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Merge branch 'master' into rj/itcm

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11 changed files with 453 additions and 350 deletions
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3
.github/workflows/release.yml vendored
View File

@ -25,8 +25,7 @@ jobs:
- run: >
zip bin.zip
target/*/release/dual-iir
target/*/release/lockin-external
target/*/release/lockin-internal
target/*/release/lockin
- id: create_release
uses: actions/create-release@v1
env:

23
Cargo.lock generated
View File

@ -206,7 +206,7 @@ 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?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
dependencies = [
"proc-macro2",
"quote",
@ -419,11 +419,9 @@ 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?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
dependencies = [
"derive_miniconf",
"heapless 0.6.1",
"minimq",
"serde",
"serde-json-core",
]
@ -431,7 +429,7 @@ dependencies = [
[[package]]
name = "minimq"
version = "0.2.0"
source = "git+https://github.com/quartiq/minimq.git?rev=933687c2e4b#933687c2e4bc8a4d972de9a4d1508b0b554a8b38"
source = "git+https://github.com/quartiq/minimq.git?rev=b3f364d#b3f364d55dea35da6572f78ddb91c87bfbb453bf"
dependencies = [
"bit_field",
"embedded-nal",
@ -655,6 +653,12 @@ dependencies = [
"semver",
]
[[package]]
name = "ryu"
version = "1.0.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "71d301d4193d031abdd79ff7e3dd721168a9572ef3fe51a1517aba235bd8f86e"
[[package]]
name = "semver"
version = "0.9.0"
@ -681,10 +685,12 @@ dependencies = [
[[package]]
name = "serde-json-core"
version = "0.2.0"
source = "git+https://github.com/rust-embedded-community/serde-json-core.git?rev=ee06ac91bc#ee06ac91bc43b72450a92198a00d9e5c5b9946d2"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "39af17f40c2a28d2c9a7918663ddc8a10f54cc6f109ead5c3f010869761df186"
dependencies = [
"heapless 0.5.6",
"heapless 0.6.1",
"ryu",
"serde",
]
@ -740,6 +746,7 @@ dependencies = [
"log",
"mcp23017",
"miniconf",
"minimq",
"nb 1.0.0",
"panic-semihosting",
"paste",

10
Cargo.toml
View File

@ -63,19 +63,15 @@ rev = "a2e3ad5"
[patch.crates-io.miniconf]
git = "https://github.com/quartiq/miniconf.git"
rev = "314fa5587d"
rev = "c6f2b28"
[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"
[patch.crates-io.serde-json-core]
git = "https://github.com/rust-embedded-community/serde-json-core.git"
rev = "ee06ac91bc"
rev = "b3f364d"
[features]
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]

4
README.md
View File

@ -29,9 +29,7 @@ to implement different use cases. Several applications are provides by default
* anti-windup
* derivative kick avoidance
### Lockin external
### Lockin internal
### Lockin
## Minimal bootstrapping documentation

