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Merge branch 'feature/loopback-hitl' into feature/streaming-hitl

master
Ryan Summers 2021-08-06 14:00:32 +02:00
parent 824b6763e1 a6b98ab877
commit 44723cd460
10 changed files with 23 additions and 195 deletions
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19
docs/pages/usage.md
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@ -25,15 +25,22 @@ to another. Disambiguation of devices is done by using Stabilizer's MAC address.
Settings are specific to an application. If two identical settings exist for two different
applications, each application maintains its own independent value.
### Setup
### Installation
Install the Miniconf configuration utilities:
```
python -m pip install git+https://github.com/quartiq/miniconf#subdirectory=miniconf-py
```
In order to use `miniconf.py`, run the following command:
To use `miniconf`, execute it as follows:
```
python -m pip install gmqtt
python -m miniconf --help
```
Miniconf also exposes a programmatic Python API, so it's possible to write automation scripting of
Stabilizer as well.
### Usage
The `miniconf.py` script utilizes a unique "device prefix". The device prefix is always of the
The Miniconf Python utility utilizes a unique "device prefix". The device prefix is always of the
form `dt/sinara/<app>/<mac-address>`, where `<app>` is the name of the application and
`<mac-address>` is the MAC address of the device, formatted with delimiting dashes.
@ -46,7 +53,7 @@ used:
* `value` = `{"ip": [192, 168, 0, 1], "port": 4000}`
```
python miniconf.py --broker 10.34.16.10 dt/sinara/dual-iir/00-11-22-33-44-55 stream_target='{"ip": [10, 34, 16, 123], "port": 4000}'
python -m miniconf --broker 10.34.16.10 dt/sinara/dual-iir/00-11-22-33-44-55 stream_target='{"ip": [10, 34, 16, 123], "port": 4000}'
Where `10.34.16.10` is the MQTT broker address that matches the one configured in the source code and `10.34.16.123` and `4000` are the desire stream target IP and port.
```
@ -61,7 +68,7 @@ The rules for constructing `path` values are documented in [`miniconf`'s
documentation](https://github.com/quartiq/miniconf#settings-paths)
Refer to the documentation for [Miniconf]({{site.baseurl}}/firmware/miniconf/enum.Error.html) for a
description of the possible error codes that `miniconf.py` may return if the settings update was
description of the possible error codes that Miniconf may return if the settings update was
unsuccessful.
## Telemetry

12
hitl/loopback.py
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@ -95,12 +95,12 @@ async def test_loopback(miniconf, telemetry, set_point):
print(f'Testing loopback for Vout = {set_point:.2f}')
print('---------------------------------')
# Configure the IIRs to output at the set point
assert (await miniconf.command('iir_ch/0/0', static_iir_output(set_point)))['code'] == 0
assert (await miniconf.command('iir_ch/1/0', static_iir_output(set_point)))['code'] == 0
assert (await miniconf.command('telemetry_period', 1))['code'] == 0
await miniconf.command('iir_ch/0/0', static_iir_output(set_point), retain=False)
await miniconf.command('iir_ch/1/0', static_iir_output(set_point), retain=False)
await miniconf.command('telemetry_period', 1, retain=False)
# Wait for telemetry values to update.
await asyncio.sleep(2.0)
await asyncio.sleep(5.0)
# Verify the ADCs are receiving the setpoint voltage.
tolerance = max(0.05 * set_point, MINIMUM_VOLTAGE_ERROR)
@ -133,8 +133,8 @@ def main():
# Repeat test with AFE = 2x
print('Configuring AFEs to 2x input')
assert (await interface.command('afe/0', "G2"))['code'] == 0
assert (await interface.command('afe/1', "G2"))['code'] == 0
await interface.command('afe/0', "G2", retain=False)
await interface.command('afe/1', "G2", retain=False)
await test_loopback(interface, telemetry, 1.0)
# Test with 0V output

5
hitl/run.sh
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@ -13,7 +13,10 @@ set -eux
# Set up python for testing
python3 -m venv --system-site-packages py
. py/bin/activate
python3 -m pip install miniconf-py/
# Install Miniconf utilities for configuring stabilizer.
python3 -m pip install git+https://github.com/quartiq/miniconf#subdirectory=miniconf-py
python3 -m pip install gmqtt
cargo flash --chip STM32H743ZITx --elf target/thumbv7em-none-eabihf/release/dual-iir

3
miniconf-py/.gitignore vendored
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@ -1,3 +0,0 @@
__pycache__/
*.egg
*.egg-info/

6
miniconf-py/README.md
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@ -1,6 +0,0 @@
# Miniconf Python Utility
This directory contains a Python package for interacting with Miniconf utilities.
## Installation
Run `pip install .` from this directory to install the `miniconf` package.

