succbone: Update panel drawings

- Add MODBUS components
- Add network topology overview which shows addresses

modules/ph00524/README.md

@@ -11,4 +11,8 @@ So far, the connectors seem to match up with the ones shown in the SEM schematic
 
 There is also a Z80 based system + an EEPROM on the board.
 
+## Front Side
 ![Image of PH00524-2](./ph00524-2.jpg)
+
+## Back Side
+![Image of the back side of PH00524-2](./ph00524-2-back.jpg)

succbone/succd/README.md

@@ -37,6 +37,7 @@ Running locally
 ---
 
 ```
+$ ./ci.sh # run tests
 $ go run . -fake
 ```
 

succbone/succd/go.mod

@@ -4,5 +4,8 @@ go 1.22.3
 
 require (
 	github.com/coder/websocket v1.8.12
+	github.com/simonvetter/modbus v1.6.3
 	k8s.io/klog v1.0.0
 )
+
+require github.com/goburrow/serial v0.1.0 // indirect

succbone/succd/go.sum

@@ -1,5 +1,9 @@
 github.com/coder/websocket v1.8.12 h1:5bUXkEPPIbewrnkU8LTCLVaxi4N4J8ahufH2vlo4NAo=
 github.com/coder/websocket v1.8.12/go.mod h1:LNVeNrXQZfe5qhS9ALED3uA+l5pPqvwXg3CKoDBB2gs=
 github.com/go-logr/logr v0.1.0/go.mod h1:ixOQHD9gLJUVQQ2ZOR7zLEifBX6tGkNJF4QyIY7sIas=
+github.com/goburrow/serial v0.1.0 h1:v2T1SQa/dlUqQiYIT8+Cu7YolfqAi3K96UmhwYyuSrA=
+github.com/goburrow/serial v0.1.0/go.mod h1:sAiqG0nRVswsm1C97xsttiYCzSLBmUZ/VSlVLZJ8haA=
+github.com/simonvetter/modbus v1.6.3 h1:kDzwVfIPczsM4Iz09il/Dij/bqlT4XiJVa0GYaOVA9w=
+github.com/simonvetter/modbus v1.6.3/go.mod h1:hh90ZaTaPLcK2REj6/fpTbiV0J6S7GWmd8q+GVRObPw=
 k8s.io/klog v1.0.0 h1:Pt+yjF5aB1xDSVbau4VsWe+dQNzA0qv1LlXdC2dF6Q8=
 k8s.io/klog v1.0.0/go.mod h1:4Bi6QPql/J/LkTDqv7R/cd3hPo4k2DG6Ptcz060Ez5I=

succbone/succd/http.go

@@ -62,6 +62,17 @@ type apiData struct {
 		// DPOn means the diffusion pump is turned on.
 		DPOn bool
 	}
+	// Temperature state.
+	Temperatures struct {
+		DPBottom float32
+		DPTop    float32
+		DPInlet  float32
+		SEM      float32
+	}
+	// Humidity state.
+	Humidity struct {
+		SEM float32
+	}
 	// Pressure feedback into evacuation board.
 	Feedback struct {
 		// RoughReached is true when the system has reached a rough vacuum
@@ -115,6 +126,11 @@ func (s *webServer) apiData(skipSystem bool) *apiData {
 	ad.Pirani.MbarFloat = mbar
 	ad.Pumps.RPOn = state.rpOn
 	ad.Pumps.DPOn = state.dpOn
+	ad.Temperatures.DPBottom = state.tempDPBottom
+	ad.Temperatures.DPTop = state.tempDPTop
+	ad.Temperatures.DPInlet = state.tempDPInlet
+	ad.Temperatures.SEM = state.tempSEM
+	ad.Humidity.SEM = state.humiditySEM
 	ad.Feedback.RoughReached = rough
 	ad.Feedback.HighReached = high
 	ad.LoopLoad = s.d.loopLoad()
@@ -163,16 +179,80 @@ func (s *webServer) viewStream(w http.ResponseWriter, r *http.Request) {
 	}
 }
 
