succd: implement threshold outputs, rework processing

succbone/succd/README.md

@@ -9,6 +9,20 @@ Features:
 2. Allows enabling/disabling the diffusion/roughing pumps (builtin controller always keeps them enabled).
 3. Allows for simulating vent/pumpdown button presses.
 
+Pins
+---
+
+| P9 pin number | Relay number   | Relay board / channel number | GPIO number | Function          |
+|---------------|----------------|------------------------------|-------------|-------------------|
+| 27            | -KFA1          | 1 / 4                        | 115         | Roughing Pump     |
+| 23            | -KFA2          | 1 / 3                        | 49          | Diffusion Pump    |
+| n/c           | -KFA3 (broken) | 1 / 2                        | n/c         |                   |
+| 12            | -KFA4          | 1 / 1                        | 60          | Vent Button       |
+| 15            | -KFA5          | 2 / 4                        | 48          | Pump Down Button  |
+| 11            | -KFA6          | 2 / 3                        | 30          | Rough Vacuum Out  |
+| 42            | -KFA7          | 2 / 2                        | 7           | High Vacuum Out   |
+| n/c           | -KFA8          | 2 / 1                        | n/c         |                   |
+
 Accessing at the lab
 ---
 

succbone/succd/http.go

@@ -19,8 +19,15 @@ var (
 	//go:embed index.html
 	templateIndexText string
 	templateIndex     = template.Must(template.New("index").Parse(templateIndexText))
+	//go:embed succd.png
+	favicon []byte
 )
 
+func (d *daemon) httpFavicon(w http.ResponseWriter, r *http.Request) {
+	w.Header().Set("Content-Type", "image/png")
+	w.Write(favicon)
+}
+
 func formatVolts(v float32) string {
 	return fmt.Sprintf("%.4f V", v)
 }
@@ -99,18 +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
+				Volts        string
-				Mbar      string
+				Mbar         string
-				MbarFloat float32
+				MbarFloat    float32
-				RPOn      bool
+				RPOn         bool
-				DPOn      bool
+				DPOn         bool
+				RoughReached bool
+				HighReached  bool
 			}{
-				Volts:     formatVolts(volts),
+				Volts:        formatVolts(volts),
-				Mbar:      string(formatMbar(mbar)),
+				Mbar:         string(formatMbar(mbar)),
-				MbarFloat: mbar,
+				MbarFloat:    mbar,
-				RPOn:      rp,
+				RPOn:         rp,
-				DPOn:      dp,
+				DPOn:         dp,
+				RoughReached: rough,
+				HighReached:  high,
 			}
 			if err := wsjson.Write(ctx, c, v); err != nil {
 				klog.Errorf("Websocket write failed: %v", err)

succbone/succd/index.html

@@ -2,6 +2,7 @@
 <meta charset="utf-8">
 <title>succd</title>
 <meta name="viewport" content="width=device-width, initial-scale=1" />
+<link rel="shortcut icon" type="image/png" href="/favicon.png">
 <style>
 body {
     font-size: 14px;
@@ -34,32 +35,53 @@ button {
     padding-left: 1.5em;
     padding-right: 1.5em;
 }
+
+td > span {
+    padding: 0.2em;
+}
+
+.logo {
+    float: left;
+    margin-right: 2em;
+}
+
+.logo > img {
+    height: 10em;
+}
 </style>
 
+<div class="logo"><img src="/favicon.png" /></div>
+
 <h1>succd</h1>
 <h2>nothing more permanent than a temporary solution</h2>
 
-<p style="margin-top: 2em;">
+<p style="margin-top: 2em; clear: both;">
 	<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>Thresholds</th>
+            <td>Rough:</td>
+            <td id="trough">...</td>
+            <td>High:</td>
+            <td id="thigh">...</td>
+        </tr>
 		<tr>
-			<th>Roughing Pump</th>
+			<th>Pumps</th>
-			<td id="rp">{{ if .rp }}ON{{ else }}OFF{{ end }}</td>
+            <td>RP:</td>
-		</tr>
+            <td id="rp">{{ if .rp }}ON{{ else }}OFF{{ end }}</td>
-		<tr>
+            <td>DP:</td>
-			<th>Diffusion Pump</th>
+            <td id="dp">{{ if .dp }}ON{{ else }}OFF{{ end }}</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>
@@ -70,7 +92,7 @@ button {
         </tr>
 		<tr>
 			<th>Status</th>
-			<td id="status">OK</td>
+			<td id="status" colspan="4">OK</td>
 		</tr>
 	</table>
 </p>
@@ -221,6 +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");
@@ -268,6 +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();
 		});

succbone/succd/main.go

@@ -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
+	flagFake                   bool
-	flagListenHTTP string
+	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)
@@ -201,6 +66,7 @@ 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)

