timeout fixed the el3062

electron/src/machines/aquapath/aquapath1/Aquapath1ControlPage.tsx

@@ -9,6 +9,7 @@ import { EditValue } from "@/control/EditValue";
 import { Badge } from "@/components/ui/badge";
 import { Label } from "@/control/Label";
 import { HeatingZone } from "../../extruder/HeatingZone";
+import { StatusBadge } from "@/control/StatusBadge";
 
 export function Aquapath1ControlPage() {
   const {
@@ -51,21 +52,19 @@ export function Aquapath1ControlPage() {
 
   const frontTargetFlow = state?.flow_states.front.should_flow ?? false;
   const backTargetFlow = state?.flow_states.back.should_flow ?? false;
-
+  console.log(state);
   return (
     <Page>
       <ControlGrid columns={2}>
         <ControlCard title="Reservoir 1">
           <div className="grid grid-rows-5 gap-4">
             <div className="flex flex-row">
-              <TimeSeriesValueNumeric
-                label="Flow"
-                unit="l/min"
-                timeseries={front_flow}
-                renderValue={(value) => value.toFixed(1)}
-              />
+              { state?.front_flow === true ? (
+            <StatusBadge variant="success">Flow: active</StatusBadge>
+            ) : (
+            <StatusBadge variant="error">Flow: inactive</StatusBadge>
+            )}
             </div>
-
             <div className="flex flex-row">
               <TimeSeriesValueNumeric
                 label="Temperature"
@@ -149,13 +148,13 @@ export function Aquapath1ControlPage() {
         <ControlCard title="Reservoir 2">
           <div className="grid grid-rows-4 gap-4">
             <div className="flex flex-row">
-              <TimeSeriesValueNumeric
-                label="Flow"
-                unit="l/min"
-                timeseries={back_flow}
-                renderValue={(value) => value.toFixed(1)}
-              />
-            </div>
+                <div className="flex flex-row">
+                  { state?.back_flow === true ? (
+                  <StatusBadge variant="success">Flow: active</StatusBadge>
+                  ) : (
+                  <StatusBadge variant="error">Flow: inactive</StatusBadge>
+                  )}
+              </div></div>
 
             <div className="flex flex-row">
               <TimeSeriesValueNumeric

electron/src/machines/aquapath/aquapath1/Aquapath1Page.tsx

@@ -14,12 +14,12 @@ export function Aquapath1Page() {
           title: "Control",
           icon: "lu:CirclePlay",
         },
-        {
-          link: "graph",
-          title: "Graph",
-          icon: "lu:ChartSpline",
-          activeLink: "graphs",
-        },
+        //{
+//          link: "graph",
+          //title: "Graph",
+          //icon: "lu:ChartSpline",
+          //activeLink: "graphs",
+        //},
         {
           link: "settings",
           title: "Config",

electron/src/machines/aquapath/aquapath1/aquapath1Namespace.ts

@@ -72,8 +72,6 @@ export const toleranceStatesSchema = z.object({
  * Live values event schema (time-series data)
  */
 export const liveValuesEventDataSchema = z.object({
-  front_flow: z.number(),
-  back_flow: z.number(),
   front_temperature: z.number(),
   back_temperature: z.number(),
   front_temp_reservoir: z.number(),
@@ -96,6 +94,8 @@ export const stateEventDataSchema = z.object({
   temperature_states: tempStatesSchema,
   fan_states: fanStatesSchema,
   tolerance_states: toleranceStatesSchema,
+  front_flow: z.boolean(),
+  back_flow: z.boolean(),
 });
 
 // ========== Event Schemas with Wrappers ==========
@@ -113,9 +113,6 @@ export type Aquapath1NamespaceStore = {
   state: StateEvent | null;
   defaultState: StateEvent | null;
 
-  front_flow: TimeSeries;
-  back_flow: TimeSeries;
-
   front_temperature: TimeSeries;
   back_temperature: TimeSeries;
 