+func boolToFloat(b bool) float32 {
+	if b {
+		return 1.0
+	} else {
+		return 0.0
+	}
+}
+
 // httpMetrics serves minimalistic Prometheus-compatible metrics.
 func (s *webServer) viewMetrics(w http.ResponseWriter, r *http.Request) {
 	// TODO(q3k): also serve Go stuff using the actual Prometheus metrics client
 	// library.
 	// TODO(q3k): serve the rest of the data model
 	state := s.d.snapshot()
-	mbar := state.piraniMbar100.mbar
+
+	// sem_pressure_mbar is meant to represent the fused pressure value
+	// from all data sources once we have more vacuum sensors in the
+	// system.  sem_pirani_mbar is just the reading from the pirani gauge.
 	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)
+	fmt.Fprintf(w, "sem_pressure_mbar %f\n", state.piraniMbar100.mbar)
+
+	fmt.Fprintf(w, "# HELP sem_pirani_mbar Pressure reading by the Pirani gauge, in millibar\n")
+	fmt.Fprintf(w, "# TYPE sem_pirani_mbar gauge\n")
+	fmt.Fprintf(w, "sem_pirani_mbar %f\n", state.piraniMbar100.mbar)
+
+	fmt.Fprintf(w, "# HELP sem_pirani_volts Voltage output from the Pirani gauge, in volts\n")
+	fmt.Fprintf(w, "# TYPE sem_pirani_volts gauge\n")
+	fmt.Fprintf(w, "sem_pirani_volts %f\n", state.piraniVolts100.avg)
+
+	fmt.Fprintf(w, "# HELP sem_pirani_failsafe_active Whether pirani gauge failsafe mode is active (boolean)\n")
+	fmt.Fprintf(w, "# TYPE sem_pirani_failsafe_active gauge\n")
+	fmt.Fprintf(w, "sem_pirani_failsafe_active %f\n", boolToFloat(state.safety.failsafe))
+
+	fmt.Fprintf(w, "# HELP sem_dp_lockout_active Whether diffusion pump lockout is active (boolean)\n")
+	fmt.Fprintf(w, "# TYPE sem_dp_lockout_active gauge\n")
+	fmt.Fprintf(w, "sem_dp_lockout_active %f\n", boolToFloat(state.safety.highPressure))
+
+	fmt.Fprintf(w, "# HELP sem_pump_diffusion_running Whether the diffusion pump is running (boolean)\n")
+	fmt.Fprintf(w, "# TYPE sem_pump_diffusion_running gauge\n")
+	fmt.Fprintf(w, "sem_pump_diffusion_running %f\n", boolToFloat(state.dpOn))
+
+	fmt.Fprintf(w, "# HELP sem_pump_roughing_running Whether the roughing pump is running (boolean)\n")
+	fmt.Fprintf(w, "# TYPE sem_pump_roughing_running gauge\n")
+	fmt.Fprintf(w, "sem_pump_roughing_running %f\n", boolToFloat(state.rpOn))
+
+	rough, high := state.vacuumStatus()
+	fmt.Fprintf(w, "# HELP sem_vacuum_rough_reached Whether a rough vacuum has been reached (boolean)\n")
+	fmt.Fprintf(w, "# TYPE sem_vacuum_rough_reached gauge\n")
+	fmt.Fprintf(w, "sem_vacuum_rough_reached %f\n", boolToFloat(rough))
+
+	fmt.Fprintf(w, "# HELP sem_vacuum_high_reached Whether a high vacuum has been reached (boolean)\n")
+	fmt.Fprintf(w, "# TYPE sem_vacuum_high_reached gauge\n")
+	fmt.Fprintf(w, "sem_vacuum_high_reached %f\n", boolToFloat(high))
+
+	fmt.Fprintf(w, "# HELP sem_environment_temperature_celsius Environmental temperature of the SEM, in degrees celsius\n")
+	fmt.Fprintf(w, "# TYPE sem_environment_temperature_celsius gauge\n")
+	fmt.Fprintf(w, "sem_environment_temperature_celsius %f\n", state.tempSEM)
+
+	fmt.Fprintf(w, "# HELP sem_environment_humidity_percent Environmental relative humidity of the SEM, in percent\n")
+	fmt.Fprintf(w, "# TYPE sem_environment_humidity_percent gauge\n")
+	fmt.Fprintf(w, "sem_environment_humidity_percent %f\n", state.humiditySEM)
+
+	fmt.Fprintf(w, "# HELP sem_dp_bottom_temperature_celsius Temperature of the DP bottom, in degrees celsius\n")
+	fmt.Fprintf(w, "# TYPE sem_dp_bottom_temperature_celsius gauge\n")
+	fmt.Fprintf(w, "sem_dp_bottom_temperature_celsius %f\n", state.tempDPBottom)
+
+	fmt.Fprintf(w, "# HELP sem_dp_top_temperature_celsius Temperature of the DP top, in degrees celsius\n")
+	fmt.Fprintf(w, "# TYPE sem_dp_top_temperature_celsius gauge\n")
+	fmt.Fprintf(w, "sem_dp_top_temperature_celsius %f\n", state.tempDPTop)
+
+	fmt.Fprintf(w, "# HELP sem_dp_inlet_temperature_celsius Temperature of the DP inlet flange, in degrees celsius\n")
+	fmt.Fprintf(w, "# TYPE sem_dp_inlet_temperature_celsius gauge\n")
+	fmt.Fprintf(w, "sem_dp_inlet_temperature_celsius %f\n", state.tempDPInlet)
 }
 