succbone/succd/process.go

@@ -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()
+}

succbone/succd/scientific.go

@@ -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
+}

succbone/succd/succd.svg

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   width="256"
+   height="256"
+   viewBox="0 0 67.733332 67.733333"
+   version="1.1"
+   id="svg1"
+   xml:space="preserve"
+   inkscape:version="1.3.2 (091e20ef0f, 2023-11-25)"
+   sodipodi:docname="succd.svg"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"><sodipodi:namedview
+     id="namedview1"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:showpageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     inkscape:deskcolor="#d1d1d1"
+     inkscape:document-units="mm"
+     inkscape:zoom="1.8100325"
+     inkscape:cx="144.47254"
+     inkscape:cy="86.738774"
+     inkscape:window-width="2558"
+     inkscape:window-height="1418"
+     inkscape:window-x="0"
+     inkscape:window-y="20"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="layer1" /><defs
+     id="defs1" /><g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"><path
+       id="path1-6-26-9"
+       style="fill:#333333;stroke-width:0.665001;stroke-linecap:round;stroke-linejoin:round"
+       d="m 54.934253,11.041885 -11.725404,3.026755 7.374684,30.241308 11.774672,-3.192173 c 0.340838,0.02984 0.657689,-0.04009 0.94584,-0.208758 2.388773,-1.406768 2.341457,-9.169829 -0.105684,-17.339529 C 60.94409,16.04748 57.398733,10.697677 54.959229,11.136965 Z"
+       sodipodi:nodetypes="cccccccc" /><path
+       id="path1-6-26"
+       style="fill:#4d4d4d;stroke-width:0.689213;stroke-linecap:round;stroke-linejoin:round"
+       d="M 36.834788 34.267762 L 28.039647 31.24561 L 26.275151 71.107079 L 34.9414 74.95385 A 6.0778723 20.553801 0 0 0 36.145859 75.365089 A 6.0778723 20.553801 0 0 0 42.223611 54.811692 A 6.0778723 20.553801 0 0 0 36.830602 34.397432 L 36.834788 34.267762 z "
+       transform="matrix(0.78359623,-0.62127043,0.29230718,0.95632448,0,0)" /><path
+       id="path1-6-2"
+       style="fill:#ff6600;stroke-width:0.685186;stroke-linecap:round;stroke-linejoin:round"
+       d="M 31.632903 29.815088 L 0.2045976 17.686637 A 6.7583387 22.62063 0.41226998 0 0 -0.44146265 17.437591 L -0.78055632 17.306653 L -0.78204159 17.371872 A 6.7583387 22.62063 0.41226998 0 0 -0.91086368 17.346932 A 6.7583387 22.62063 0.41226998 0 0 -7.798345 40.031956 A 6.7583387 22.62063 0.41226998 0 0 -1.6381568 62.531876 L -1.6401479 62.634194 L 29.922324 73.760027 L 29.922895 73.751714 A 22.133209 6.6891561 90 0 0 30.697087 73.904866 A 22.133209 6.6891561 90 0 0 37.38594 51.771489 A 22.133209 6.6891561 90 0 0 31.630325 29.876359 L 31.632903 29.815088 z "
+       transform="matrix(0.79570833,-0.60567999,0.30336715,0.95287374,0,0)" /><ellipse
+       style="fill:#b3b3b3;stroke-width:0.694613;stroke-linecap:round;stroke-linejoin:round"
+       id="path1-6"
+       cx="0.47263575"
+       cy="40.426369"
+       rx="5.0466633"
+       ry="17.51091"
+       transform="matrix(0.7683548,-0.64002415,0.27934773,0.96019,0,0)" /><ellipse
+       style="fill:#1a1a1a;stroke-width:0.718381;stroke-linecap:round;stroke-linejoin:round"
+       id="path1"
+       cx="0.0053259684"
+       cy="40.20768"
+       rx="3.606401"
+       ry="13.362189"
+       transform="matrix(0.67378554,-0.73892696,0.28587782,0.95826607,0,0)" /><text
+       xml:space="preserve"
+       style="font-size:12.247px;line-height:1.25;font-family:'Comic Sans MS';-inkscape-font-specification:'Comic Sans MS';letter-spacing:0px;fill:#ececec;stroke-width:0.264583"
+       x="14.440682"
+       y="29.016745"
+       id="text2"
+       transform="matrix(0.77461007,-0.24176924,0.36716645,1.1763731,0,0)"><tspan
+         sodipodi:role="line"
+         id="tspan2"
+         style="fill:#ececec;stroke-width:0.264583"
+         x="14.440682"
+         y="29.016745">succ</tspan></text><text
+       xml:space="preserve"
+       style="font-size:12.247px;line-height:1.25;font-family:'Comic Sans MS';-inkscape-font-specification:'Comic Sans MS';letter-spacing:0px;fill:#ececec;stroke-width:0.264583"
+       x="10.27577"
+       y="36.975842"
+       id="text2-3"
+       transform="matrix(0.77461007,-0.24176924,0.36716645,1.1763731,0,0)"><tspan
+         sodipodi:role="line"
+         id="tspan2-7"
+         style="fill:#ececec;stroke-width:0.264583"
+         x="10.27577"
+         y="36.975842">bone</tspan></text></g></svg>