@@ -217,7 +214,7 @@ export function aquapath1MessageHandler(
       // Live values events (time-series data)
       else if (eventName === "LiveValuesEvent") {
         const liveValuesEvent = liveValuesEventSchema.parse(event);
-
+        console.log(liveValuesEvent);
         updateStore((state) => ({
           ...state,
           front_temperature: addTemperature1(state.front_temperature, {

electron/src/machines/properties.ts

@@ -416,12 +416,12 @@ export const aquapath1: MachineProperties = {
     },
     {
       role: 4,
-      role_label: "EL5152",
+      role_label: "EL1002",
       allowed_devices: [
         {
           vendor_id: 2,
-          product_id: 0x14203052,
-          revision: 0x140000,
+          product_id: 0x3ea3052,
+          revision: 0x120000,
         },
       ],
     },

ethercat-hal/src/devices/el3062_0030.rs

@@ -161,18 +161,12 @@ impl crate::coe::Configuration for EL3062_0030TxPdo {
             len += 1;
             device.sdo_write(0x1C13, len, 0x1A00u16).await?;
         }
-        if let Some(_) = &self.ai_compact_channel1 {
-            len += 1;
-            device.sdo_write(0x1C13, len, 0x1A01u16).await?;
-        }
+
         if let Some(_) = &self.ai_standard_channel2 {
             len += 1;
             device.sdo_write(0x1C13, len, 0x1A02u16).await?;
         }
-        if let Some(_) = &self.ai_compact_channel2 {
-            len += 1;
-            device.sdo_write(0x1C13, len, 0x1A03u16).await?;
-        }
+
         device.sdo_write(0x1C13, 0, len).await?;
         Ok(())
     }

machines/src/aquapath1/act.rs

@@ -23,8 +23,13 @@ impl MachineAct for AquaPathV1 {
 
         let now = Instant::now();
 
-        self.front_controller.update(now_ts);
-        self.back_controller.update(now_ts);
+        if self.front_controller.update(now_ts) {
+            self.emit_state();
+        }
+
+        if  self.back_controller.update(now_ts) {
+            self.emit_state();
+        }
 
         if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
             self.emit_live_values();

machines/src/aquapath1/api.rs

@@ -14,8 +14,6 @@ use tracing::instrument;
 
 #[derive(Serialize, Debug, Clone, Default)]
 pub struct LiveValuesEvent {
-    pub front_flow: f64,
-    pub back_flow: f64,
     pub front_temperature: f64,
     pub back_temperature: f64,
     pub front_temp_reservoir: f64,
@@ -43,6 +41,8 @@ pub struct StateEvent {
     pub temperature_states: TempStates,
     pub fan_states: FanStates,
     pub tolerance_states: ToleranceStates,
+    pub front_flow: bool,
+    pub back_flow: bool,
 }
 
 impl StateEvent {

machines/src/aquapath1/controller.rs

@@ -1,7 +1,8 @@
 use crate::aquapath1::VolumeRate;
 use crate::aquapath1::{Flow, Temperature};
 use control_core::controllers::pid::PidController;
-use ethercat_hal::io::encoder_input::EncoderInput;
+use ethercat_hal::io::analog_input::AnalogInput;
+use ethercat_hal::io::digital_input::DigitalInput;
 use ethercat_hal::io::{
     analog_output::AnalogOutput, digital_output::DigitalOutput, temperature_input::TemperatureInput,
 };
@@ -44,9 +45,10 @@ pub struct Controller {
     pub heating_allowed: bool,
 
     pub flow: Flow,
+    pub is_flowing : bool,
     pump_relais: DigitalOutput,
     pub should_pump: bool,
-    pub flow_sensor: EncoderInput,
+    pub flow_sensor: AnalogInput,
     pub pump_allowed: bool,
     pub current_flow: VolumeRate,
     pub max_flow: VolumeRate,
@@ -68,7 +70,7 @@ impl Controller {
 
         flow: Flow,
         pump_relais: DigitalOutput,
-        flow_sensor: EncoderInput,
+        flow_sensor: AnalogInput,
     ) -> Self {
         Self {
             pid: PidController::new(kp, ki, kd),
@@ -93,6 +95,7 @@ impl Controller {
 
             cooling_allowed: false,
             heating_allowed: false,
+            is_flowing : false,
             temperature_sensor_in: temp_sensor_in,
             temperature_sensor_out: temp_sensor_out,
 
@@ -220,27 +223,15 @@ impl Controller {
         self.should_pump
     }
 
-    pub fn get_flow(&mut self) -> VolumeRate {
-        let value = match self.flow_sensor.get_frequency_value() {
+    pub fn get_flow(&mut self) -> bool {
+    /*    let value = match self.flow_sensor.get_value() {
             Ok(val) => val,
             Err(_e) => {
-                return VolumeRate::new::<liter_per_minute>(0.0);
+                false
             }
-        };
+        };*/
 