76
miniconf.py
View File

@ -9,11 +9,12 @@ import argparse
import asyncio
import json
import logging
import sys
import uuid
from gmqtt import Client as MqttClient
logger = logging.getLogger(__name__)
LOGGER = logging.getLogger(__name__)
class Miniconf:
"""An asynchronous API for controlling Miniconf devices using MQTT."""
@ -32,27 +33,33 @@ class Miniconf:
client: A connected MQTT5 client.
prefix: The MQTT toptic prefix of the device to control.
"""
self.uuid = uuid.uuid1()
self.request_id = 0
self.client = client
self.prefix = prefix
self.inflight = {}
self.client.on_message = self._handle_response
self.client.subscribe(f'{prefix}/response/#')
self.client.subscribe(f'{prefix}/response/{self.uuid.hex}')
def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
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.
_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 not in self.inflight:
# TODO use correlation_data to distinguish clients and requests
logger.warning('Unexpected response on topic: %s', topic)
return
# Extract corrleation data from the properties
correlation_data = json.loads(properties['correlation_data'][0].decode('ascii'))
# Get the request ID from the correlation data
request_id = correlation_data['request_id']
self.inflight[request_id].set_result(json.loads(payload))
del self.inflight[request_id]
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.
@ -62,29 +69,37 @@ class Miniconf:
value: The value to write to the path.
Returns:
The received response to the command.
The response to the command as a dictionary.
"""
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')
response_topic = f'{self.prefix}/response/{self.uuid.hex}'
# Assign a unique identifier to this update request.
request_id = self.request_id
self.request_id += 1
assert request_id not in self.inflight, 'Invalid ID encountered'
correlation_data = json.dumps({
'request_id': request_id,
}).encode('ascii')
value = json.dumps(value)
logger.info('Sending %s to "%s"', value, setting_topic)
LOGGER.info('Sending %s to "%s"', value, setting_topic)
fut = asyncio.get_running_loop().create_future()
self.inflight[response_topic] = fut
self.inflight[request_id] = fut
self.client.publish(setting_topic, payload=value, qos=0, retain=True,
response_topic=response_topic)
response_topic=response_topic,
correlation_data=correlation_data)
return await fut
def main():
""" Main program entry point. """
parser = argparse.ArgumentParser(
description='Miniconf command line interface.',
formatter_class=argparse.RawDescriptionHelpFormatter,
epilog='''Examples:
description='Miniconf command line interface.',
formatter_class=argparse.RawDescriptionHelpFormatter,
epilog='''Examples:
%(prog)s dt/sinara/stabilizer afe/0='"G2"' iir_ch/0/0=\
'{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'
''')
@ -100,19 +115,22 @@ def main():
args = parser.parse_args()
logging.basicConfig(
format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
level=logging.WARN - 10*args.verbose)
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 kv in args.settings:
path, value = kv.split("=", 1)
for key_value in args.settings:
path, value = key_value.split("=", 1)
response = await interface.command(path, json.loads(value))
print(response)
print(f'{path}: {response}')
if response['code'] != 0:
return response['code']
return 0
loop.run_until_complete(configure_settings())
sys.exit(loop.run_until_complete(configure_settings()))
if __name__ == '__main__':

20
src/bin/dual-iir.rs
View File

@ -13,7 +13,7 @@ use hardware::{
InputPin, AFE0, AFE1,
};
use net::{Action, MiniconfInterface};
use net::{Action, MqttInterface};
const SCALE: f32 = i16::MAX as _;
@ -54,7 +54,7 @@ const APP: () = {
digital_input1: DigitalInput1,
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
mqtt_config: MiniconfInterface<Settings>,
mqtt: MqttInterface<Settings>,
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
@ -66,7 +66,7 @@ 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(
@ -93,7 +93,7 @@ const APP: () = {
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
mqtt_config,
mqtt,
digital_input1: stabilizer.digital_inputs.1,
settings: Settings::default(),
}
@ -152,14 +152,10 @@ 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()
@ -169,9 +165,9 @@ 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);