 func (s *webServer) viewRoughingPumpEnable(w http.ResponseWriter, r *http.Request) {

succbone/succd/index.html

@@ -5,24 +5,23 @@
 <link rel="shortcut icon" type="image/png" href="/favicon.png">
 <style>
 body {
-    font-size: 14px;
+    font-size: 12px;
     padding: 2em;
 }
 table {
-    font-size: 40px;
-    margin-top: 1em;
+    font-size: 30px;
 }
 table.status td {
     width: 2em;
 }
 th, td {
     background-color: #e8e8e8;
-    padding: 0.4em;
+    padding: 0.3em;
 }
 th {
     font-weight: 100;
     text-align: right;
-    font-size: 30px;
+    font-size: 25px;
 }
 td {
     text-align: left;
@@ -35,7 +34,7 @@ h2 {
     font-weight: 100;
 }
 button {
-    height: 4.5em;
+    height: 3.3em;
     padding-left: 1.5em;
     padding-right: 1.5em;
 }
@@ -52,6 +51,44 @@ td > span {
 .logo > img {
     height: 10em;
 }
+
+.graph-container {
+    background-color: #e8e8e8;
+    text-align: center;
+}
+
+.main-grid {
+    margin-top: 2em;
+    margin-left: auto;
+    margin-right: auto;
+    max-width: 160em;
+    clear: both;
+
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(54em, 1fr));
+    column-gap: 2em;
+    row-gap: 2em;
+}
+
+.has-hidden .hidden-text {
+    display: none;
+}
+
+.has-hidden:hover .hidden-text {
+    display: block;
+}
+
+@media only screen and (max-width: 700px) {
+    body {
+        font-size: 6px;
+    }
+    table {
+        font-size: 20px;
+    }
+    th {
+        font-size: 15px;
+    }
+}
 </style>
 
 <div class="logo"><img src="/favicon.png" /></div>
@@ -59,19 +96,7 @@ td > span {
 <h1>succd</h1>
 <h2>nothing more permanent than a temporary solution</h2>
 
