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Refactoring MQTT to support telemetry

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This commit is contained in:
Ryan Summers 2021-04-22 15:16:33 +02:00
parent 82787e2aab
commit 36cc423f70
5 changed files with 146 additions and 56 deletions
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6
Cargo.lock generated
View File

@ -203,7 +203,7 @@ dependencies = [
[[package]]
name = "derive_miniconf"
version = "0.1.0"
source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
source = "git+https://github.com/quartiq/miniconf.git?branch=feature/mqtt-removal#6b6b9d7973ac5b4771c211c775c51f82d4a7727f"
dependencies = [
"proc-macro2",
"quote",
@ -416,11 +416,10 @@ dependencies = [
[[package]]
name = "miniconf"
version = "0.1.0"
source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
source = "git+https://github.com/quartiq/miniconf.git?branch=feature/mqtt-removal#6b6b9d7973ac5b4771c211c775c51f82d4a7727f"
dependencies = [
"derive_miniconf",
"heapless 0.6.1",
"minimq",
"serde",
"serde-json-core",
]
@ -742,6 +741,7 @@ dependencies = [
"log",
"mcp23017",
"miniconf",
"minimq",
"nb 1.0.0",
"panic-semihosting",
"paste",

4
Cargo.toml
View File

@ -56,13 +56,13 @@ version = "0.9.0"
[patch.crates-io.miniconf]
git = "https://github.com/quartiq/miniconf.git"
rev = "314fa5587d"
branch = "feature/mqtt-removal"
[dependencies.smoltcp-nal]
git = "https://github.com/quartiq/smoltcp-nal.git"
rev = "8468f11"
[patch.crates-io.minimq]
[dependencies.minimq]
git = "https://github.com/quartiq/minimq.git"
rev = "933687c2e4b"

22
src/bin/dual-iir.rs
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@ -13,7 +13,7 @@ use hardware::{
InputPin, AFE0, AFE1,
};
use net::{Action, MiniconfInterface};
use net::{Action, MqttInterface};
const SCALE: f32 = i16::MAX as _;
@ -46,7 +46,7 @@ const APP: () = {
digital_input1: DigitalInput1,
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
mqtt_config: MiniconfInterface<Settings>,
mqtt: MqttInterface<Settings>,
// Format: iir_state[ch][cascade-no][coeff]
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
@ -59,7 +59,7 @@ const APP: () = {
// Configure the microcontroller
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
let mqtt_config = MiniconfInterface::new(
let mqtt = MqttInterface::new(
stabilizer.net.stack,
"",
&net::get_device_prefix(
@ -86,7 +86,7 @@ const APP: () = {
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
mqtt_config,
mqtt,
digital_input1: stabilizer.digital_inputs.1,
settings: Settings::default(),
}
@ -143,14 +143,10 @@ const APP: () = {
}
}
#[idle(resources=[mqtt_config], spawn=[settings_update])]
#[idle(resources=[mqtt], spawn=[settings_update])]
fn idle(mut c: idle::Context) -> ! {
loop {
match c
.resources
.mqtt_config
.lock(|config_interface| config_interface.update())
{
match c.resources.mqtt.lock(|mqtt| mqtt.update()) {
Some(Action::Sleep) => cortex_m::asm::wfi(),
Some(Action::UpdateSettings) => {
c.spawn.settings_update().unwrap()
@ -160,12 +156,12 @@ const APP: () = {
}
}
#[task(priority = 1, resources=[mqtt_config, afes, settings])]
#[task(priority = 1, resources=[mqtt, afes, settings])]
fn settings_update(mut c: settings_update::Context) {
let settings = &c.resources.mqtt_config.mqtt.settings;
let settings = c.resources.mqtt.settings();
// Update the IIR channels.
c.resources.settings.lock(|current| *current = *settings);
c.resources.settings.lock(|current| *current = settings);
// Update AFEs
c.resources.afes.0.set_gain(settings.afe[0]);

