Merge pull request #30 from lsst-ts/tickets/DM-40800

Use IRQ to signal end of read

Dockerfile

@@ -1,4 +1,4 @@
-FROM lsstts/develop-env:c0028.004 as crio-develop
+FROM lsstts/develop-env:develop as crio-develop
 
 ARG XML_BRANCH=develop
 
@@ -11,7 +11,7 @@ ARG XML_BRANCH=main
 WORKDIR /home/saluser
 
 RUN source ~/.setup.sh \
-    && mamba install -y readline yaml-cpp boost-cpp catch2 spdlog \
+    && mamba install -y readline yaml-cpp catch2 spdlog \
     && echo > .crio_setup.sh -e \
 echo "Configuring cRIO development environment" \\n\
 export SHELL=bash \\n\

Jenkinsfile

@@ -21,7 +21,7 @@ properties(
 node {
     def SALUSER_HOME = "/home/saluser"
     def BRANCH = (env.CHANGE_BRANCH != null) ? env.CHANGE_BRANCH : env.BRANCH_NAME
-    def SAME_CRIO_BRANCH = ["main", "tickets/DM-40574"]
+    def SAME_CRIO_BRANCH = ["main", "tickets/DM-40800"]
 
     stage('Cloning sources')
     {

Makefile

@@ -13,11 +13,12 @@ src/libM1M3TS.a: FORCE
 
 ts-M1M3thermald: src/ts-M1M3thermald.cpp.o src/libM1M3TS.a
 	@echo '[LD ] $@'
-	${co}$(CPP) $(LIBS_FLAGS) -o $@ $^ $(LIBS) $(SAL_LIBS) ../ts_cRIOcpp/lib/libcRIOcpp.a
+	${co}$(CPP) $(LIBS_FLAGS) -o $@ $^ $(LIBS) $(SAL_LIBS) ../ts_cRIOcpp/lib/libcRIOcpp.a $(shell pkg-config --libs readline $(silence))
+
 
 m1m3tscli: src/m1m3tscli.cpp.o src/libM1M3TS.a
 	@echo '[LD ] $@'
-	${co}$(CPP) $(LIBS_FLAGS) -o $@ $^ $(LIBS) ../ts_cRIOcpp/lib/libcRIOcpp.a -lreadline
+	${co}$(CPP) $(LIBS_FLAGS) -o $@ $^ $(LIBS) ../ts_cRIOcpp/lib/libcRIOcpp.a $(shell pkg-config --libs readline $(silence))
 
 # Other Targets
 clean:

Makefile.inc

@@ -22,7 +22,6 @@ else
   CPP := g++ -std=c++14 -Wall -fmessage-length=0 ${c_opts} -ldl -lpthread
 endif
 
-BOOST_CPPFLAGS += -I/usr/include/boost169
 PKG_CPPFLAGS := $(shell pkg-config yaml-cpp --cflags $(silence)) $(shell pkg-config spdlog --cflags $(silence))
 
 SAL_CPPFLAGS += $(PKG_CPPFLAGS) -I${OSPL_HOME}/include -I${OSPL_HOME}/include/sys -I${OSPL_HOME}/include/dcps/C++/SACPP -I${SAL_WORK_DIR}/MTM1M3TS/cpp/src -I${SAL_WORK_DIR}/include -I${SAL_HOME}/include -I${LSST_SDK_INSTALL}/include

src/LSST/M1M3/TS/Commands/SAL.cpp

@@ -48,8 +48,9 @@ void changeAllILCsMode(uint16_t mode) {
 }
 
 bool SAL_start::validate() {
+    // TODO needs new, single file config
     if (params.configurationOverride.empty()) {
-        return false;
+        params.configurationOverride = "Default";
     }
     return true;
 }

src/LSST/M1M3/TS/Commands/Update.cpp

@@ -31,8 +31,7 @@
 #include "Events/Heartbeat.h"
 #include "Events/SummaryState.h"
 