-<p style="margin-top: 2em; clear: both;">
-    <table>
-        <tr>
-            <th rowspan="2">Pirani Gauge</th>
-            <th>Voltage</th>
-            <td id="volts">{{ .Pirani.Volts }}</td>
-        </tr>
-        <tr>
-            <th>Pressure</th>
-            <td id="mbar">{{ .Pirani.Mbar }}</td>
-        </tr>
-    </table>
-
+<div class="main-grid">
     <table class="status">
         <tr>
             <th>Thresholds</th>
@@ -122,13 +147,49 @@ td > span {
             <th>Status</th>
             <td id="status" colspan="1">OK</td>
             <th>Load</th>
-            <td id="load" colspan="1">...</td>
+            <td id="load" colspan="1" style="width: 4em;">...</td>
         </tr>
     </table>
-</p>
-<p style="margin-top: 2em;">
-    <canvas id="graph" width="1024" height="512" style="max-width: 100%;"></canvas>
-</p>
+
+    <table>
+        <tr>
+            <th>Pirani Pressure</th>
+            <td colspan="2" class="has-hidden">
+                <div id="mbar">{{ .Pirani.Mbar }}</div>
+                <div class="hidden-text" style="color: #606060;">
+                    <span>Voltage: </span><span id="volts">{{ .Pirani.Volts }}</span>
+                </div>
+            </td>
+        </tr>
+        <tr>
+            <th rowspan="4">Temperatures</th>
+            <th>DP Bottom</th>
+            <td id="temp-dp-bottom">{{ .Temperatures.DPBottom }}&nbsp;°C</td>
+        </tr>
+        <tr>
+            <th>DP Top</th>
+            <td id="temp-dp-top">{{ .Temperatures.DPTop }}&nbsp;°C</td>
+        </tr>
+        <tr>
+            <th>DP Inlet</th>
+            <td id="temp-dp-inlet">{{ .Temperatures.DPInlet }}&nbsp;°C</td>
+        </tr>
+        <tr>
+            <th>SEM Environment</th>
+            <td id="temp-sem">{{ .Temperatures.SEM }}&nbsp;°C</td>
+        </tr>
+        <tr>
+            <th>Humidity</th>
+            <th>SEM Environment</th>
+            <td id="humidity-sem">{{ .Humidity.SEM }}%</td>
+        </tr>
+    </table>
+
+
+    <div class="graph-container">
+        <canvas id="graph" width="1024" height="512" style="max-width: 100%;"></canvas>
+    </div>
+</div>
 
 <p style="font-style: italic; font-size: 12px; margin-top: 5em;">
     {{ .System.Hostname }} | load: {{ .System.Load }} | <a href="/debug/pprof">pprof</a> | <a href="/metrics">metrics</a> | ws ping: <span id="ping">…</span>
@@ -159,7 +220,7 @@ let historicalDraw = (w, h) => {
     // coordinate calculation.
 
     canvas.clearRect(0, 0, w, h);
-    canvas.fillStyle = "#f0f0f0";
+    canvas.fillStyle = "#e8e8e8";
     canvas.fillRect(0, 0, w, h);
 
     // Margins of the main graph window.
@@ -278,6 +339,11 @@ window.addEventListener("load", (_) => {
     let trough = document.querySelector("#trough");
     let thigh = document.querySelector("#thigh");
     let load = document.querySelector("#load");
+    let tempSEM = document.querySelector("#temp-sem");
+    let tempDPBottom = document.querySelector("#temp-dp-bottom");
+    let tempDPTop = document.querySelector("#temp-dp-top");
+    let tempDPInlet = document.querySelector("#temp-dp-inlet");
+    let humiditySEM = document.querySelector('#humidity-sem');
 
     // Buttons
     let pd = document.querySelector("#pd");
@@ -286,6 +352,14 @@ window.addEventListener("load", (_) => {
     let rpoff = document.querySelector("#rpoff");
     canvas = document.querySelector("#graph").getContext("2d");
 
+    let colors = {
+        default: "background-color: #e8e8e8",
+        highlightNeutral: "background-color: #8282ff",
+        highlightCaution: "background-color: #ff941a",
+        highlightFault: "background-color: #f06060",
+        highlightGood: "background-color: #60f060",
+    };
+
     // TODO(q3k): unhardcode this.
     historicalDraw(1024, 512);
 