22
src/bin/lockin-external.rs
View File

@ -16,7 +16,7 @@ use stabilizer::hardware::{
};
use miniconf::Miniconf;
use stabilizer::net::{Action, MiniconfInterface};
use stabilizer::net::{Action, MqttInterface};
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
enum Conf {
@ -60,7 +60,7 @@ const APP: () = {
afes: (AFE0, AFE1),
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
mqtt_config: MiniconfInterface<Settings>,
mqtt: MqttInterface<Settings>,
settings: Settings,
timestamper: InputStamper,
@ -73,7 +73,7 @@ const APP: () = {
// Configure the microcontroller
let (mut stabilizer, _pounder) = setup(c.core, c.device);
let mqtt_config = MiniconfInterface::new(
let mqtt = MqttInterface::new(
stabilizer.net.stack,
"",
&net::get_device_prefix(
@ -113,7 +113,7 @@ const APP: () = {
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
mqtt_config,
mqtt,
timestamper: stabilizer.timestamper,
settings,
@ -195,14 +195,10 @@ const APP: () = {
}
}
#[idle(resources=[mqtt_config], spawn=[settings_update])]
#[idle(resources=[mqtt], spawn=[settings_update])]
fn idle(mut c: idle::Context) -> ! {
loop {
match c
.resources
.mqtt_config
.lock(|config_interface| config_interface.update())
{
match c.resources.mqtt.lock(|mqtt| mqtt.update()) {
Some(Action::Sleep) => cortex_m::asm::wfi(),
Some(Action::UpdateSettings) => {
c.spawn.settings_update().unwrap()
@ -212,14 +208,14 @@ const APP: () = {
}
}
#[task(priority = 1, resources=[mqtt_config, settings, afes])]
#[task(priority = 1, resources=[mqtt, settings, afes])]
fn settings_update(mut c: settings_update::Context) {
let settings = &c.resources.mqtt_config.mqtt.settings;
let settings = c.resources.mqtt.settings();
c.resources.afes.0.set_gain(settings.afe[0]);
c.resources.afes.1.set_gain(settings.afe[1]);
c.resources.settings.lock(|current| *current = *settings);
c.resources.settings.lock(|current| *current = settings);
}
#[task(binds = ETH, priority = 1)]

