Merge pull request #31 from lsst-ts/tickets/DM-41336

Use MPU runLoop, paraller operations on FlowMeter and VFD

.github/workflows/changelog.yaml

@@ -9,7 +9,7 @@ jobs:
     name: Check Actions
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - name: Changelog check
         uses: Zomzog/[email protected]
         with:

Dockerfile

@@ -26,7 +26,7 @@ RUN source ~/.crio_setup.sh && cd $TS_XML_DIR \
 
 FROM crio-develop
 
-ARG cRIO_CPP=v1.7.0
+ARG cRIO_CPP=v1.10.0
 ARG M1M3_SUPPORT=develop
 ARG TARGET=simulator
 

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-40800"]
+    def SAME_CRIO_BRANCH = ["main", "tickets/DM-41336"]
 
     stage('Cloning sources')
     {
@@ -59,7 +59,7 @@ node {
     
                     cd $WORKSPACE/ts_m1m3thermal
                     LIBS_FLAGS="-L\$CONDA_PREFIX/lib" make simulator
-                    make junit
+                    LSST_DDS_PARTITION_PREFIX=test make junit
                  """
              }
         }

Makefile

@@ -22,7 +22,7 @@ m1m3tscli: src/m1m3tscli.cpp.o src/libM1M3TS.a
 
 # Other Targets
 clean:
-	@$(foreach file,M1M3ThermalCsC src/m1m3thermalcsc.cpp.o doc, echo '[RM ] ${file}'; $(RM) -r $(file);)
+	@$(foreach file,M1M3ThermalCsC src/m1m3thermalcsc.cpp.o, echo '[RM ] ${file}'; $(RM) -r $(file);)
 	@$(foreach dir,src tests,$(MAKE) -C ${dir} $@;)
 
 # file targets

Makefile.inc

@@ -4,7 +4,7 @@ ifndef VERBOSE
   silence := --silence-errors
 endif
 
-c_opts := -DSPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_TRACE
+c_opts := -DSPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_TRACE # -DSPDLOG_FMT_EXTERNAL
 
 ifdef DEBUG
   c_opts += -g
@@ -22,14 +22,19 @@ else
   CPP := g++ -std=c++14 -Wall -fmessage-length=0 ${c_opts} -ldl -lpthread
 endif
 
-PKG_CPPFLAGS := $(shell pkg-config yaml-cpp --cflags $(silence)) $(shell pkg-config spdlog --cflags $(silence))
+PKG_CPPFLAGS := $(shell pkg-config yaml-cpp --cflags $(silence)) \
+	$(shell pkg-config spdlog --cflags $(silence)) \
+	$(shell pkg-config fmt --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
 
 CRIO_DIR ?= ../ts_cRIOcpp
 CRIO_CFLAGS := -I${CRIO_DIR}/include
 
-PKG_LIBS := $(shell pkg-config yaml-cpp --libs $(silence)) $(shell pkg-config spdlog --libs $(silence))
+PKG_LIBS := $(shell pkg-config yaml-cpp --libs $(silence)) \
+	$(shell pkg-config spdlog --libs $(silence)) \
+	$(shell pkg-config fmt --libs $(silence)) \
+	-lreadline
 
 ifdef SIMULATOR
   LIBS := $(PKG_LIBS) -ldl ${SAL_WORK_DIR}/lib/libSAL_MTM1M3TS.a -ldcpssacpp -ldcpsgapi -lddsuser -lddskernel -lpthread -lddsserialization -lddsconfparser -lddsconf -lddsdatabase -lddsutil -lddsos

SettingFiles/v1/_init.yaml

@@ -0,0 +1,21 @@
+FCU:
+  AutoDisable: true
+  FailuresToDisable: 3
+  Disabled: []
+
+FlowMeter:
+  Enabled: true
+
+GlycolPump:
+  Enabled: true
+
+MixingValve:
+  # units are mA (milliamperes)
+  Commanding:
+    FullyClosed: 4
+    FullyOpened: 20
+
+  # units are V (Volts)
+  PositionFeedback:
+    FullyClosed: 0.03
+    FullyOpened: 9.64

doc/version-history.rst

@@ -0,0 +1,10 @@
+.. _Version_History:
+
+===============
+Version History
+===============
+
+v0.1.0
+=======
+
+* Basic functionality - FCU communication, FlowMeter and Glycol Pump telemetry & commands

