290 lines
6.6 KiB
Go
290 lines
6.6 KiB
Go
package main
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import (
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"context"
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"errors"
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"fmt"
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"math"
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"sync"
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"time"
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"k8s.io/klog"
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)
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// daemon is the main state of the succdaemon.
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type daemon struct {
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// adcPirani is the adc implementation returning the voltage of the Pfeiffer
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// Pirani gauge.
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adcPirani adc
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failsafe bool
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highPressure bool
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gpioDiffusionPump gpio
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gpioRoughingPump gpio
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gpioBtnPumpDown gpio
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gpioBtnVent gpio
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gpioBelowRough gpio
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gpioBelowHigh gpio
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// mu guards state variables below.
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mu sync.RWMutex
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// adcPiraniVolts is a moving window of read ADC values, used to calculate a
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// moving average.
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adcPiraniVolts []float32
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rpOn bool
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dpOn bool
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vent momentaryOutput
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pumpdown momentaryOutput
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aboveRough thresholdOutput
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aboveHigh thresholdOutput
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}
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// momentaryOutput is an output that can be triggered for 500ms.
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type momentaryOutput struct {
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// output of the block.
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output bool
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// scheduledOff is when the block should be outputting false again.
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scheduledOff time.Time
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}
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func (m *momentaryOutput) process() {
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m.output = m.scheduledOff.After(time.Now())
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}
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func (m *momentaryOutput) trigger() {
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m.scheduledOff = time.Now().Add(time.Millisecond * 500)
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}
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// thresholdOutput outputs true if a given value is above a setpoint/threshold.
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// It contains debounce logic for processing noisy analog signals.
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type thresholdOutput struct {
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// output of the block.
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output bool
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// debounce is when the debouncer should be inactive again.
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debounce time.Time
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// threshold is the setpoint of the block.
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threshold float64
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}
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func (t *thresholdOutput) process(value float64) {
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if time.Now().Before(t.debounce) {
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return
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}
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new := value > t.threshold
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if new != t.output {
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t.output = new
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t.debounce = time.Now().Add(time.Second * 5)
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}
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}
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// process runs the pain acquisition and control loop of succd.
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func (d *daemon) process(ctx context.Context) {
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ticker := time.NewTicker(time.Millisecond * 100)
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defer ticker.Stop()
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for {
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select {
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case <-ticker.C:
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if err := d.processOnce(ctx); err != nil {
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if errors.Is(err, ctx.Err()) {
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return
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} else {
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klog.Errorf("Processing error: %v", err)
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time.Sleep(time.Second * 10)
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}
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}
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case <-ctx.Done():
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return
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}
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}
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}
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// processOnce runs the main loop step of succd.
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func (d *daemon) processOnce(_ context.Context) error {
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v, err := d.adcPirani.Read()
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if err != nil {
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return fmt.Errorf("when reading ADC: %w", err)
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}
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d.mu.Lock()
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defer d.mu.Unlock()
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// Process pirani ringbuffer.
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d.adcPiraniVolts = append(d.adcPiraniVolts, v)
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trim := len(d.adcPiraniVolts) - 100
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if trim > 0 {
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d.adcPiraniVolts = d.adcPiraniVolts[trim:]
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}
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d.pumpdown.process()
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d.vent.process()
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_, mbar := d.piraniUnlocked()
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d.aboveRough.process(float64(mbar))
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d.aboveHigh.process(float64(mbar))
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klog.Infof("rate of change: %f", d.piraniRateOfChange())
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// max rate of 1.0 in 500 ms because ringbuffer holds 5 values
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if d.piraniRateOfChange() > 2.0 {
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if !d.failsafe {
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d.failsafe = true
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klog.Errorf("Pressure changed too fast; entering failsafe mode")
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}
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} else if mbar < 4e-6 {
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// Unrealistic result, Pirani probe probably disconnected. Failsafe mode.
