tessie

Etymology: tessie sounds better than TC (box), for temperature cycling (box)

Hints on required software

Installatation of various components

sudo apt install nodejs
sudo apt install npm

sudo apt-get install pigpio

sudo apt-get install libmosquitto-dev libmosquittopp-dev
sudo apt install -y mosquitto mosquitto-clients

sudo apt install libqt5charts5 libqt5charts5-dev

Add the following two lines to /etc/mosquito/mosquito.conf

listener 1883
allow_anonymous true

Enable various components at startup

sudo systemctl enable pigpiod
sudo systemctl enable mosquitto.service

Hints for compilation and running locally on a coldbox

git clone [email protected]:ursl/tessie
(if you have issues with keys, use: git clone https://github.com/ursl/tessie.git)
cd tessie/test1
qmake -o Makefile  test1.pro
make

./tessie

NOTE 1: In normal operation, you do not run tessie locally, i.e. skip the final command. Rather it is started by systemd at boot time (see below).
NOTE 2: If you want to compile on a non-Raspi host, use qmake "CONFIG+=NOPI" -o Makefile test1.pro

Hints for installing/running hardware components

Installation of the power button:

Based on how-to-add-a-power-button-to-your-raspberry-pi

The most important 2 lines for auto installation:

git clone https://github.com/Howchoo/pi-power-button.git
./pi-power-button/script/install

There is a backup (powerbutton) of this contents within the tessie repository.

Enable CAN bus and I2C

(sudo) Edit /boot/config.txt and add

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25
dtoverlay=spi-bcm2835-overlay
dtparam=i2c_vc=on

Afterwards, reboot for this to take effect.

The "script" resetCAN.sh must be run to configure the CAN bus to the proper bitrate (125kHz). If you enable the automatic startup of tessie (see below), this is done automatically before starting tessie. If you encounter many CAN bus errors, it might help to execute this script manually.

Adaption of the splash screen

(sudo) Edit /boot/cmdline.txt to contain

console=serial0,115200 console=tty1 root=PARTUUID=9cd7f13f-02 rootfstype=ext4 fsck.repair=yes rootwait quiet splash plymouth.ignore-serial-consoles logo.nologo vt.global_cursor_default=0

(sudo) Edit /boot/config.txt and add

disable_splash=1

In a terminal do

cd /usr/share/plymouth/themes/pix/
sudo mv splash.png splash.png.bk
sudo cp /home/pi/tessie/splash.png ./

Hints for operating tessie from a remote computer

In a shell on your computer laptop, do

laptop>ssh -Y "coldbox01" (or whatever hostname your Raspberry Pi has; assuming you have a login there)
coldbox01>cd tessie/test1
coldbox01>./tessie

NOTE (again): This is not the normal operation mode! If you have tessie started by systemd, the two instances of tessie will interfere with their access to the i2c and CAN buses. Also note that the fonts on your remote computer might be bad (especially on macos). Instead of such a setup, you should be using the normal operation mode, where systemd starts tessie at startup and you connect via a browser to it. Therefore, this font issue is not going to be fixed.

In another window on your computer laptop run the mosquittto_pub commands, e.g.,

laptop>mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve0 on"
laptop>mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve1 on"
laptop>mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set ControlVoltage_Set 4.5"
laptop>mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "cmd Power_On"

See below for a help text on the MQTT/ctrlTessie commands.

If you want to see the response, you have to subscribe in another window, e.g.,

laptop>mosquitto_sub -h coldbox01 -t "ctrlTessie"

In another window on your computer laptop run the monitor, if desired

laptop>mosquitto_sub -h coldbox01 -t "monTessie"

Hints for operating tessie with mosquitto

The following assumes that your coldbox01 has tessie up and running, and that on your computer laptop has mosquitto installed

mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve0 on"
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve1 on"
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set ControlVoltage_Set 4.5"
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "cmd Power_On"

mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "cmd Power_Off"
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set ControlVoltage_Set 0.0"

mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve0 off"
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve1 off"

Help on MQTT/ctrlTessie commands

Issue mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "help" and then you will get the following printout in the window where you subscribed to "ctrlTessie" (see above).

===================
hostname: coldbox01
thread:  ctrlTessie
===================

Note: [tec {0|x}] can be before or after {get|set|cmd XXX}, e.g.
      cmd Power_On tec 7
      tec 7 cmd Power_Off

Note: tec numbering is from 1 .. 8. tec 0 refers to all TECs.