143
src/bin/lockin-internal.rs
View File

@ -1,143 +0,0 @@
#![deny(warnings)]
#![no_std]
#![no_main]
use dsp::{Accu, Complex, ComplexExt, Lockin};
use generic_array::typenum::U2;
use hardware::{Adc1Input, Dac0Output, Dac1Output, AFE0, AFE1};
use stabilizer::{hardware, hardware::design_parameters};
// A constant sinusoid to send on the DAC output.
// Full-scale gives a +/- 10V amplitude waveform. Scale it down to give +/- 1V.
const ONE: i16 = (0.1 * u16::MAX as f32) as _;
const SQRT2: i16 = (ONE as f32 * 0.707) as _;
const DAC_SEQUENCE: [i16; design_parameters::SAMPLE_BUFFER_SIZE] =
[ONE, SQRT2, 0, -SQRT2, -ONE, -SQRT2, 0, SQRT2];
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
const APP: () = {
struct Resources {
afes: (AFE0, AFE1),
adc: Adc1Input,
dacs: (Dac0Output, Dac1Output),
lockin: Lockin<U2>,
}
#[init]
fn init(c: init::Context) -> init::LateResources {
// Configure the microcontroller
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
// Enable ADC/DAC events
stabilizer.adcs.1.start();
stabilizer.dacs.0.start();
stabilizer.dacs.1.start();
// Start sampling ADCs.
stabilizer.adc_dac_timer.start();
init::LateResources {
lockin: Lockin::default(),
afes: stabilizer.afes,
adc: stabilizer.adcs.1,
dacs: stabilizer.dacs,
}
}
/// Main DSP processing routine.
///
/// See `dual-iir` for general notes on processing time and timing.
///
/// This is an implementation of an internal-reference lockin on the ADC1 signal.
/// The reference at f_sample/8 is output on DAC0 and the phase of the demodulated
/// signal on DAC1.
#[task(binds=DMA1_STR4, resources=[adc, dacs, lockin], priority=2)]
fn process(c: process::Context) {
let lockin = c.resources.lockin;
let adc_samples = c.resources.adc.acquire_buffer();
let dac_samples = [
c.resources.dacs.0.acquire_buffer(),
c.resources.dacs.1.acquire_buffer(),
];
// Reference phase and frequency are known.
let pll_phase = 0i32;
let pll_frequency =
1i32 << (32 - design_parameters::SAMPLE_BUFFER_SIZE_LOG2);
// Harmonic index of the LO: -1 to _de_modulate the fundamental (complex conjugate)
let harmonic: i32 = -1;
// Demodulation LO phase offset
let phase_offset: i32 = 1 << 30;
// Log2 lowpass time constant.
let time_constant: u8 = 8;
let sample_frequency = (pll_frequency as i32).wrapping_mul(harmonic);
let sample_phase =
phase_offset.wrapping_add(pll_phase.wrapping_mul(harmonic));
let output: Complex<i32> = adc_samples
.iter()
// Zip in the LO phase.
.zip(Accu::new(sample_phase, sample_frequency))
// Convert to signed, MSB align the ADC sample, update the Lockin (demodulate, filter)
.map(|(&sample, phase)| {
let s = (sample as i16 as i32) << 16;
lockin.update(s, phase, time_constant)
})
// Decimate
.last()
.unwrap()
* 2; // Full scale assuming the 2f component is gone.
// Convert to DAC data.
for (i, data) in DAC_SEQUENCE.iter().enumerate() {
// DAC0 always generates a fixed sinusoidal output.
dac_samples[0][i] = *data as u16 ^ 0x8000;
dac_samples[1][i] = (output.arg() >> 16) as u16 ^ 0x8000;
}
}
#[idle(resources=[afes])]
fn idle(_: idle::Context) -> ! {
loop {
cortex_m::asm::wfi();
}
}
#[task(binds = ETH, priority = 1)]
fn eth(_: eth::Context) {
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
}
#[task(binds = SPI2, priority = 3)]
fn spi2(_: spi2::Context) {
panic!("ADC0 input overrun");
}
#[task(binds = SPI3, priority = 3)]
fn spi3(_: spi3::Context) {
panic!("ADC1 input overrun");
}
#[task(binds = SPI4, priority = 3)]
fn spi4(_: spi4::Context) {
panic!("DAC0 output error");
}
#[task(binds = SPI5, priority = 3)]
fn spi5(_: spi5::Context) {
panic!("DAC1 output error");
}
extern "C" {
// hw interrupt handlers for RTIC to use for scheduling tasks
// one per priority
fn DCMI();
fn JPEG();
fn SDMMC();
}
};