-        match value {
-            Some(val) => {
-                if val == 0 {
-                    return VolumeRate::new::<liter_per_minute>(0.0);
-                }
-                // Formula: f = 8.1*q - 3, so q = (f + 3) / 8.1
-                let actual_flow = ((val / 100) as f32 + 3.0) / 8.1;
-                VolumeRate::new::<liter_per_minute>(actual_flow.into())
-            }
-            None => {
-                return VolumeRate::new::<liter_per_minute>(0.0);
-            }
-        }
+        false
     }
 
     pub fn get_current_revolutions(&self) -> AngularVelocity {
@@ -272,10 +263,10 @@ impl Controller {
         self.total_energy
     }
 
-    pub fn update(&mut self, now: Instant) -> () {
+    pub fn update(&mut self, now: Instant) -> bool {
         let current_flow = self.get_flow();
-        self.current_flow = current_flow;
-        self.flow.flow = current_flow;
+        let flow_changed = current_flow == self.is_flowing;
+        self.is_flowing = current_flow;
 
         let should_flow = self.get_should_pump();
         self.flow.should_pump = should_flow;
@@ -308,7 +299,7 @@ impl Controller {
             if self.temperature.cooling {
                 self.turn_cooling_off();
             }
-            if self.heating_allowed && current_flow > VolumeRate::new::<liter_per_minute>(0.0) {
+            if self.heating_allowed && self.is_flowing {
                 self.turn_heating_on();
 
                 self.total_energy += self.get_current_power() * elapsed.as_secs_f64() / 3600.0;
@@ -323,7 +314,7 @@ impl Controller {
             if self.temperature.heating {
                 self.turn_heating_off();
             }
-            if self.cooling_allowed && current_flow > VolumeRate::new::<liter_per_minute>(0.0) {
+            if self.cooling_allowed && self.is_flowing {
                 if !self.temperature.cooling {
                     self.turn_cooling_on();
                 }
@@ -344,5 +335,6 @@ impl Controller {
                 }
             }
         }
+        flow_changed
     }
 }

machines/src/aquapath1/mod.rs

@@ -121,8 +121,6 @@ impl AquaPathV1 {
                 .back_controller
                 .current_temperature
                 .get::<degree_celsius>(),
-            front_flow: self.front_controller.current_flow.get::<liter_per_minute>(),
-            back_flow: self.back_controller.current_flow.get::<liter_per_minute>(),
             front_temp_reservoir: self.front_controller.temp_reservoir.get::<degree_celsius>(),
             back_temp_reservoir: self.back_controller.temp_reservoir.get::<degree_celsius>(),
             front_revolutions: self
@@ -228,6 +226,8 @@ impl AquaPathV1 {
                         .get::<degree_celsius>(),
                 },
             },
+            front_flow: self.front_controller.is_flowing,
+            back_flow: self.back_controller.is_flowing,
         }
     }
 

machines/src/aquapath1/new.rs

@@ -11,18 +11,13 @@ use anyhow::Error;
 use ethercat_hal::{
     coe::ConfigurableDevice,
     devices::{
-        ek1100::{EK1100, EK1100_IDENTITY_A},
-        el2008::{EL2008, EL2008_IDENTITY_A, EL2008_IDENTITY_B, EL2008Port},
-        el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port},
-        el4002::{EL4002, EL4002_IDENTITY_A, EL4002Port},
-        el5152::{
+        ek1100::{EK1100, EK1100_IDENTITY_A}, el1002::{EL1002, EL1002_IDENTITY_A}, el2008::{EL2008, EL2008_IDENTITY_A, EL2008_IDENTITY_B, EL2008Port}, el3062_0030::{EL3062_0030, EL3062_0030_IDENTITY_A, EL3062_0030Configuration}, el3204::{EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port}, el4002::{EL4002, EL4002_IDENTITY_A, EL4002Port}, el5152::{
             EL5152, EL5152_IDENTITY_A, EL5152Configuration, EL5152Port,
             EL5152PredefinedPdoAssignment,
-        },
+        }
     },
     io::{
-        analog_output::AnalogOutput, digital_output::DigitalOutput, encoder_input::EncoderInput,
-        temperature_input::TemperatureInput,
+        analog_input::AnalogInput, analog_output::AnalogOutput, digital_input::DigitalInput, digital_output::DigitalOutput, encoder_input::EncoderInput, temperature_input::TemperatureInput
     },
 };
 use std::time::Instant;
@@ -83,49 +78,32 @@ impl MachineNewTrait for AquaPathV1 {
             .await?
             .0;
 