@@ -307,7 +381,7 @@ window.addEventListener("load", (_) => {
             connected = true;
             console.log("Socket connected!");
             status.innerHTML = "Online";
-            status.style = "background-color: #60f060;";
+            status.style = colors.default;
         });
         socket.addEventListener("message", (event) => {
             const data = JSON.parse(event.data);
@@ -315,47 +389,71 @@ window.addEventListener("load", (_) => {
             mbar.innerHTML = data.Pirani.Mbar;
             if (data.Safety.Failsafe) {
                 failsafe.innerHTML = "ON";
-                failsafe.style = "background-color: #f06060";
+                failsafe.style = colors.highlightFault;
             } else {
                 failsafe.innerHTML = "OFF";
-                failsafe.style = "background-color: #60f060";
+                failsafe.style = colors.default;
             }
             if (data.Safety.HighPressure) {
                 highpressure.innerHTML = "ON";
-                highpressure.style =  "background-color: #f06060";
+                highpressure.style = colors.default;
             } else {
                 highpressure.innerHTML = "OFF";
-                highpressure.style = "background-color: #60f060";
+                highpressure.style = colors.default;
             }
             if (data.Pumps.RPOn) {
                 rp.innerHTML = "ON";
-                rp.style = "background-color: #60f060";
+                rp.style = colors.default;
             } else {
                 rp.innerHTML = "OFF";
-                rp.style = "background-color: #f06060";
+                rp.style = colors.highlightNeutral;
             }
             if (data.Pumps.DPOn) {
                 dp.innerHTML = "ON";
-                dp.style = "background-color: #60f060";
+                dp.style = colors.highlightCaution;
             } else {
                 dp.innerHTML = "OFF";
-                dp.style = "background-color: #f06060";
+                dp.style = colors.default;
+            }
+
+            tempSEM.innerHTML = data.Temperatures.SEM + "&nbsp;°C";
+            tempSEM.style = (data.Temperatures.SEM > 30) ?
+                colors.highlightCaution : colors.default;
+            humiditySEM.innerHTML = data.Humidity.SEM + "%";
+            humiditySEM.style = (data.Humidity.SEM > 59) ?
+                colors.highlightCaution : colors.default;
+
+            tempDPTop.innerHTML = data.Temperatures.DPTop + "&nbsp;°C";
+            tempDPTop.style = (data.Temperatures.DPTop > 30) ?
+                colors.highlightCaution : colors.default;
+
+            tempDPInlet.innerHTML = data.Temperatures.DPInlet + "&nbsp;°C";
+            tempDPInlet.style = (data.Temperatures.DPInlet > 30) ?
+                colors.highlightCaution : colors.default;
+
+            tempDPBottom.innerHTML = data.Temperatures.DPBottom + "&nbsp;°C";
+            if (data.Temperatures.DPBottom > 200) {
+                tempDPBottom.style = colors.highlightFault;
+            } else if (data.Temperatures.DPBottom > 50) {
+                tempDPBottom.style = colors.highlightNeutral;
+            } else {
+                tempDPBottom.style = colors.default;
             }
 
             let t = [];
             if (data.Feedback.RoughReached) {
                 trough.innerHTML = "OK";
-                trough.style = "background-color: #60f060";
+                trough.style = colors.highlightGood;
             } else {
                 trough.innerHTML = "NOK";
-                trough.style = "background-color: #f06060";
+                trough.style = colors.default;
             }
             if (data.Feedback.HighReached) {
                 thigh.innerHTML = "OK";
-                thigh.style = "background-color: #60f060";
+                thigh.style = colors.highlightGood;
             } else {
                 thigh.innerHTML = "NOK";
-                thigh.style = "background-color: #f06060";
+                thigh.style = colors.default;
             }
             load.innerHTML = data.LoopLoad.toString() + "%";
             historicalPush(data.Pirani.MbarFloat);
@@ -363,7 +461,16 @@ window.addEventListener("load", (_) => {
         });
         socket.addEventListener("close", (event) => {
             status.innerHTML = "Offline";
-            status.style = "background-color: #f06060;";
+            status.style = colors.highlightFault;
+
+            // Indicate all process values as unknown
+
+            [failsafe, highpressure, rp, dp, trough, thigh, volts, mbar, tempDPBottom, tempDPTop, tempDPInlet].forEach((el) => {
+                if (!el.innerHTML.includes("??")) {
+                    el.innerHTML += "??";
+                }
+            });
+
             if (connected) {
                 console.log("Socket dead, reconnecting...");
             }

succbone/succd/main.go

@@ -11,17 +11,21 @@ import (
 )
 
 var (
-	flagFake                   bool
-	flagListenHTTP             string
-	flagPressureThresholdRough = ScientificNotationValue(1e-1)
-	flagPressureThresholdHigh  = ScientificNotationValue(1e-4)
+	flagFake                             bool
+	flagListenHTTP                       string
+	flagPressureThresholdRough           = ScientificNotationValue(1e-1)
+	flagPressureThresholdRoughHysteresis = ScientificNotationValue(3e-2)
+	flagPressureThresholdHigh            = ScientificNotationValue(1e-4)
+	flagPressureThresholdHighHysteresis  = ScientificNotationValue(2e-5)
 )
 