124
src/bin/lockin-external.rs → src/bin/lockin.rs
View File

@ -16,18 +16,36 @@ use stabilizer::hardware::{
};
use miniconf::Miniconf;
use stabilizer::net::{Action, MiniconfInterface};
use stabilizer::net::{Action, MqttInterface};
// A constant sinusoid to send on the DAC output.
// Full-scale gives a +/- 10.24V amplitude waveform. Scale it down to give +/- 1V.
const ONE: i16 = ((1.0 / 10.24) * i16::MAX as f32) as _;
const SQRT2: i16 = (ONE as f32 * 0.707) as _;
const DAC_SEQUENCE: [i16; design_parameters::SAMPLE_BUFFER_SIZE] =
[ONE, SQRT2, 0, -SQRT2, -ONE, -SQRT2, 0, SQRT2];
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
enum Conf {
PowerPhase,
FrequencyDiscriminator,
Magnitude,
Phase,
ReferenceFrequency,
LogPower,
InPhase,
Quadrature,
Modulation,
}
#[derive(Copy, Clone, Debug, Miniconf, Deserialize, PartialEq)]
enum LockinMode {
Internal,
External,
}
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
pub struct Settings {
afe: [AfeGain; 2],
lockin_mode: LockinMode,
pll_tc: [u8; 2],
@ -43,13 +61,15 @@ impl Default for Settings {
Self {
afe: [AfeGain::G1; 2],
lockin_mode: LockinMode::External,
pll_tc: [21, 21], // frequency and phase settling time (log2 counter cycles)
lockin_tc: 6, // lockin lowpass time constant
lockin_harmonic: -1, // Harmonic index of the LO: -1 to _de_modulate the fundamental (complex conjugate)
lockin_phase: 0, // Demodulation LO phase offset
output_conf: [Conf::Quadrature; 2],
output_conf: [Conf::InPhase, Conf::Quadrature],
}
}
}
@ -60,7 +80,7 @@ const APP: () = {
afes: (AFE0, AFE1),
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
mqtt_config: MiniconfInterface<Settings>,
mqtt: MqttInterface<Settings>,
settings: Settings,
timestamper: InputStamper,
@ -73,7 +93,7 @@ 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 +133,7 @@ const APP: () = {
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
mqtt_config,
mqtt,
timestamper: stabilizer.timestamper,
settings,
@ -137,7 +157,7 @@ const APP: () = {
c.resources.adcs.1.acquire_buffer(),
];
let dac_samples = [
let mut dac_samples = [
c.resources.dacs.0.acquire_buffer(),
c.resources.dacs.1.acquire_buffer(),
];
@ -145,21 +165,37 @@ const APP: () = {
let lockin = c.resources.lockin;
let settings = c.resources.settings;
let timestamp =
c.resources.timestamper.latest_timestamp().unwrap_or(None); // Ignore data from timer capture overflows.
let (pll_phase, pll_frequency) = c.resources.pll.update(
timestamp.map(|t| t as i32),
settings.pll_tc[0],
settings.pll_tc[1],
);
let (reference_phase, reference_frequency) = match settings.lockin_mode
{
LockinMode::External => {
let timestamp =
c.resources.timestamper.latest_timestamp().unwrap_or(None); // Ignore data from timer capture overflows.
let (pll_phase, pll_frequency) = c.resources.pll.update(
timestamp.map(|t| t as i32),
settings.pll_tc[0],
settings.pll_tc[1],
);
(
pll_phase,
(pll_frequency
>> design_parameters::SAMPLE_BUFFER_SIZE_LOG2)
as i32,
)
}
LockinMode::Internal => {
// Reference phase and frequency are known.
(
1i32 << 30,
1i32 << (32 - design_parameters::SAMPLE_BUFFER_SIZE_LOG2),
)
}
};
let sample_frequency = ((pll_frequency
>> design_parameters::SAMPLE_BUFFER_SIZE_LOG2)
as i32)
.wrapping_mul(settings.lockin_harmonic);
let sample_phase = settings
.lockin_phase
.wrapping_add(pll_phase.wrapping_mul(settings.lockin_harmonic));
let sample_frequency =
reference_frequency.wrapping_mul(settings.lockin_harmonic);
let sample_phase = settings.lockin_phase.wrapping_add(
reference_phase.wrapping_mul(settings.lockin_harmonic),
);
let output: Complex<i32> = adc_samples[0]
.iter()
@ -175,34 +211,30 @@ const APP: () = {
.unwrap()
* 2; // Full scale assuming the 2f component is gone.
let output = [
match settings.output_conf[0] {
Conf::PowerPhase => output.abs_sqr() as _,
Conf::FrequencyDiscriminator => (output.log2() << 24) as _,
Conf::Quadrature => output.re,
},
match settings.output_conf[1] {
Conf::PowerPhase => output.arg(),
Conf::FrequencyDiscriminator => pll_frequency as _,
Conf::Quadrature => output.im,
},
];
// Convert to DAC data.
for i in 0..dac_samples[0].len() {
dac_samples[0][i] = (output[0] >> 16) as u16 ^ 0x8000;
dac_samples[1][i] = (output[1] >> 16) as u16 ^ 0x8000;
for (channel, samples) in dac_samples.iter_mut().enumerate() {
for (i, sample) in samples.iter_mut().enumerate() {
let value = match settings.output_conf[channel] {
Conf::Magnitude => output.abs_sqr() as i32 >> 16,
Conf::Phase => output.arg() >> 16,
Conf::LogPower => (output.log2() << 24) as i32 >> 16,
Conf::ReferenceFrequency => {
reference_frequency as i32 >> 16
}
Conf::InPhase => output.re >> 16,
Conf::Quadrature => output.im >> 16,
Conf::Modulation => DAC_SEQUENCE[i] as i32,
};
*sample = value as u16 ^ 0x8000;
}
}
}
#[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()
@ -212,9 +244,9 @@ 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]);

