt.Sprintf("%.3f", v)
- res += fmt.Sprintf(" x 10%d", exp)
- res += " mbar"
- return template.HTML(res)
-}
-
-func formatMbar(v float32) string {
+func (s *ScientificNotationValue) MarshalText() ([]byte, error) {
+ v := float64(*s)
exp := 0
for v < 1 {
v *= 10
@@ -47,11 +29,5 @@ func formatMbar(v float32) string {
}
res := fmt.Sprintf("%.3f", v)
res += fmt.Sprintf("e%d", exp)
- return res
-}
-
-func (s *ScientificNotationValue) MarshalText() ([]byte, error) {
- v := float32(*s)
- res := formatMbar(v)
return []byte(res), nil
}