-#include "Telemetry/FlowMeter.h"
-#include "Telemetry/VFD.h"
+#include "Telemetry/VFDSAL.h"
 #include "Telemetry/GlycolLoopTemperature.h"
 #include "Telemetry/MixingValve.h"
 #include "Telemetry/ThermalData.h"
@@ -98,19 +97,18 @@ void Update::_sendFCU() {
 
 void Update::_sendFlowMeter() {
     try {
-        Telemetry::FlowMeter::instance().update();
-        Telemetry::FlowMeter::instance().send();
+        IFPGA::get().flowMeter->runLoop(IFPGA::get());
     } catch (std::exception &e) {
         SPDLOG_WARN("Cannot poll Flow Meter: {}", e.what());
+        IFPGA::get().flowMeter->clearCommanded();
     }
 }
 
 void Update::_sendVFD() {
     try {
-        Telemetry::VFD::instance().update();
-        Telemetry::VFD::instance().send();
-        Events::GlycolPumpStatus::instance().update();
+        IFPGA::get().vfd->runLoop(IFPGA::get());
     } catch (std::exception &e) {
         SPDLOG_WARN("Cannot poll VFD: {}", e.what());
+        IFPGA::get().vfd->clearCommanded();
     }
 }

src/LSST/M1M3/TS/Events/GlycolPumpStatus.cpp

@@ -33,9 +33,9 @@ GlycolPumpStatus::GlycolPumpStatus(token) {
     _last_errorCode = 0xFFFF;
 }
 
-void GlycolPumpStatus::update() {
-    auto status = IFPGA::get().vfd->getStatus();
-    auto errorCode = IFPGA::get().vfd->getDriveErrorCodes();
+void GlycolPumpStatus::update(VFD& vfd) {
+    auto status = vfd.getStatus();
+    auto errorCode = vfd.getDriveErrorCodes();
     if (status != _last_status || errorCode != _last_errorCode) {
         // bits are from VFD manual
         ready = status & 0x0001;

src/LSST/M1M3/TS/Events/GlycolPumpStatus.h

@@ -26,6 +26,8 @@
 #include <SAL_MTM1M3TS.h>
 #include <cRIO/Singleton.h>
 
+#include <MPU/VFD.h>
+
 namespace LSST {
 namespace M1M3 {
 namespace TS {
@@ -35,7 +37,7 @@ class GlycolPumpStatus final : MTM1M3TS_logevent_glycolPumpStatusC, public cRIO:
 public:
     GlycolPumpStatus(token);
 
-    void update();
+    void update(VFD& vfd);
 
 private:
     uint16_t _last_status;

src/LSST/M1M3/TS/IFPGA.cpp

@@ -30,12 +30,13 @@
 #include <ThermalFPGA.h>
 #endif
 
+#include <MPU/FlowMeter.h>
+#include <MPU/VFD.h>
+
+using namespace std::chrono_literals;
 using namespace LSST::M1M3::TS;
 
-IFPGA::IFPGA() : cRIO::FPGA(cRIO::fpgaType::TS) {
-    vfd = std::make_shared<VFD>(1, 100);
-    flowMeter = std::make_shared<FlowMeter>(2, 1);
-}
+IFPGA::IFPGA() : cRIO::FPGA(cRIO::fpgaType::TS) {}
 
 IFPGA& IFPGA::get() {
 #ifdef SIMULATOR
@@ -47,6 +48,14 @@ IFPGA& IFPGA::get() {
 #endif
 }
 
