Merge pull request #293 from quartiq/miniconf-cli

miniconf cli

README.md

@@ -3,42 +3,44 @@
 
 # Stabilizer Firmware
 
+## Hardware
+
+[![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)](https://github.com/sinara-hw/Stabilizer)
+
+## Applications
+
+The Stabilizer firmware offeres a library of hardware and software functionality
+exposing input/output, timing, and digital signal processing features.
+An application can compose and configure these hardware and software components
+to implement different use cases. Several applications are provides by default
+
+### Dual-IIR
+
 ![Flow diagram](stabilizer_pid.svg)
 
-![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)
-
-## Features
-
 * dual channel
 * SPI ADC
 * SPI DAC
-* 500 kHz rate, timed sampling
+* up to 800 kHz rate, timed sampling
-* 2 µs latency, unmatched between channels
+* down to 2 µs latency
 * f32 IIR math
 * generic biquad (second order) IIR filter
 * anti-windup
 * derivative kick avoidance
 
-## Limitations/TODOs
+### Lockin external
 
-* Fixed AFE gains
+### Lockin internal
-* The IP and MAC address are [hardcoded](src/hardware/configuration.rs)
-* Expose configurable limits
-* 100Base-T only
-* Digital IO, GPIO header, AFE header, EEM header are not handled
-
-## Hardware
-
-See https://github.com/sinara-hw/Stabilizer
 
 ## Minimal bootstrapping documentation
 
 * Clone or download this
 * Get [rustup](https://rustup.rs/)
-* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
 * `rustup target add thumbv7em-none-eabihf`
 * `cargo build --release`
-* Do not try the debug (default) mode. It is guaranteed to panic.
+* When using debug (non `--release`) mode, increase the sample interval significantly.
+  The added error checking code and missing optimizations may lead to the code
+  missing deadlines and panicing.
 
 ### Using Cargo-embed
 
@@ -55,30 +57,24 @@ See https://github.com/sinara-hw/Stabilizer
 * `openocd -f stabilizer.cfg` and leave it running
 * `cargo run --release`
 
-[^swd]: Build a cable: connect a standard 8 conductor ribbon with the wires numbered
-  `1-8` to the pins on the St-Link v2 single row 2.54mm connector as `647513(82)`
-  (`(i)` marks an unused wire)
-  and to the [1.27mm dual row](https://www.digikey.de/short/p41h0n) on Stabilizer as `657483x2x1`
-  (`x` marks an unused pin, enumeration is standard for dual row, as in the
-  schematic).
-  It's just folding the ribbon between wires `5` and `6`. The signals on the ribbon
-  are then `NRST,TDI,TDO,TCK,TMS,3V3,GND,GND`.
-
 ### Using USB-DFU
 
 * Install the DFU USB tool (`dfu-util`)
 * Connect to the Micro USB connector below the RJ45
 * Short JC2/BOOT
+* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
 * `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
 * `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
 
 ### Using ST-Link virtual mass storage
 
+* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
 * `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
 * Connect the ST-Link debugger
 * copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
 
 ## Protocol
 
-Stabilizer can be configured via MQTT under the topic `stabilizer/settings/<setting>`. Refer to
+Stabilizer can be configured via MQTT. Refer to
 [`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
+A basic command line interface is available in [`miniconf.py`](miniconf.py).