 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(&flagPressureThresholdRoughHysteresis, "pressure_threshold_rough_hysteresis", &flagPressureThresholdRoughHysteresis, "+-Hysteresis for rough threshold (mbar)")
 	flag.TextVar(&flagPressureThresholdHigh, "pressure_threshold_high", &flagPressureThresholdHigh, "Threshold for enabling high voltage circuits (mbar)")
+	flag.TextVar(&flagPressureThresholdHighHysteresis, "pressure_threshold_high_hysteresis", &flagPressureThresholdHighHysteresis, "+-Hysteresis for high threshold (mbar)")
 	flag.Parse()
 
 	ctx, _ := signal.NotifyContext(context.Background(), os.Interrupt)
@@ -31,17 +35,19 @@ func main() {
 	d.daemonState.piraniVolts3.limit = 3
 	d.daemonState.piraniVolts100.limit = 100
 
+	d.tempDPBottom = 420.6
+	d.tempDPTop = 69.0
+	d.tempDPInlet = 42.0
+	d.tempSEM = 42.5
+	d.humiditySEM = 66.6
+
 	d.aboveRough.threshold = float64(flagPressureThresholdRough)
+	d.aboveRough.hysteresis = float64(flagPressureThresholdRoughHysteresis)
 	d.aboveHigh.threshold = float64(flagPressureThresholdHigh)
+	d.aboveHigh.hysteresis = float64(flagPressureThresholdHighHysteresis)
 	if flagFake {
 		klog.Infof("Starting with fake peripherals")
 		d.adcPirani = &fakeADC{}
-		d.gpioRoughingPump = &fakeGPIO{desc: "rp"}
-		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 {
@@ -49,21 +55,9 @@ func main() {
 		}
 		d.adcPirani = adc
 
-		for _, c := range []struct {
-			out *gpio
-			num int
-		}{
-			{&d.gpioRoughingPump, 115},
-			{&d.gpioDiffusionPump, 49},
-			{&d.gpioBtnPumpDown, 48},
-			{&d.gpioBtnVent, 60},
-			{&d.gpioBelowRough, 30},
-			{&d.gpioBelowHigh, 7},
-		} {
-			*c.out, err = newBBGPIO(c.num, true)
-			if err != nil {
-				klog.Exitf("Failed to setup GPIO: %v", err)
-			}
+		err = d.modbusConnect()
+		if err != nil {
+			klog.Exitf("Failed to connect to modbus %v", err)
 		}
 	}
 
@@ -80,5 +74,9 @@ func main() {
 	}()
 
 	go d.process(ctx)
+	if !flagFake {
+		go d.modbusProcess(ctx)
+	}
+
 	<-ctx.Done()
 }