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

@@ -27,12 +27,14 @@
 #include <cRIO/ControllerThread.h>
 
 #include <Commands/SAL.h>
-#include <Events/SummaryState.h>
 #include <Events/EngineeringMode.h>
+#include <Events/SummaryState.h>
 #include <Events/ThermalInfo.h>
-#include <Settings/MixingValve.h>
 #include <Settings/Controller.h>
+#include <Settings/GlycolPump.h>
+#include <Settings/MixingValve.h>
 #include <TSApplication.h>
+#include <TSPublisher.h>
 
 using namespace LSST::cRIO;
 using namespace LSST::M1M3::TS;
@@ -48,17 +50,25 @@ void changeAllILCsMode(uint16_t mode) {
 }
 
 bool SAL_start::validate() {
-    // TODO needs new, single file config
     if (params.configurationOverride.empty()) {
         params.configurationOverride = "Default";
     }
+    if (params.configurationOverride[0] == '_') {
+        SPDLOG_ERROR("configurationOverride argument shall not start with _");
+        return false;
+    }
     return true;
 }
 
 void SAL_start::execute() {
     SPDLOG_INFO("Starting, settings={}", params.configurationOverride);
     Settings::Controller::instance().load(params.configurationOverride);
 
+    if (Settings::GlycolPump::instance().enabled) {
+        IFPGA::get().setCoolantPumpPower(true);
+        SPDLOG_INFO("Glycol pump turned on.");
+    }
+
     changeAllILCsMode(ILC::ILCMode::Disabled);
 
     TSApplication::ilc()->clear();
@@ -86,6 +96,7 @@ void SAL_enable::execute() {
 void SAL_disable::execute() {
     changeAllILCsMode(ILC::ILCMode::Disabled);
     IFPGA::get().setFCUPower(false);
+    IFPGA::get().setCoolantPumpPower(false);
 
     Events::SummaryState::setState(MTM1M3TS_shared_SummaryStates_DisabledState);
     ackComplete();
@@ -150,13 +161,13 @@ void SAL_coolantPumpPower::execute() {
 }
 
 void SAL_coolantPumpStart::execute() {
-    IFPGA::get().coolantPumpStartStop(true);
+    IFPGA::get().next_vfd->start();
     ackComplete();
     SPDLOG_INFO("Glycol coolant pump started");
 }
 
 void SAL_coolantPumpStop::execute() {
-    IFPGA::get().coolantPumpStartStop(false);
+    IFPGA::get().next_vfd->stop();
     ackComplete();
     SPDLOG_INFO("Glycol coolant pump stopped");
 }
@@ -170,13 +181,13 @@ bool SAL_coolantPumpFrequency::validate() {
 }
 
 void SAL_coolantPumpFrequency::execute() {
-    IFPGA::get().setCoolantPumpFrequency(params.targetFrequency);
+    IFPGA::get().next_vfd->setFrequency(params.targetFrequency);
     ackComplete();
     SPDLOG_INFO("Changed coolant pump target frequency to {:0.02f} Hz", params.targetFrequency);
 }
 
 void SAL_coolantPumpReset::execute() {
-    IFPGA::get().coolantPumpReset();
+    IFPGA::get().next_vfd->resetCommand();
     ackComplete();
     SPDLOG_INFO("Coolant pump reseted");
 }

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

@@ -23,11 +23,12 @@
 #ifndef _TS_Command_SAL
 #define _TS_Command_SAL
 
-#include <TSPublisher.h>
 #include <SAL_MTM1M3TS.h>
 
 #include <cRIO/SAL/Command.h>
 
+#include <TSPublisher.h>
+
 namespace LSST {
 namespace M1M3 {
 namespace TS {

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

@@ -25,17 +25,21 @@
 #include <cRIO/ThermalILC.h>
 
 #include "Commands/Update.h"
-#include "TSApplication.h"
 
 #include "Events/EnabledILC.h"
+#include "Events/GlycolPumpStatus.h"
 #include "Events/Heartbeat.h"
 #include "Events/SummaryState.h"
 
+#include "Settings/FlowMeter.h"
+#include "Settings/GlycolPump.h"
+
 #include "Telemetry/VFDSAL.h"
 #include "Telemetry/GlycolLoopTemperature.h"
 #include "Telemetry/MixingValve.h"
 #include "Telemetry/ThermalData.h"
-#include "Events/GlycolPumpStatus.h"
+
+#include "TSApplication.h"
 
 using namespace LSST::M1M3::TS::Commands;
 