+void IFPGA::setMPUs(std::shared_ptr<VFD> _vfd, std::shared_ptr<FlowMeter> _flowMeter) {
+    vfd = _vfd;
+    vfd->setLoopTimeOut(1000ms);
+
+    flowMeter = _flowMeter;
+    flowMeter->setLoopTimeOut(2000ms);
+}
+
 float IFPGA::getMixingValvePosition() {
     uint16_t buf = FPGAAddress::MIXING_VALVE_POSITION;
     writeRequestFIFO(&buf, 1, 1);
@@ -108,3 +117,11 @@ void IFPGA::setHeartbeat(bool heartbeat) {
     buf[1] = heartbeat;
     writeCommandFIFO(buf, 2, 0);
 }
+
+void IFPGA::processMPUResponse(LSST::cRIO::MPU& mpu, uint8_t* data, uint16_t len) {
+    uint16_t u16_data[len];
+    for (int i = 0; i < len; i++) {
+        u16_data[i] = data[i];
+    }
+    mpu.processResponse(u16_data, len);
+}

src/LSST/M1M3/TS/IFPGA.h

@@ -60,6 +60,8 @@ class IFPGA : public cRIO::FPGA {
     IFPGA();
     virtual ~IFPGA() {}
 
+    void setMPUs(std::shared_ptr<VFD> vfd, std::shared_ptr<FlowMeter> flowMeter);
+
     static IFPGA& get();
 
     virtual void readSGLResponseFIFO(float* data, size_t length, uint32_t timeout) = 0;
@@ -91,7 +93,7 @@ class IFPGA : public cRIO::FPGA {
     std::shared_ptr<FlowMeter> flowMeter;
 
 protected:
-    virtual void processMPUResponse(LSST::cRIO::MPU& mpu, uint8_t* data, uint16_t len) {}
+    virtual void processMPUResponse(LSST::cRIO::MPU& mpu, uint8_t* data, uint16_t len);
 };
 
 }  // namespace TS

src/LSST/M1M3/TS/MPU/FlowMeter.cpp

@@ -20,13 +20,17 @@
  * this program. If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <endian.h>
+#include <iomanip>
+#include <iostream>
+
+#include <spdlog/spdlog.h>
 
 #include <MPU/FlowMeter.h>
 
 using namespace LSST::M1M3::TS;
 
-void FlowMeter::poll() {
+void FlowMeter::loopWrite() {
+    SPDLOG_TRACE("Requesting FlowMeter registers");
     readHoldingRegisters(1000, 4, 255);
     readHoldingRegisters(2500, 6, 255);
     readHoldingRegisters(5500, 1, 255);
@@ -53,3 +57,17 @@ double FlowMeter::_getDoubleValue(uint16_t reg) {
     }
     return buffer.ddouble;
 }
+
+void FlowMeterPrint::loopRead(bool timedout) {
+    if (timedout) {
+        std::cout << "FlowMeter readout timedouted." << std::endl;
+        return;
+    }
+
+    std::cout << std::setfill(' ') << std::fixed << "Signal Strength: " << getSignalStrength() << std::endl
+              << std::setw(20) << "Flow Rate: " << getFlowRate() << std::endl
+              << std::setw(20) << "Net Totalizer: " << getNetTotalizer() << std::endl
+              << std::setw(20) << "Positive Totalizer: " << getPositiveTotalizer() << std::endl
+              << std::setw(20) << "Negative Totalizer: " << getNegativeTotalizer() << std::endl
+              << std::endl;
+}

src/LSST/M1M3/TS/MPU/FlowMeter.h

@@ -36,7 +36,7 @@ class FlowMeter : public cRIO::MPU {
 public:
     FlowMeter(uint8_t bus, uint8_t mpu_address) : MPU(bus, mpu_address) {}
 
-    void poll();
+    void loopWrite() override;
 
     uint16_t getSignalStrength() { return getRegister(5500); }
     double getFlowRate() { return _getFloatValue(1000); }
@@ -49,6 +49,13 @@ class FlowMeter : public cRIO::MPU {
     double _getDoubleValue(uint16_t reg);
 };
 
+class FlowMeterPrint : public FlowMeter {
+public:
+    FlowMeterPrint(uint8_t bus, uint8_t mpu_address) : FlowMeter(bus, mpu_address) {}
+
+    void loopRead(bool timedout) override;
+};
+
 }  // namespace TS
 }  // namespace M1M3
 }  // namespace LSST

src/LSST/M1M3/TS/MPU/VFD.cpp

@@ -20,11 +20,16 @@
  * this program. If not, see <https://www.gnu.org/licenses/>.
  */
 