91
src/net/messages.rs Normal file
View File

@ -0,0 +1,91 @@
use heapless::{consts, String, Vec};
use serde::Serialize;
use core::fmt::Write;
#[derive(Debug, Copy, Clone)]
pub enum SettingsResponseCode {
NoError = 0,
MiniconfError = 1,
}
/// Represents a generic MQTT message.
pub struct MqttMessage<'a> {
pub topic: &'a str,
pub message: Vec<u8, consts::U128>,
pub properties: Vec<minimq::Property<'a>, consts::U1>,
}
/// The payload of the MQTT response message to a settings update request.
#[derive(Serialize)]
pub struct SettingsResponse {
code: u8,
msg: String<heapless::consts::U64>,
}
impl<'a> MqttMessage<'a> {
/// Construct a new MQTT message from an incoming message.
///
/// # Args
/// * `properties` - A list of properties associated with the inbound message.
/// * `default_response` - The default response topic for the message
/// * `msg` - The response associated with the message. Must fit within 128 bytes.
pub fn new<'b: 'a>(
properties: &[minimq::Property<'a>],
default_response: &'b str,
msg: &impl Serialize,
) -> Self {
// Extract the MQTT response topic.
let topic = properties
.iter()
.find_map(|prop| {
if let minimq::Property::ResponseTopic(topic) = prop {
Some(topic)
} else {
None
}
})
.unwrap_or(&default_response);
// Associate any provided correlation data with the response.
let mut correlation_data: Vec<minimq::Property<'a>, consts::U1> =
Vec::new();
if let Some(data) = properties
.iter()
.find(|prop| matches!(prop, minimq::Property::CorrelationData(_)))
{
// Note(unwrap): Unwrap can not fail, as we only ever push one value.
correlation_data.push(*data).unwrap();
}
Self {
topic,
// Note(unwrap): All SettingsResponse objects are guaranteed to fit in the vector.
message: miniconf::serde_json_core::to_vec(msg).unwrap(),
properties: correlation_data,
}
}
}
impl From<Result<(), miniconf::Error>> for SettingsResponse {
fn from(result: Result<(), miniconf::Error>) -> Self {
match result {
Ok(_) => Self {
msg: String::from("OK"),
code: SettingsResponseCode::NoError as u8,
},
Err(error) => {
let mut msg = String::new();
if write!(&mut msg, "{:?}", error).is_err() {
msg = String::from("Miniconf Error");
}
Self {
code: SettingsResponseCode::MiniconfError as u8,
msg,
}
}
}
}
}