@@ -51,8 +55,13 @@ void Update::execute() {
 
     Events::Heartbeat::instance().tryToggle();
 
-    _sendFlowMeter();
-    _sendVFD();
+    if (Settings::FlowMeter::instance().enabled) {
+        _sendFlowMeter();
+    }
+
+    if (Settings::GlycolPump::instance().enabled) {
+        _sendVFD();
+    }
 
     SPDLOG_TRACE("Commands::Update leaving execute");
 }
@@ -97,18 +106,24 @@ void Update::_sendFCU() {
 
 void Update::_sendFlowMeter() {
     try {
-        IFPGA::get().flowMeter->runLoop(IFPGA::get());
+        bool finished = IFPGA::get().flowMeter->runLoop(IFPGA::get());
+        if (finished) {
+            IFPGA::get().setNextFlowMeter();
+        }
     } catch (std::exception &e) {
         SPDLOG_WARN("Cannot poll Flow Meter: {}", e.what());
-        IFPGA::get().flowMeter->clearCommanded();
+        IFPGA::get().setNextFlowMeter();
     }
 }
 
 void Update::_sendVFD() {
     try {
-        IFPGA::get().vfd->runLoop(IFPGA::get());
+        bool finished = IFPGA::get().vfd->runLoop(IFPGA::get());
+        if (finished) {
+            IFPGA::get().setNextVFD();
+        }
     } catch (std::exception &e) {
         SPDLOG_WARN("Cannot poll VFD: {}", e.what());
-        IFPGA::get().vfd->clearCommanded();
+        IFPGA::get().setNextVFD();
     }
 }

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

@@ -23,16 +23,23 @@
 #include <spdlog/spdlog.h>
 
 #include <cRIO/ThermalILC.h>
-#include <TSPublisher.h>
+
 #include <Events/EnabledILC.h>
+#include <Settings/Thermal.h>
+#include <TSPublisher.h>
 
 using namespace LSST::M1M3::TS;
 using namespace LSST::M1M3::TS::Events;
 
-EnabledILC::EnabledILC(token) : _updated(true) {
-    for (int i = 0; i < LSST::cRIO::NUM_TS_ILC; i++) {
+EnabledILC::EnabledILC(token) : _updated(true) { reset(); }
+
+void EnabledILC::reset() {
+    for (size_t i = 0; i < cRIO::NUM_TS_ILC; i++) {
         enabled[i] = true;
+        autoDisabled[i] = false;
+        errorCount[i] = 0;
     }
+    _updated = true;
 }
 
 void EnabledILC::setEnabled(uint8_t ilc, bool newState) {
@@ -44,6 +51,17 @@ void EnabledILC::setEnabled(uint8_t ilc, bool newState) {
 
 bool EnabledILC::isEnabled(uint8_t ilc) { return enabled[ilc]; }
 
+void EnabledILC::communicationProblem(uint8_t ilc) {
+    errorCount[ilc]++;
+    if (Settings::Thermal::instance().autoDisable) {
+        if (errorCount[ilc] > Settings::Thermal::instance().failuresToDisable) {
+            autoDisabled[ilc] = true;
+            setEnabled(ilc, false);
+        }
+    }
+    _updated = true;
+}
+
 void EnabledILC::send() {
     if (_updated == false) {
         return;

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

@@ -35,18 +35,33 @@ class EnabledILC final : MTM1M3TS_logevent_enabledILCC, public cRIO::Singleton<E
 public:
     EnabledILC(token);
 
+    /**
+     * Clears failed ILC counts.
+     */
+    void reset();
+
     /**
      * Enabled / disable ILC.
      */
     void setEnabled(uint8_t ilc, bool newState);
 
     bool isEnabled(uint8_t ilc);
 
+    /**
+     * Called when an ILC experienced communication problem. Auto disable ILC
+     * if communication errors cross a counter.
+     */
+    void communicationProblem(uint8_t ilc);
+
     /**
      * Sends updates through SAL/DDS.
      */
     void send();
 
+    // TODO move to SAL/DDS
+    int errorCount[cRIO::NUM_TS_ILC];
+    bool autoDisabled[cRIO::NUM_TS_ILC];
+
 private:
     bool _updated;
 };