+#include <iomanip>
+#include <iostream>
+
+#include <spdlog/spdlog.h>
+
 #include <MPU/VFD.h>
 
 using namespace LSST::M1M3::TS;
 
-void VFD::poll() {
+void VFD::loopWrite() {
     readHoldingRegisters(0x2000, 3, 255);
     readHoldingRegisters(0x2100, 7, 255);
 }
@@ -43,3 +48,53 @@ const char *VFD::getDriveError(uint16_t code) {
             return "Unknown error";
     }
 }
+
+void VFDPrint::loopRead(bool timedout) {
+    SPDLOG_TRACE("Requesting glycol pump VFD registers");
+    if (timedout) {
+        std::cout << "VFD readout timed-out." << std::endl;
+        return;
+    }
+
+    // status bits
+    static const std::string status[16] = {"Ready",
+                                           "Active (Running)",
+                                           "Cmd Forward",
+                                           "Rotating Forward",
+                                           "Accelerating",
+                                           "Decelerating",
+                                           "",
+                                           "Faulted",
+                                           "At Reference",
+                                           "Main Freq Controlled by Active Comm",
+                                           "Operation Cmd Controlled by Active Comm",
+                                           "Parameters have been locked",
+                                           "Digital input 1 Status (DigIn TermBlk 05)"
+                                           "Digital input 2 Status (DigIn TermBlk 06)"
+                                           "Digital input 3 Status (DigIn TermBlk 07)"
+                                           "Digital input 4 Status (DigIn TermBlk 08)"};
+
+    uint16_t bits = getVelocityPositionBits();
+
+    std::cout << std::setfill(' ') << std::setw(20) << "Status: "
+              << "0x" << std::hex << getStatus() << std::endl
+              << std::setw(20) << "Commanded Freq.: " << std::fixed << std::setprecision(2)
+              << getCommandedFrequency() << std::endl
+              << std::setw(20) << "Vel./Pos. Bits: " << std::hex << bits << std::dec << std::endl;
+
+    for (int i = 0; i < 16; i++) {
+        if (bits & 0x01)
+            std::cout << "         " << (bits == 0x01 ? "┗" : "┣") << "━━▶ " << status[i] << std::endl;
+        bits >>= 1;
+    }
+
+    std::cout << std::setw(20) << "Drive Error Codes: " << getDriveErrorCodes() << std::endl
+              << std::setw(20) << "Target Frequency: " << std::fixed << std::setprecision(2)
+              << getTargetFrequency() << std::endl
+              << std::setw(20) << "Output Frequency: " << getOutputFrequency() << std::endl
+              << std::setw(20) << "Output Current: " << getOutputCurrent() << std::endl
+              << std::setw(20) << "DC Bus Voltage: " << std::dec << getDCBusVoltage() << std::endl
+              << std::setw(20) << "Output Voltage: " << std::fixed << std::setprecision(1)
+              << getOutputVoltage() << std::endl
+              << std::endl;
+}

src/LSST/M1M3/TS/MPU/VFD.h

@@ -38,7 +38,7 @@ class VFD : public cRIO::MPU {
 public:
     VFD(uint8_t bus, uint8_t mpu_address) : MPU(bus, mpu_address) {}
 
-    void poll();
+    void loopWrite() override;
 
     uint16_t getStatus() { return getRegister(0x2000); }
     float getCommandedFrequency() { return getRegister(0x2001) / 100.0f; }
@@ -70,6 +70,13 @@ class VFD : public cRIO::MPU {
     static const char* getDriveError(uint16_t code);
 };
 
+class VFDPrint : public VFD {
+public:
+    VFDPrint(uint8_t bus, uint8_t mpu_address) : VFD(bus, mpu_address) {}
+
+    void loopRead(bool timedout) override;
+};
+
 }  // namespace TS
 }  // namespace M1M3
 }  // namespace LSST