112
src/net/mod.rs
View File

@ -1,11 +1,18 @@
use crate::hardware::{
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
};
///! Stabilizer network management module
///!
///! # Design
///! The stabilizer network architecture supports numerous layers to permit transmission of
///! telemetry (via MQTT), configuration of run-time settings (via MQTT + Miniconf), and live data
///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
///! related to Stabilizer networking operations.
use heapless::{consts, String};
use core::fmt::Write;
use heapless::{consts, String};
use miniconf::minimq;
mod messages;
mod mqtt_interface;
use messages::{MqttMessage, SettingsResponse};
pub use mqtt_interface::MqttInterface;
/// Potential actions for firmware to take.
pub enum Action {
@ -16,101 +23,6 @@ pub enum Action {
UpdateSettings,
}
/// MQTT settings interface.
pub struct MiniconfInterface<S>
where
S: miniconf::Miniconf + Default,
{
pub mqtt: miniconf::MqttInterface<S, NetworkStack, minimq::consts::U256>,
clock: CycleCounter,
phy: EthernetPhy,
network_was_reset: bool,
}
impl<S> MiniconfInterface<S>
where
S: miniconf::Miniconf + Default,
{
/// Construct a new MQTT settings interface.
///
/// # Args
/// * `stack` - The network stack to use for communication.
/// * `client_id` - The ID of the MQTT client. May be an empty string for auto-assigning.
/// * `prefix` - The MQTT device prefix to use for this device.
/// * `phy` - The PHY driver for querying the link state.
/// * `clock` - The clock to utilize for querying the current system time.
pub fn new(
stack: NetworkStack,
client_id: &str,
prefix: &str,
phy: EthernetPhy,
clock: CycleCounter,
) -> Self {
let mqtt = {
let mqtt_client = {
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
.unwrap()
};
miniconf::MqttInterface::new(mqtt_client, prefix, S::default())
.unwrap()
};
Self {
mqtt,
clock,
phy,
network_was_reset: false,
}
}
/// Update the MQTT interface and service the network
///
/// # Returns
/// An option containing an action that should be completed as a result of network servicing.
pub fn update(&mut self) -> Option<Action> {
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) {
Ok(updated) => !updated,
Err(err) => {
log::info!("Network error: {:?}", err);
false
}
};
// If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
// stack.
if self.phy.poll_link() == false {
// Only reset the network stack once per link reconnection. This prevents us from
// sending an excessive number of DHCP requests.
if !self.network_was_reset {
self.network_was_reset = true;
self.mqtt.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,
Err(miniconf::MqttError::Network(
smoltcp_nal::NetworkError::NoIpAddress,
)) => None,
Err(error) => {
log::info!("Unexpected error: {:?}", error);
None
}
}
}
}
/// Get the MQTT prefix of a device.
///
/// # Args