-            let el5152 =
-                get_ethercat_device::<EL5152>(hardware, params, 4, [EL5152_IDENTITY_A].to_vec())
+            let el3062_0030 =
+                get_ethercat_device::<EL3062_0030>(hardware, params, 4, [EL3062_0030_IDENTITY_A].to_vec())
                     .await?
                     .0;
 
-            let config = EL5152Configuration {
-                pdo_assignment: EL5152PredefinedPdoAssignment::Frequency,
-                ..Default::default()
-            };
-            let subdevice = get_subdevice_by_index(hardware.subdevices, 4)?;
-            el5152
-                .write()
-                .await
-                .write_config(&subdevice, &config)
-                .await?;
+            let el3062_0030_subdevice = get_subdevice_by_index(hardware.subdevices, 4)?;
+            let mut guard = el3062_0030.write().await;
+            let config = EL3062_0030Configuration::default();
+            guard.write_config(el3062_0030_subdevice,&config).await;
+            drop(guard);
 
-            let enc1 = EncoderInput::new(el5152.clone(), EL5152Port::ENC1);
+            let ai1 = AnalogInput::new(el3062_0030.clone(),ethercat_hal::devices::el3062_0030::EL3062_0030Port::AI1);            
+            let ai2 = AnalogInput::new(el3062_0030.clone(), ethercat_hal::devices::el3062_0030::EL3062_0030Port::AI2);            
 
-            let enc2 = EncoderInput::new(el5152.clone(), EL5152Port::ENC2);
             //after heating
-            let t1 = TemperatureInput::new(el3204.clone(), EL3204Port::T1);
-            //in reservoir
-            let t2 = TemperatureInput::new(el3204.clone(), EL3204Port::T2);
-            //after heating
-            let t3 = TemperatureInput::new(el3204.clone(), EL3204Port::T3);
-            //in reservoir
+            let t1 = TemperatureInput::new(el3204.clone(), EL3204Port::T1);            
+            let t2 = TemperatureInput::new(el3204.clone(), EL3204Port::T2);            
+            let t3 = TemperatureInput::new(el3204.clone(), EL3204Port::T3);            
             let t4 = TemperatureInput::new(el3204.clone(), EL3204Port::T4);
-            //pump flow control
-            //phys 1
-            let do1 = DigitalOutput::new(el2008.clone(), EL2008Port::DO1);
-            //phys 5
-            let do2 = DigitalOutput::new(el2008.clone(), EL2008Port::DO2);
-            //heating
-
-            //phys 6
-            let do4 = DigitalOutput::new(el2008.clone(), EL2008Port::DO4);
-            //phys 3
-            let do5 = DigitalOutput::new(el2008.clone(), EL2008Port::DO5);
-            //phys 7
-            let do6 = DigitalOutput::new(el2008.clone(), EL2008Port::DO6);
-            //cooling power cut
-
-            //phys 8
+            
+            //pump flow control            
+            let do1 = DigitalOutput::new(el2008.clone(), EL2008Port::DO1);            
+            let do2 = DigitalOutput::new(el2008.clone(), EL2008Port::DO2);                        
+            let do4 = DigitalOutput::new(el2008.clone(), EL2008Port::DO4);            
+            let do5 = DigitalOutput::new(el2008.clone(), EL2008Port::DO5);            
+            let do6 = DigitalOutput::new(el2008.clone(), EL2008Port::DO6);            
             let do8 = DigitalOutput::new(el2008.clone(), EL2008Port::DO8);
 
             let ao1 = AnalogOutput::new(el4002.clone(), EL4002Port::AO1);
@@ -145,7 +123,7 @@ impl MachineNewTrait for AquaPathV1 {
                 AngularVelocity::new::<revolution_per_minute>(100.0),
                 Flow::default(),
                 do1,
-                enc1,
+                ai1,
             );
 
             let back_controller = Controller::new(
@@ -162,7 +140,7 @@ impl MachineNewTrait for AquaPathV1 {
                 AngularVelocity::new::<revolution_per_minute>(100.0),
                 Flow::default(),
                 do5,
-                enc2,
+                ai2,
             );
             let (sender, receiver) = smol::channel::unbounded();
             let mut water_cooling = Self {

server/src/ethercat/setup.rs

@@ -433,6 +433,8 @@ pub async fn setup_loop(
     )
     .await?;
 
+    smol::Timer::after(Duration::from_millis(3000)).await;
+
     let group_safe = match group_preop.into_safe_op(&maindevice).await {
         Ok(group_op) => {
             tracing::info!("Group in Safe-OP state");