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if !d.failsafe {
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d.failsafe = true
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klog.Errorf("Pirani probe seems disconnected; enabling failsafe mode")
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}
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} else {
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if d.failsafe {
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d.failsafe = false
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klog.Infof("Values are plausible again; quitting failsafe mode")
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}
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}
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if mbar >= 1e-1 {
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if !d.highPressure {
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d.highPressure = true
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klog.Errorf("Pressure is too high; enabling diffusion pump lockout")
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}
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} else {
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if d.highPressure {
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d.highPressure = false
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klog.Infof("Pressure is low enough for diffusion pump operation; quitting diffusion pump lockout")
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}
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}
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if d.failsafe {
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d.aboveRough.output = true
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d.aboveHigh.output = true
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d.dpOn = false
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}
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if d.highPressure {
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d.dpOn = false
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}
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// Update relay outputs.
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for _, rel := range []struct {
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name string
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gpio gpio
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// activeHigh means the relay is active high, ie. a true source will
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// mean that NO/COM get connected, and a false source means that NC/COM
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// get connected.
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activeHigh bool
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source bool
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}{
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{"rp", d.gpioRoughingPump, false, d.rpOn},
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{"dp", d.gpioDiffusionPump, true, d.dpOn},
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{"pumpdown", d.gpioBtnPumpDown, true, d.pumpdown.output},
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{"vent", d.gpioBtnVent, true, d.vent.output},
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{"rough", d.gpioBelowRough, false, d.aboveRough.output},
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{"high", d.gpioBelowHigh, false, d.aboveHigh.output},
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} {
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val := rel.source
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if rel.activeHigh {
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// Invert because the relays go through logical inversion (ie. a
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// GPIO false is a relay trigger).
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val = !val
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}
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if err := rel.gpio.set(val); err != nil {
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return fmt.Errorf("when outputting %s: %w", rel.name, err)
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}
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}
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return nil
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}
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func (d *daemon) piraniRateOfChange() float32 {
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max := d.adcPiraniVolts[0]
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min := d.adcPiraniVolts[0]
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for _, val := range d.adcPiraniVolts {
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if val < min {
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min = val
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}
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if val > max {
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max = val
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}
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}
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max_bar := math.Pow(10.0, float64(max)-8.5);
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max_mbar := float32(max_bar * 1000.0)
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min_bar := math.Pow(10.0, float64(min)-8.5);
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min_mbar := float32(min_bar * 1000.0)
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return max_mbar - min_mbar
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}
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// pirani returns the Pirani gauge voltage and pressure.
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func (d *daemon) pirani() (volts float32, mbar float32) {
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d.mu.RLock()
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volts, mbar = d.piraniUnlocked()
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d.mu.RUnlock()
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return
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}
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func (d *daemon) piraniUnlocked() (volts float32, mbar float32) {
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volts = 0.0
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for _, v := range d.adcPiraniVolts {
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volts += v
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}
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if len(d.adcPiraniVolts) != 0 {
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volts /= float32(len(d.adcPiraniVolts))
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}
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// Per Pirani probe docs.
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bar := math.Pow(10.0, float64(volts)-8.5)
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mbar = float32(bar * 1000.0)
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return
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}
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// rpSet enables/disables the roughing pump.
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func (d *daemon) rpSet(state bool) {
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d.mu.Lock()
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defer d.mu.Unlock()
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d.rpOn = state
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}
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// rpGet returns whether the roughing pump is enabled/disabled.
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func (d *daemon) rpGet() bool {
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d.mu.RLock()
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defer d.mu.RUnlock()
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return d.rpOn
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}
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// dpSet enables/disables the diffusion pump.
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func (d *daemon) dpSet(state bool) {
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d.mu.Lock()
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defer d.mu.Unlock()
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d.dpOn = state
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}
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// dpGet returns whether the diffusion pump is enabled/disabled.
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func (d *daemon) dpGet() bool {
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d.mu.RLock()
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defer d.mu.RUnlock()
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return d.dpOn
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}
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func (d *daemon) vacuumStatusGet() (rough, high bool) {
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d.mu.RLock()
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defer d.mu.RUnlock()
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rough = !d.aboveRough.output
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high = !d.aboveHigh.output
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return
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}
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// pumpDownPressed toggles the pump down relay for 500ms.
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func (d *daemon) pumpDownPress() {
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d.mu.Lock()
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defer d.mu.Unlock()
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d.pumpdown.trigger()
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}
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// ventPress toggles the vent relay for 500ms.
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func (d *daemon) ventPress() {
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d.mu.Lock()
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defer d.mu.Unlock()
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d.vent.trigger()
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}
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