cmd messages:
-------------
cmd valve0
cmd valve1
cmd [tec {0|x}] Power_On
cmd [tec {0|x}] Power_Off
cmd [tec {0|x}] ClearError
cmd [tec {0|x}] GetSWVersion
cmd [tec {0|x}] SaveVariables
cmd [tec {0|x}] LoadVariables
cmd [tec {0|x}] Reboot

messages to write information:
------------------------------
[tec {0|x}] set Mode {0,1}
[tec {0|x}] set ControlVoltage_Set 1.1
[tec {0|x}] set PID_kp 1.1
[tec {0|x}] set PID_ki 1.1
[tec {0|x}] set PID_kd 1.1
[tec {0|x}] set Temp_Set 1.1
[tec {0|x}] set PID_Max 1.1
[tec {0|x}] set PID_Min 1.1
set valve0 {on|off}
set valve1 {on|off}

messages to obtain information:
-------------------------------
get Temp
get RH
get DP
get valve0
get valve1
get vprobe[1-8]

get [tec {0|x}] Mode
get [tec {0|x}] ControlVoltage_Set
get [tec {0|x}] PID_kp
get [tec {0|x}] PID_ki
get [tec {0|x}] PID_kd
get [tec {0|x}] Temp_Set
get [tec {0|x}] PID_Max
get [tec {0|x}] PID_Min
get [tec {0|x}] Temp_W
get [tec {0|x}] Temp_M
get [tec {0|x}] Temp_Diff
get [tec {0|x}] Peltier_U
get [tec {0|x}] Peltier_I
get [tec {0|x}] Peltier_R
get [tec {0|x}] Peltier_P
get [tec {0|x}] Supply_U
get [tec {0|x}] Supply_I
get [tec {0|x}] Supply_P
get [tec {0|x}] PowerState
get [tec {0|x}] Error
get [tec {0|x}] Ref_U

Tutorial for getting started:
-----------------------------
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve0 on" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve1 on" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set ControlVoltage_Set 4.5" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "cmd Power_On" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "cmd Power_Off" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set ControlVoltage_Set 0.0" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve0 off" 
mosquitto_pub -h coldbox01 -t "ctrlTessie" -m "set valve1 off"

Subscribing to monitoring information

mosquitto_sub -h coldbox01 -t "monTessie"

Only values (changes) outside of a window a published

Configure node for the webserver

cd tessie/node/test1
npm install --save express socket.io mqtt

How to setup the automatic startup of tessie and the webserver

Using systemctl create the following two files (sudo!):

pi@coldbox01:~ $ cat /lib/systemd/system/tessie.service
[Unit]
Description=tessie
#After=multi-user.target
After=network.target

[Service]
Type=idle
Environment="XAUTHORITY=/home/pi/.Xauthority"
Environment="DISPLAY=:0"
WorkingDirectory=/home/pi/tessie/test1
ExecStartPre=/home/pi/tessie/resetCAN.sh
ExecStart=/home/pi/tessie/test1/tessie 
StandardOutput=inherit
StandardError=inherit

[Install]
#WantedBy=multi-user.target
WantedBy=graphical.target

pi@coldbox01:~ $ cat /lib/systemd/system/tessieWeb.service
[Unit]
Description=tessie
After=multi-user.target

[Service]
Type=idle
WorkingDirectory=/home/pi/tessie/node/test1
ExecStart=/usr/bin/node /home/pi/tessie/node/test1/server3.js 
 
[Install]
WantedBy=multi-user.target

Turn these two services on with

sudo systemctl enable tessie.service
sudo systemctl enable tessieWeb.service

Reboot. Control their status with

systemctl status tessie
systemctl status tessieWeb

With this setup, you can connect to http://coldbox01:3000 (Note: http, not https!) For more information on the webserver, see https://github.com/ursl/tessie/tree/master/node/test1#readme

Configure tessie to serve port 80 instead of 3000

The purpose of this section is to provide hints how to setup nginx such that you can connect to http://coldbox01 instead of http://coldbox01:3000. Follow the instructions here.

The following nginx config file works at PSI

server {
    listen 80;
    server_name coldbox01.psi.ch;

    location / {
        proxy_pass http://localhost:3000;
        proxy_http_version 1.1;
        proxy_set_header Upgrade $http_upgrade;
        proxy_set_header Connection 'upgrade';
        proxy_set_header Host $host;
        proxy_cache_bypass $http_upgrade;
    }
}

Start/test/restart with service:

sudo service nginx start
sudo service nginx status
sudo service nginx restart

Depending on your system setup, you might need

pi@coldbox01:~ $ cat /lib/systemd/system/nginx.service 
# Stop dance for nginx
# =======================
#
# ExecStop sends SIGQUIT (graceful stop) to the nginx process.
# If, after 5s (--retry QUIT/5) nginx is still running, systemd takes control
# and sends SIGTERM (fast shutdown) to the main process.
# After another 5s (TimeoutStopSec=5), and if nginx is alive, systemd sends
# SIGKILL to all the remaining processes in the process group (KillMode=mixed).
#
# nginx signals reference doc:
# http://nginx.org/en/docs/control.html
#
[Unit]
Description=A high performance web server and a reverse proxy server
Documentation=man:nginx(8)
After=network-online.target remote-fs.target nss-lookup.target
Wants=network-online.target

[Service]
Type=forking
PIDFile=/run/nginx.pid
ExecStartPre=/usr/sbin/nginx -t -q -g 'daemon on; master_process on;'
ExecStart=/usr/sbin/nginx -g 'daemon on; master_process on;'
ExecReload=/usr/sbin/nginx -g 'daemon on; master_process on;' -s reload
ExecStop=-/sbin/start-stop-daemon --quiet --stop --retry QUIT/5 --pidfile /run/nginx.pid
TimeoutStopSec=5
KillMode=mixed

[Install]
WantedBy=multi-user.target
``