146
src/net/mod.rs
View File

@ -2,10 +2,10 @@ use crate::hardware::{
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
};
use core::fmt::Write;
use core::{cell::RefCell, fmt::Write};
use heapless::{consts, String};
use miniconf::minimq;
use heapless::{consts, String, Vec};
use serde::Serialize;
/// Potential actions for firmware to take.
pub enum Action {
@ -17,19 +17,22 @@ pub enum Action {
}
/// MQTT settings interface.
pub struct MiniconfInterface<S>
pub struct MqttInterface<S>
where
S: miniconf::Miniconf + Default,
S: miniconf::Miniconf + Default + Clone,
{
pub mqtt: miniconf::MqttInterface<S, NetworkStack, minimq::consts::U256>,
telemetry_topic: String<consts::U128>,
mqtt: RefCell<minimq::MqttClient<minimq::consts::U256, NetworkStack>>,
miniconf: RefCell<miniconf::MiniconfInterface<S>>,
clock: CycleCounter,
phy: EthernetPhy,
network_was_reset: bool,
subscribed: bool,
}
impl<S> MiniconfInterface<S>
impl<S> MqttInterface<S>
where
S: miniconf::Miniconf + Default,
S: miniconf::Miniconf + Default + Clone,
{
/// Construct a new MQTT settings interface.
///
@ -46,21 +49,23 @@ where
phy: EthernetPhy,
clock: CycleCounter,
) -> Self {
let mqtt = {
let mqtt_client = {
let mqtt_client =
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
.unwrap()
};
.unwrap();
let config =
miniconf::MiniconfInterface::new(prefix, S::default()).unwrap();
miniconf::MqttInterface::new(mqtt_client, prefix, S::default())
.unwrap()
};
let mut telemetry_topic: String<consts::U128> = String::new();
write!(&mut telemetry_topic, "{}/telemetry", prefix).unwrap();
Self {
mqtt,
mqtt: RefCell::new(mqtt_client),
miniconf: RefCell::new(config),
clock,
phy,
telemetry_topic,
network_was_reset: false,
subscribed: false,
}
}
@ -72,7 +77,7 @@ where
let now = self.clock.current_ms();
// First, service the network stack to process and inbound and outbound traffic.
let sleep = match self.mqtt.network_stack().poll(now) {
let sleep = match self.mqtt.borrow_mut().network_stack.poll(now) {
Ok(updated) => !updated,
Err(err) => {
log::info!("Network error: {:?}", err);
@ -87,19 +92,93 @@ where
// sending an excessive number of DHCP requests.
if !self.network_was_reset {
self.network_was_reset = true;
self.mqtt.network_stack().handle_link_reset();
self.mqtt.borrow_mut().network_stack.handle_link_reset();
}
} else {
self.network_was_reset = false;
}
// Finally, service the MQTT interface and handle any necessary messages.
match self.mqtt.update() {
Ok(true) => Some(Action::UpdateSettings),
Ok(false) if sleep => Some(Action::Sleep),
Ok(_) => None,
// If we're no longer subscribed to the settings topic, but we are connected to the broker,
// resubscribe.
if !self.subscribed && self.mqtt.borrow_mut().is_connected().unwrap() {
self.mqtt
.borrow_mut()
.subscribe(
self.miniconf.borrow_mut().get_listening_topic(),
&[],
)
.unwrap();
self.subscribed = true;
}
Err(miniconf::MqttError::Network(
let mut update = false;
// Handle any MQTT traffic.
match self.mqtt.borrow_mut().poll(
|client, topic, message, properties| {
// Find correlation-data and response topics.
let correlation_data = properties.iter().find_map(|prop| {
if let minimq::Property::CorrelationData(data) = prop {
Some(*data)
} else {
None
}
});
let response_topic = properties.iter().find_map(|prop| {
if let minimq::Property::ResponseTopic(topic) = prop {
Some(*topic)
} else {
None
}
});
let incoming = miniconf::Message {
data: message,
correlation_data,
response_topic,
};
if let Some(response) =
self.miniconf.borrow_mut().process(topic, incoming)
{
let mut response_properties: Vec<
minimq::Property,
consts::U1,
> = Vec::new();
if let Some(data) = response.correlation_data {
response_properties
.push(minimq::Property::CorrelationData(data))
.unwrap();
}
// Make a best-effort attempt to send the response.
client
.publish(
response.topic,
&response.data.into_bytes(),
minimq::QoS::AtMostOnce,
&response_properties,
)
.ok();
update = true;
}
},
) {
// If settings updated,
Ok(_) => {
if update {
Some(Action::UpdateSettings)
} else if sleep {
Some(Action::Sleep)
} else {
None
}
}
Err(minimq::Error::Disconnected) => {
self.subscribed = false;
None
}
Err(minimq::Error::Network(
smoltcp_nal::NetworkError::NoIpAddress,
)) => None,
@ -109,6 +188,25 @@ where
}
}
}
pub fn publish_telemetry(&mut self, telemetry: &impl Serialize) {
let telemetry =
miniconf::serde_json_core::to_string::<consts::U256, _>(telemetry)
.unwrap();
self.mqtt
.borrow_mut()
.publish(
&self.telemetry_topic,
telemetry.as_bytes(),
minimq::QoS::AtMostOnce,
&[],
)
.ok();
}
pub fn settings(&self) -> S {
self.miniconf.borrow().settings.clone()
}
}
/// Get the MQTT prefix of a device.