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<sup>%d</sup>", 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
+	volts, mbar := state.pirani()
-	mbar := state.piraniMbar100.mbar
 	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)

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)

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
+// momentaryOutput is an output that can be triggered for 500ms.
-// requested for consumers, eg. the web view.
+type momentaryOutput struct {
-type daemonState struct {
+	// output of the block.
-	safety struct {
+	output bool
-		// failsafe mode is enabled when the pirani gauge appears to be
+	// scheduledOff is when the block should be outputting false again.
-		// disconnected, and is disabled only when an atmosphere is read.
+	scheduledOff time.Time
-		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
 }
 
-func (d *daemonState) vacuumStatus() (rough, high bool) {
+func (m *momentaryOutput) process() {
-	rough = !d.aboveRough.output
+	m.output = m.scheduledOff.After(time.Now())
-	high = !d.aboveHigh.output
+}
-	return
+
+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.
+	// Process pirani ringbuffer.
-	d.piraniVolts3.process(v)
+	d.adcPiraniVolts = append(d.adcPiraniVolts, v)
-	d.piraniMbar3.process(d.piraniVolts3.avg)
+	trim := len(d.adcPiraniVolts) - 100
-	d.piraniVolts100.process(v)
+	if trim > 0 {
-	d.piraniMbar100.process(d.piraniVolts100.avg)
+		d.adcPiraniVolts = d.adcPiraniVolts[trim:]
+	}
 
 	d.pumpdown.process()
 	d.vent.process()
 
-	// Run safety checks based on small ringbuffer.
+	_, mbar := d.daemonState.pirani()
-	if d.piraniVolts3.saturated() {
+	d.aboveRough.process(float64(mbar))
-		mbar := d.piraniMbar3.mbar
+	d.aboveHigh.process(float64(mbar))
-		if !d.safety.failsafe && mbar < 4e-6 {
+
-			// Unrealistic result, Pirani probe probably disconnected. Failsafe mode.
+	// Check if the pirani gauge is disconnected. Note: this will assume the
-			if !d.safety.failsafe {
+	// pirani gauge is connected for the first couple of processing runs as
-				d.safety.failsafe = true
+	// samples are still being captured.
-				klog.Errorf("Pirani probe seems disconnected; enabling failsafe mode")
+	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
 	}

succbone/succd/process_blocks.go

@@ -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)
-}

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
+}

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
+func (s *ScientificNotationValue) MarshalText() ([]byte, error) {
-// a HTML fragment (for superscript support).
+	v := float64(*s)
-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<sup>%d</sup>", exp)
-	res += " mbar"
-	return template.HTML(res)
-}
-
-func formatMbar(v float32) string {
 	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
 }