197
src/net/mqtt_interface.rs Normal file
View File

@ -0,0 +1,197 @@
use crate::hardware::{
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
};
use heapless::{consts, String};
use super::{Action, MqttMessage, SettingsResponse};
/// MQTT settings interface.
pub struct MqttInterface<S>
where
S: miniconf::Miniconf + Default + Clone,
{
default_response_topic: String<consts::U128>,
mqtt: minimq::MqttClient<minimq::consts::U256, NetworkStack>,
settings: S,
clock: CycleCounter,
phy: EthernetPhy,
network_was_reset: bool,
subscribed: bool,
settings_prefix: String<consts::U64>,
}
impl<S> MqttInterface<S>
where
S: miniconf::Miniconf + Default + Clone,
{
/// Construct a new MQTT settings interface.
///
/// # Args
/// * `stack` - The network stack to use for communication.
/// * `client_id` - The ID of the MQTT client. May be an empty string for auto-assigning.
/// * `prefix` - The MQTT device prefix to use for this device.
/// * `phy` - The PHY driver for querying the link state.
/// * `clock` - The clock to utilize for querying the current system time.
pub fn new(
stack: NetworkStack,
client_id: &str,
prefix: &str,
phy: EthernetPhy,
clock: CycleCounter,
) -> Self {
let mqtt =
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
.unwrap();
let mut response_topic: String<consts::U128> = String::from(prefix);
response_topic.push_str("/log").unwrap();
let mut settings_prefix: String<consts::U64> = String::from(prefix);
settings_prefix.push_str("/settings").unwrap();
Self {
mqtt,
settings: S::default(),
settings_prefix,
clock,
phy,
default_response_topic: response_topic,
network_was_reset: false,
subscribed: false,
}
}
/// Update the MQTT interface and service the network
///
/// # Returns
/// An option containing an action that should be completed as a result of network servicing.
pub fn update(&mut self) -> Option<Action> {
// First, service the network stack to process any inbound and outbound traffic.
let sleep = match self.mqtt.network_stack.poll(self.clock.current_ms())
{
Ok(updated) => !updated,
Err(err) => {
log::info!("Network error: {:?}", err);
false
}
};
// If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
// stack.
match self.phy.poll_link() {
true => self.network_was_reset = false,
// Only reset the network stack once per link reconnection. This prevents us from
// sending an excessive number of DHCP requests.
false if !self.network_was_reset => {
self.network_was_reset = true;
self.mqtt.network_stack.handle_link_reset();
}
_ => {}
};
let mqtt_connected = match self.mqtt.is_connected() {
Ok(connected) => connected,
Err(minimq::Error::Network(
smoltcp_nal::NetworkError::NoIpAddress,
)) => false,
Err(minimq::Error::Network(error)) => {
log::info!("Unexpected network error: {:?}", error);
false
}
Err(error) => {
log::warn!("Unexpected MQTT error: {:?}", error);
false
}
};
// If we're no longer subscribed to the settings topic, but we are connected to the broker,
// resubscribe.
if !self.subscribed && mqtt_connected {
// Note(unwrap): We construct a string with two more characters than the prefix
// strucutre, so we are guaranteed to have space for storage.
let mut settings_topic: String<consts::U66> =
String::from(self.settings_prefix.as_str());
settings_topic.push_str("/#").unwrap();
// We do not currently handle or process potential subscription failures. Instead, this
// failure will be logged through the stabilizer logging interface.
self.mqtt.subscribe(&settings_topic, &[]).unwrap();
self.subscribed = true;
}
// Handle any MQTT traffic.
let settings = &mut self.settings;
let mqtt = &mut self.mqtt;
let prefix = self.settings_prefix.as_str();
let default_response_topic = self.default_response_topic.as_str();
let mut update = false;
match mqtt.poll(|client, topic, message, properties| {
let path = match topic.strip_prefix(prefix) {
// For paths, we do not want to include the leading slash.
Some(path) => {
if path.len() > 0 {
&path[1..]
} else {
path
}
}
None => {
info!("Unexpected MQTT topic: {}", topic);
return;
}
};
let message: SettingsResponse = settings
.string_set(path.split('/').peekable(), message)
.and_then(|_| {
update = true;
Ok(())
})
.into();
let response =
MqttMessage::new(properties, default_response_topic, &message);
client
.publish(
response.topic,
&response.message,
// TODO: When Minimq supports more QoS levels, this should be increased to
// ensure that the client has received it at least once.
minimq::QoS::AtMostOnce,
&response.properties,
)
.ok();
}) {
// 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,
Err(error) => {
log::info!("Unexpected error: {:?}", error);
None
}
}
}
pub fn settings(&self) -> &S {
&self.settings
}
}