succbone/succd/modbus.go

@@ -0,0 +1,186 @@
+package main
+
+import (
+	"context"
+	"time"
+
+	"github.com/simonvetter/modbus"
+	"k8s.io/klog"
+)
+
+func modbusValuesToFloat(v uint16) float32 {
+	return float32(v) / 10.0
+}
+
+func (d *daemon) modbusConnect() error {
+	var err error
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	// Setup modbus client
+	d.modbusClient, err = modbus.NewClient(&modbus.ClientConfiguration{
+		URL:     "tcp://10.250.241.20:8887",
+		Timeout: 1 * time.Second,
+	})
+	if err != nil {
+		return err
+	}
+	// Connect to modbus client
+	err = d.modbusClient.Open()
+	if err != nil {
+		return err
+	}
+
+	return nil
+}
+
+func (d *daemon) modbusRestart() error {
+	d.modbusClient.Close()
+	return d.modbusClient.Open()
+}
+
+// There are currently two devices connected to the modbus.
+// The first one (slave 1) is a temperature/humidity sensor.
+// The second one (slave 2) is a PTA8D08 transmitter
+//
+// Returns whether modbus should restart (only in case of an underlying network error)
+func (d *daemon) modbusUpdate() bool {
+	var err error
+	var numDevicesNotResponding int
+
+	// Switch to slave 1 (BTA1)
+	d.modbusClient.SetUnitId(1)
+
+	// Read temperature and humidity
+	var registersBTA1 []uint16 // temperature, humidity
+	registersBTA1, err = d.modbusClient.ReadRegisters(1, 2, modbus.INPUT_REGISTER)
+	if err != nil {
+		numDevicesNotResponding += 1
+		klog.Warningf("error while reading registers from BTA1 %v", err)
+	} else if len(registersBTA1) != 2 {
+		klog.Warningf("expected two registers from modbus slave 1, but got %d", len(registersBTA1))
+	} else {
+		d.mu.Lock()
+		d.daemonState.tempSEM = modbusValuesToFloat(registersBTA1[0])
+		d.daemonState.humiditySEM = modbusValuesToFloat(registersBTA1[1])
+		d.mu.Unlock()
+	}
+
+	// Switch to slave 2 (KEC2)
+	d.modbusClient.SetUnitId(2)
+
+	// PT100 mapping
+	// Channel 0: Cable -WGA6, Sensor "dp bottom"
+	// Channel 1: Cable -WGA8, Sensor "dp inlet"
+	// Channel 2: Cable WGA7, Sensor "dp top"
+	var registersKEC2 []uint16 // temperatures dp
+	registersKEC2, err = d.modbusClient.ReadRegisters(0, 3, modbus.HOLDING_REGISTER)
+	if err != nil {
+		numDevicesNotResponding += 1
+		klog.Warningf("error while reading registers from KEC2 %v", err)
+	} else if len(registersKEC2) != 3 {
+		klog.Warningf("expected three registers from modbus slave 2, but got %d", len(registersKEC2))
+	} else {
+		d.mu.Lock()
+		d.daemonState.tempDPBottom = modbusValuesToFloat(registersKEC2[0])
+		d.daemonState.tempDPInlet = modbusValuesToFloat(registersKEC2[1])
+		d.daemonState.tempDPTop = modbusValuesToFloat(registersKEC2[2])
+		d.mu.Unlock()
+	}
+
+	// Switch to slave 3 (KEC1)
+	d.modbusClient.SetUnitId(3)
+
+	// Do a read first to avoid side-effects from the subsequent write to the relay states
+	var digitalInputs [8]bool
+	var digitalInputRegisters []uint16
+
+	digitalInputRegisters, err = d.modbusClient.ReadRegisters(0x81, 8, modbus.HOLDING_REGISTER)
+	if err != nil {
+		numDevicesNotResponding += 1
+		klog.Warningf("error while reading digital inputs from KEC1 %v", err)
+	} else {
+		// Convert MODBUS words into bools
+		for idx, value := range digitalInputRegisters {
+			if value != 0 {
+				digitalInputs[idx] = true
+			} else {
+				digitalInputs[idx] = false
+			}
+		}
+		// TODO: Input mapping goes here
+	}
+
+	// We must wait between reading and writing to the -KEC1 relay board
+	// because otherwise it chokes and times out the write registers
+	// command.
+	time.Sleep(time.Millisecond * 10)
+
+	// KFA1-KFA8
+	var relayState [8]bool
+	d.mu.Lock()
+	// -KFA1 Roughing Pump (normally closed contact)
+	relayState[0] = !d.daemonState.rpOn
+	// -KFA2 Diffusion Pump
+	relayState[1] = d.daemonState.dpOn
+	// -KFA4 Button Vent
+	relayState[3] = d.daemonState.vent.output
+	// -KFA5 Button Pump-Down
+	relayState[4] = d.daemonState.pumpdown.output
+	// -KFA6 Fake-Pirani Rough (normally closed contact)
+	relayState[5] = !d.aboveRough.output
+	// -KFA7 Fake-Pirani High (normally closed contact)
+	relayState[6] = !d.aboveHigh.output
+	d.mu.Unlock()
+
+	// The KEC1 module uses a non-standard MODBUS interface
+	// instead of coils
+	// 0x0100 is the open command
+	// 0x0200 is the close command
+	// We write 8 words (16-bit) to address 0x01 to update the relays
+	var registerValuesKEC1 [8]uint16
+	// Convert the boolean values to the commands
+	for idx, state := range relayState {
+		if state {
+			registerValuesKEC1[idx] = 0x0100
+		} else {
+			registerValuesKEC1[idx] = 0x0200
+		}
+	}
+
+	err = d.modbusClient.WriteRegisters(0x01, registerValuesKEC1[:])
+	if err != nil {
+		numDevicesNotResponding += 1
+		klog.Warningf("error while updating registers %v", err)
+	}
+
+	if numDevicesNotResponding >= 4 {
+		klog.Warningf("no device did respond to our request. Probably a network timeout.")
+		return true
+	}
+
+	return false
+}
+
+// Call modbusUpdate every 100 milliseconds
+func (d *daemon) modbusProcess(ctx context.Context) {
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+			shouldRestart := d.modbusUpdate()
+			// the modbus library does not reopen the tcp socket in case of
+			// a connection loss.
+			if shouldRestart {
+				klog.Infof("restarting modbus connection...")
+				err := d.modbusRestart()
+				if err != nil {
+					klog.Warningf("failed to restart modbus %v", err)
+				}
+			}
+			time.Sleep(time.Millisecond * 100)
+		}
+	}
+}

