succbone/succd/go.mod

@@ -4,8 +4,5 @@ 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

@@ -1,9 +1,5 @@
 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

@@ -62,17 +62,6 @@ 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
@@ -126,11 +115,6 @@ 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()
@@ -179,80 +163,16 @@ 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", state.piraniMbar100.mbar)
+	fmt.Fprintf(w, "sem_pressure_mbar %f\n", 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

@@ -9,19 +9,19 @@ body {
     padding: 2em;
 }
 table {
-    font-size: 30px;
+    font-size: 40px;
 }
 table.status td {
     width: 2em;
 }
 th, td {
     background-color: #e8e8e8;
-    padding: 0.3em;
+    padding: 0.4em;
 }
 th {
     font-weight: 100;
     text-align: right;
-    font-size: 25px;
+    font-size: 30px;
 }
 td {
     text-align: left;
@@ -34,7 +34,7 @@ h2 {
     font-weight: 100;
 }
 button {
-    height: 3.3em;
+    height: 4.5em;
     padding-left: 1.5em;
     padding-right: 1.5em;
 }
@@ -52,43 +52,15 @@ td > span {
     height: 10em;
 }
 
-.graph-container {
-    background-color: #e8e8e8;
-    text-align: center;
-}
-
 .main-grid {
-    margin-top: 2em;
+    margin: 2em;
-    margin-left: auto;
-    margin-right: auto;
-    max-width: 160em;
     clear: both;
 
     display: grid;
-    grid-template-columns: repeat(auto-fit, minmax(54em, 1fr));
+    grid-template-columns: repeat(auto-fit, minmax(50em, 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>
@@ -121,6 +93,19 @@ td > span {
         </tr>
     </table>
 
+    <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>
+
+
     <table>
         <tr>
             <th rowspan="3">Control</th>
@@ -151,44 +136,9 @@ td > span {
         </tr>
     </table>
 
-    <table>
+    <p>
-        <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>
+    </p>
 </div>
 
 <p style="font-style: italic; font-size: 12px; margin-top: 5em;">
@@ -220,7 +170,7 @@ let historicalDraw = (w, h) => {
     // coordinate calculation.
 
     canvas.clearRect(0, 0, w, h);
-    canvas.fillStyle = "#e8e8e8";
+    canvas.fillStyle = "#f0f0f0";
     canvas.fillRect(0, 0, w, h);
 
     // Margins of the main graph window.
@@ -339,11 +289,6 @@ 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");
@@ -352,14 +297,6 @@ 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);
 
@@ -381,7 +318,7 @@ window.addEventListener("load", (_) => {
             connected = true;
             console.log("Socket connected!");
             status.innerHTML = "Online";
-            status.style = colors.default;
+            status.style = "background-color: #60f060;";
         });
         socket.addEventListener("message", (event) => {
             const data = JSON.parse(event.data);
@@ -389,71 +326,47 @@ window.addEventListener("load", (_) => {
             mbar.innerHTML = data.Pirani.Mbar;
             if (data.Safety.Failsafe) {
                 failsafe.innerHTML = "ON";
-                failsafe.style = colors.highlightFault;
+                failsafe.style = "background-color: #f06060";
             } else {
                 failsafe.innerHTML = "OFF";
-                failsafe.style = colors.default;
+                failsafe.style = "background-color: #60f060";
             }
             if (data.Safety.HighPressure) {
                 highpressure.innerHTML = "ON";
-                highpressure.style = colors.default;
+                highpressure.style =  "background-color: #f06060";
             } else {
                 highpressure.innerHTML = "OFF";
-                highpressure.style = colors.default;
+                highpressure.style = "background-color: #60f060";
             }
             if (data.Pumps.RPOn) {
                 rp.innerHTML = "ON";
-                rp.style = colors.default;
+                rp.style = "background-color: #60f060";
             } else {
                 rp.innerHTML = "OFF";
-                rp.style = colors.highlightNeutral;
+                rp.style = "background-color: #f06060";
             }
             if (data.Pumps.DPOn) {
                 dp.innerHTML = "ON";
-                dp.style = colors.highlightCaution;
+                dp.style = "background-color: #60f060";
             } else {
                 dp.innerHTML = "OFF";
-                dp.style = colors.default;
+                dp.style = "background-color: #f06060";
-            }
-
-            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 = colors.highlightGood;
+                trough.style = "background-color: #60f060";
             } else {
                 trough.innerHTML = "NOK";
-                trough.style = colors.default;
+                trough.style = "background-color: #f06060";
             }
             if (data.Feedback.HighReached) {
                 thigh.innerHTML = "OK";
-                thigh.style = colors.highlightGood;
+                thigh.style = "background-color: #60f060";
             } else {
                 thigh.innerHTML = "NOK";
-                thigh.style = colors.default;
+                thigh.style = "background-color: #f06060";
             }
             load.innerHTML = data.LoopLoad.toString() + "%";
             historicalPush(data.Pirani.MbarFloat);
@@ -461,16 +374,7 @@ window.addEventListener("load", (_) => {
         });
         socket.addEventListener("close", (event) => {
             status.innerHTML = "Offline";
-            status.style = colors.highlightFault;
+            status.style = "background-color: #f06060;";
-
-            // 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

@@ -14,7 +14,7 @@ var (
 	flagFake                             bool
 	flagListenHTTP                       string
 	flagPressureThresholdRough           = ScientificNotationValue(1e-1)
-	flagPressureThresholdRoughHysteresis = ScientificNotationValue(3e-2)
+	flagPressureThresholdRoughHysteresis = ScientificNotationValue(2e-2)
 	flagPressureThresholdHigh            = ScientificNotationValue(1e-4)
 	flagPressureThresholdHighHysteresis  = ScientificNotationValue(2e-5)
 )
@@ -35,12 +35,6 @@ 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)
@@ -48,6 +42,12 @@ func main() {
 	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 {
@@ -55,9 +55,21 @@ func main() {
 		}
 		d.adcPirani = adc
 
-		err = d.modbusConnect()
+		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 connect to modbus %v", err)
+				klog.Exitf("Failed to setup GPIO: %v", err)
+			}
 		}
 	}
 
@@ -74,9 +86,5 @@ func main() {
 	}()
 
 	go d.process(ctx)
-	if !flagFake {
-		go d.modbusProcess(ctx)
-	}
-
 	<-ctx.Done()
 }

succbone/succd/modbus.go

@@ -1,186 +0,0 @@
-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

@@ -8,17 +8,22 @@ 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.
@@ -50,13 +55,6 @@ 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) {
@@ -164,5 +162,33 @@ 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
 }