3
miniconf-py/miniconf/__init__.py
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@ -1,3 +0,0 @@
#!/usr/bin/python3
from .miniconf import Miniconf
from .version import __version__

53
miniconf-py/miniconf/__main__.py
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@ -1,53 +0,0 @@
#!/usr/bin/python3
import sys
import argparse
from .miniconf import Miniconf
def main():
""" Main program entry point. """
parser = argparse.ArgumentParser(
description='Miniconf command line interface.',
formatter_class=argparse.RawDescriptionHelpFormatter,
epilog='''Examples:
%(prog)s dt/sinara/dual-iir/00-11-22-33-aa-bb iir_ch/0/0=\
'{"y_min":-32767,"y_max":32767,"y_offset":0,"ba":[1.0,0,0,0,0]}'
%(prog)s dt/sinara/lockin/00-11-22-33-aa-bb afe/0='"G2"'\
''')
parser.add_argument('-v', '--verbose', action='count', default=0,
help='Increase logging verbosity')
parser.add_argument('--broker', '-b', default='mqtt', type=str,
help='The MQTT broker address')
parser.add_argument('--no-retain', '-n', default=False,
action='store_true',
help='Do not retain the affected settings')
parser.add_argument('prefix', type=str,
help='The MQTT topic prefix of the target')
parser.add_argument('settings', metavar="PATH=VALUE", nargs='+',
help='JSON encoded values for settings path keys.')
args = parser.parse_args()
logging.basicConfig(
format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
level=logging.WARN - 10*args.verbose)
loop = asyncio.get_event_loop()
async def configure_settings():
interface = await Miniconf.create(args.prefix, args.broker)
for setting in args.settings:
path, value = setting.split("=", 1)
response = await interface.command(path, json.loads(value),
not args.no_retain)
print(f'{path}: {response}')
if response['code'] != 0:
return response['code']
return 0
sys.exit(loop.run_until_complete(configure_settings()))
if __name__ == '__main__':
main()

93
miniconf-py/miniconf/miniconf.py
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@ -1,93 +0,0 @@
#!/usr/bin/python
"""
Author: Vertigo Designs, Ryan Summers
Robert Jördens
Description: Provides an API for controlling Miniconf devices over MQTT.
"""
import asyncio
import json
import logging
import uuid
from gmqtt import Client as MqttClient
LOGGER = logging.getLogger(__name__)
class Miniconf:
"""An asynchronous API for controlling Miniconf devices using MQTT."""
@classmethod
async def create(cls, prefix, broker):
"""Create a connection to the broker and a Miniconf device using it."""
client = MqttClient(client_id='')
await client.connect(broker)
return cls(client, prefix)
def __init__(self, client, prefix):
"""Constructor.
Args:
client: A connected MQTT5 client.
prefix: The MQTT toptic prefix of the device to control.
"""
self.request_id = 0
self.client = client
self.prefix = prefix
self.inflight = {}
self.client.on_message = self._handle_response
self.response_topic = f'{prefix}/response/{uuid.uuid1().hex}'
self.client.subscribe(self.response_topic)
def _handle_response(self, _client, topic, payload, _qos, properties):
"""Callback function for when messages are received over MQTT.
Args:
_client: The MQTT client.
topic: The topic that the message was received on.
payload: The payload of the message.
_qos: The quality-of-service level of the received packet
properties: A dictionary of properties associated with the message.
"""
if topic == self.response_topic:
# Extract request_id corrleation data from the properties
request_id = int.from_bytes(
properties['correlation_data'][0], 'big')
self.inflight[request_id].set_result(json.loads(payload))
del self.inflight[request_id]
else:
LOGGER.warning('Unexpected message on "%s"', topic)
async def command(self, path, value, retain=True):
"""Write the provided data to the specified path.
Args:
path: The path to write the message to.
value: The value to write to the path.
retain: Retain the MQTT message changing the setting
by the broker.
Returns:
The response to the command as a dictionary.
"""
topic = f'{self.prefix}/settings/{path}'
fut = asyncio.get_running_loop().create_future()
# Assign unique correlation data for response dispatch
assert self.request_id not in self.inflight
self.inflight[self.request_id] = fut
correlation_data = self.request_id.to_bytes(4, 'big')
self.request_id += 1
payload = json.dumps(value)
LOGGER.info('Sending "%s" to "%s"', value, topic)
self.client.publish(
topic, payload=payload, qos=0, retain=retain,
response_topic=self.response_topic,
correlation_data=correlation_data)
return await fut

3
miniconf-py/miniconf/version.py
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@ -1,3 +0,0 @@
#!/usr/bin/python3
__version__ = '1.0.0'

21
miniconf-py/setup.py
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@ -1,21 +0,0 @@
#!/usr/bin/python3
"""
Author: Vertigo Designs, Ryan Summers
Description: Setup file for Miniconf packaging.
"""
from setuptools import setup, find_packages
# Load the version string from the version file.
execfile('miniconf/version.py')
setup(name='miniconf',
version=__version__,
author='Ryan Summers, Robert Jördens',
description='Utilities for configuring Miniconf-configurable devices',
url='https://github.com/quartiq/miniconf',
packages=find_packages(),
install_requires=[
'gmqtt'
],
)