miniconf.py

@@ -0,0 +1,117 @@
+#!/usr/bin/python
+"""
+Author: Vertigo Designs, Ryan Summers
+        Robert Jördens
+
+Description: Provides an API for controlling Miniconf devices over MQTT.
+"""
+import argparse
+import asyncio
+import json
+import logging
+
+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.client = client
+        self.prefix = prefix
+        self.inflight = {}
+        self.client.on_message = self._handle_response
+        self.client.subscribe(f'{prefix}/response/#')
+
+    def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
+        """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.
+        """
+        if topic not in self.inflight:
+            # TODO use correlation_data to distinguish clients and requests
+            logger.warning('Unexpected response on topic: %s', topic)
+            return
+
+        self.inflight[topic].set_result(payload.decode('ascii'))
+        del self.inflight[topic]
+
+    async def command(self, path, value):
+        """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.
+
+        Returns:
+            The received response to the command.
+        """
+        setting_topic = f'{self.prefix}/settings/{path}'
+        response_topic = f'{self.prefix}/response/{path}'
+        if response_topic in self.inflight:
+            # TODO use correlation_data to distinguish clients and requests
+            raise NotImplementedError(
+                    'Only one in-flight message per topic is supported')
+
+        value = json.dumps(value)
+        logger.info('Sending %s to "%s"', value, setting_topic)
+        fut = asyncio.get_running_loop().create_future()
+        self.inflight[response_topic] = fut
+        self.client.publish(setting_topic, payload=value, qos=0, retain=True,
+                            response_topic=response_topic)
+        return await fut
+
+
+def main():
+    parser = argparse.ArgumentParser(
+            description='Miniconf command line interface.',
+            epilog='''Example:
+            %(prog)s -v -b mqtt dt/sinara/stabilizer afe/0 '"G10"'
+            ''')
+    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('prefix', type=str,
+                        help='The MQTT topic prefix of the target')
+    parser.add_argument('path', type=str,
+                        help='The setting path to configure')
+    parser.add_argument('value', type=str,
+                        help='The value of setting in JSON format')
+
+    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)
+        response = await interface.command(args.path, json.loads(args.value))
+        print(f"Response: {response}")
+
+    loop.run_until_complete(configure_settings())
+
+
+if __name__ == '__main__':
+    main()

src/bin/dual-iir.rs

@@ -6,10 +6,7 @@ use stm32h7xx_hal as hal;
 
 use stabilizer::hardware;
 
-use miniconf::{
+use miniconf::{minimq, Miniconf, MqttInterface};
-    embedded_nal::{IpAddr, Ipv4Addr},
-    minimq, Miniconf, MqttInterface,
-};
 use serde::Deserialize;
 
 use dsp::iir;
@@ -62,12 +59,19 @@ const APP: () = {
 
         let mqtt_interface = {
             let mqtt_client = {
-                let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 1));
+                minimq::MqttClient::new(
-                minimq::MqttClient::new(broker, "", stabilizer.net.stack)
+                    hardware::design_parameters::MQTT_BROKER.into(),
+                    "",
+                    stabilizer.net.stack,
+                )
                 .unwrap()
             };
 
-            MqttInterface::new(mqtt_client, "stabilizer", Settings::default())
+            MqttInterface::new(
+                mqtt_client,
+                "dt/sinara/stabilizer",
+                Settings::default(),
+            )
             .unwrap()
         };
 

src/bin/lockin-external.rs

@@ -4,10 +4,7 @@
 
 use generic_array::typenum::U4;
 
-use miniconf::{
+use miniconf::{minimq, Miniconf, MqttInterface};
-    embedded_nal::{IpAddr, Ipv4Addr},
-    minimq, Miniconf, MqttInterface,
-};
 use serde::Deserialize;
 
 use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
@@ -77,13 +74,18 @@ const APP: () = {
         let (mut stabilizer, _pounder) = setup(c.core, c.device);
 
         let mqtt_interface = {
-            let mqtt_client = {
+            let mqtt_client = minimq::MqttClient::new(
-                let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 10));
+                design_parameters::MQTT_BROKER.into(),
-                minimq::MqttClient::new(broker, "", stabilizer.net.stack)
+                "",
-                    .unwrap()
+                stabilizer.net.stack,
-            };
+            )
+            .unwrap();
 
-            MqttInterface::new(mqtt_client, "lockin", Settings::default())
+            MqttInterface::new(
+                mqtt_client,
+                "dt/sinara/lockin",
+                Settings::default(),
+            )
             .unwrap()
         };
 

src/hardware/design_parameters.rs

@@ -49,3 +49,6 @@ pub const ADC_SAMPLE_TICKS: u16 = 1 << ADC_SAMPLE_TICKS_LOG2;
 // The desired ADC sample processing buffer size.
 pub const SAMPLE_BUFFER_SIZE_LOG2: u8 = 3;
 pub const SAMPLE_BUFFER_SIZE: usize = 1 << SAMPLE_BUFFER_SIZE_LOG2;
+
+// The MQTT broker IPv4 address
+pub const MQTT_BROKER: [u8; 4] = [10, 34, 16, 10];