succbone/succd/process.go

@@ -8,22 +8,17 @@ import (
 	"sync/atomic"
 	"time"
 
+	"github.com/simonvetter/modbus"
 	"k8s.io/klog"
 )
 
 // daemon is the main service of the succdaemon.
 type daemon struct {
+	modbusClient *modbus.ModbusClient
 	// 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
-
 	load atomic.Int64
 
 	// mu guards the state below.
@@ -55,6 +50,13 @@ type daemonState struct {
 	pumpdown   momentaryOutput
 	aboveRough thresholdOutput
 	aboveHigh  thresholdOutput
+
+	tempDPBottom float32
+	tempDPTop    float32
+	tempDPInlet  float32
+
+	tempSEM     float32
+	humiditySEM float32
 }
 
 func (d *daemonState) vacuumStatus() (rough, high bool) {
@@ -162,33 +164,5 @@ func (d *daemon) processOnce(_ context.Context) error {
 		d.dpOn = false
 	}
 
-	// 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
 }

succbone/succd/process_blocks.go

@@ -30,13 +30,20 @@ type thresholdOutput struct {
 	debounce time.Time
 	// threshold is the setpoint of the block.
 	threshold float64
+	// hysteresis around the process setpoint (min/max is threshold +- hysteresis)
+	hysteresis float64
 }
 
 func (t *thresholdOutput) process(value float64) {
 	if time.Now().Before(t.debounce) {
 		return
 	}
-	new := value > t.threshold
+	new := t.output
+	if t.output {
+		new = value > (t.threshold - t.hysteresis)
+	} else {
+		new = value > (t.threshold + t.hysteresis)
+	}
 	if new != t.output {
 		t.output = new
 		t.debounce = time.Now().Add(time.Second * 5)

succbone/succd/process_blocks_test.go

@@ -26,20 +26,37 @@ func TestMomentaryOutput(t *testing.T) {
 
 func TestThresholdOutput(t *testing.T) {
 	to := thresholdOutput{
-		threshold: 1,
+		threshold:  1,
+		hysteresis: 0.2,
 	}
-	to.process(0)
+	to.process(0.7)
 	if to.output {
 		t.Fatalf("output shouldn't have triggered")
 	}
-	to.process(2)
+	to.process(1)
+	if to.output {
+		t.Fatalf("output shouldn't have triggered")
+	}
+	to.process(1.3)
 	if !to.output {
 		t.Fatalf("output should have triggered")
 	}
-	to.process(0)
+	to.process(1)
+	if !to.output {
+		t.Fatalf("output should have triggered")
+	}
+	to.process(0.7)
 	if !to.output {
 		t.Fatalf("output should have triggered (in debounce)")
 	}
+
+	// let debounce timeout pass
+	time.Sleep(time.Second * 6)
+
+	to.process(0.7)
+	if to.output {
+		t.Fatalf("output shouldn't have triggered")
+	}
 }
 
 func TestRingbufferInput(t *testing.T) {