stabilizer.py

@@ -1,138 +0,0 @@
-#!/usr/bin/python
-"""
-Author: Vertigo Designs, Ryan Summers
-
-Description: Provides an API for controlling Stabilizer over Miniconf (MQTT).
-"""
-import argparse
-import asyncio
-import json
-import logging
-
-from gmqtt  import Client as MqttClient
-
-
-class MiniconfApi:
-    """ An asynchronous API for controlling Miniconf devices using the MQTT control interface. """
-
-    @classmethod
-    async def create(cls, identifier, broker):
-        """ Create a connection to MQTT for communication with the device. """
-        client = MqttClient(client_id='')
-        await client.connect(broker)
-        return cls(client, identifier)
-
-
-    def __init__(self, client, identifier):
-        """ Consructor.
-
-        Args:
-            client: A connected MQTT5 client.
-            identifier: The ID of the device to control.
-        """
-        self.client = client
-        self.identifier = identifier
-        self.client.on_message = self._handle_response
-        self.inflight_settings = dict()
-        self.logger = logging.getLogger('stabilizer.miniconf')
-
-        self.client.subscribe(f'{identifier}/feedback/#')
-
-
-    def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
-        """ 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.
-        """
-        if topic not in self.inflight_settings:
-            self.logger.warning('Unknown response topic: %s', topic)
-            return
-
-        # Indicate a response was received for the provided topic.
-        self.inflight_settings[topic].set_result(payload.decode('ascii'))
-
-
-    async def command(self, path, value):
-        """ Write the provided data to the specified path.
-
-        Args:
-            setting: The path to write the message to.
-            value: The value to write to the path.
-
-        Returns:
-            The received response to the command.
-        """
-        setting_topic = f'{self.identifier}/{path}'
-        response_topic = f'{self.identifier}/feedback/{path}'
-        assert response_topic not in self.inflight_settings, \
-            'Only one in-flight message per topic is supported'
-
-        self.logger.debug('Sending %s to "%s"', value, setting_topic)
-        self.inflight_settings[response_topic] = asyncio.get_running_loop().create_future()
-        self.client.publish(setting_topic, payload=value, qos=0, retain=False,
-                            response_topic=response_topic)
-
-        response = await self.inflight_settings[response_topic]
-        del self.inflight_settings[response_topic]
-
-        return response
-
-
-async def configure_settings(args):
-    """ Configure an RF channel. """
-    logger = logging.getLogger('stabilizer')
-
-    # Establish a communication interface with stabilizer.
-    interface = await MiniconfApi.create(args.stabilizer, args.broker)
-
-    request = None
-
-    # In the exceptional case that this is a terminal value, there is no key available and only a
-    # single value.
-    if len(args.values) == 1 and '=' not in args.values[0]:
-        if args.values[0][0].isalpha():
-            request = args.values[0]
-        else:
-            request = json.loads(args.values[0])
-    else:
-        # Convert all of the values into a key-value list.
-        request = dict()
-        for pair in args.values:
-            key, value = pair.split('=')
-            request[str(key)] = json.loads(value)
-    logger.debug('Parsed request: %s', request)
-
-    response = await interface.command(f'settings/{args.setting}', json.dumps(request))
-    logger.info(response)
-
-
-def main():
-    """ Main program entry point. """
-    parser = argparse.ArgumentParser(description='Stabilizer settings modification utility')
-    parser.add_argument('--stabilizer', type=str, default='stabilizer',
-                        help='The identifier of the stabilizer to configure')
-    parser.add_argument('--setting', required=True, type=str, help='The setting path to configure')
-    parser.add_argument('--broker', default='10.34.16.1', type=str, help='The MQTT broker address')
-    parser.add_argument('values', nargs='+', type=str,
-                        help='The value of settings. key=value list or a single value is accepted.')
-    parser.add_argument('-v', '--verbose', action='store_true', help='Enable verbose logging')
-
-    args = parser.parse_args()
-
-    logger = logging.getLogger('stabilizer')
-    logger.setLevel(logging.INFO)
-
-    if args.verbose:
-        logger.setLevel(logging.DEBUG)
-
-    logging.basicConfig(format='%(asctime)s [%(levelname)s] %(message)s')
-
-    loop = asyncio.get_event_loop()
-    loop.run_until_complete(configure_settings(args))
-
-
-if __name__ == '__main__':
-    main()