PlantCtrl/rust/src/main.rs

756 lines
25 KiB
Rust

use crate::{config::PlantControllerConfig, webserver::webserver::httpd};
use anyhow::bail;
use chrono::{DateTime, Datelike, Timelike, Utc};
use chrono_tz::Tz;
use chrono_tz::Tz::UTC;
use esp_idf_hal::delay::Delay;
use esp_idf_sys::{
esp_ota_get_app_partition_count, esp_ota_get_running_partition, esp_ota_get_state_partition,
esp_ota_img_states_t, esp_ota_img_states_t_ESP_OTA_IMG_ABORTED,
esp_ota_img_states_t_ESP_OTA_IMG_INVALID, esp_ota_img_states_t_ESP_OTA_IMG_NEW,
esp_ota_img_states_t_ESP_OTA_IMG_PENDING_VERIFY, esp_ota_img_states_t_ESP_OTA_IMG_UNDEFINED,
esp_ota_img_states_t_ESP_OTA_IMG_VALID, vTaskDelay,
};
use esp_ota::{mark_app_valid, rollback_and_reboot};
use log::{log, LogMessage};
use once_cell::sync::Lazy;
use plant_hal::{PlantHal, PLANT_COUNT};
use serde::{Deserialize, Serialize};
use std::sync::MutexGuard;
use std::{
fmt::Display,
sync::{atomic::AtomicBool, Arc, Mutex},
};
mod config;
mod log;
pub mod plant_hal;
mod plant_state;
mod tank;
use crate::plant_hal::{BatteryInteraction, BoardInteraction, HAL};
use plant_state::PlantState;
use tank::*;
pub static BOARD_ACCESS: Lazy<Mutex<HAL>> = Lazy::new(|| PlantHal::create_v3().unwrap());
pub static STAY_ALIVE: Lazy<AtomicBool> = Lazy::new(|| AtomicBool::new(false));
mod webserver {
pub mod webserver;
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
enum WaitType {
MissingConfig,
ConfigButton,
MqttConfig,
}
impl WaitType {
fn blink_pattern(&self) -> u32 {
match self {
WaitType::MissingConfig => 500_u32,
WaitType::ConfigButton => 100_u32,
WaitType::MqttConfig => 200_u32,
}
}
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Default)]
/// Light State tracking data for mqtt
struct LightState {
/// is enabled in config
enabled: bool,
/// led is on
active: bool,
/// led should not be on at this time of day
out_of_work_hour: bool,
/// the battery is low so do not use led
battery_low: bool,
/// the sun is up
is_day: bool,
}
#[derive(Serialize, Deserialize, Debug, PartialEq, Default)]
///mqtt stuct to track pump activities
struct PumpInfo{
enabled: bool,
pump_ineffective: bool,
}
#[derive(Serialize, Deserialize, Debug, PartialEq)]
/// humidity sensor error
enum SensorError {
Unknown,
ShortCircuit { hz: f32, max: f32 },
OpenCircuit { hz: f32, min: f32 },
}
#[derive(Serialize, Debug, PartialEq)]
enum SntpMode {
OFFLINE,
SYNC{
current: DateTime<Utc>
}
}
#[derive(Serialize, Debug, PartialEq)]
enum NetworkMode{
WIFI {sntp: SntpMode, mqtt: bool, ip_address: String},
OFFLINE,
}
fn safe_main() -> anyhow::Result<()> {
// It is necessary to call this function once. Otherwise, some patches to the runtime
// implemented by esp-idf-sys might not link properly. See https://github.com/esp-rs/esp-idf-template/issues/71
esp_idf_svc::sys::link_patches();
// Bind the log crate to the ESP Logging facilities
esp_idf_svc::log::EspLogger::initialize_default();
if esp_idf_sys::CONFIG_MAIN_TASK_STACK_SIZE < 25000 {
bail!(
"stack too small: {} bail!",
esp_idf_sys::CONFIG_MAIN_TASK_STACK_SIZE
)
}
println!("Startup Rust");
let mut to_config = false;
let version = get_version();
println!(
"Version using git has {} build on {}",
version.git_hash, version.build_time
);
let count = unsafe { esp_ota_get_app_partition_count() };
println!("Partition count is {}", count);
let mut ota_state: esp_ota_img_states_t = 0;
let running_partition = unsafe { esp_ota_get_running_partition() };
let address = unsafe { (*running_partition).address };
println!("Partition address is {}", address);
let ota_state_string = unsafe {
esp_ota_get_state_partition(running_partition, &mut ota_state);
if ota_state == esp_ota_img_states_t_ESP_OTA_IMG_NEW {
"ESP_OTA_IMG_NEW"
} else if ota_state == esp_ota_img_states_t_ESP_OTA_IMG_PENDING_VERIFY {
"ESP_OTA_IMG_PENDING_VERIFY"
} else if ota_state == esp_ota_img_states_t_ESP_OTA_IMG_VALID {
"ESP_OTA_IMG_VALID"
} else if ota_state == esp_ota_img_states_t_ESP_OTA_IMG_INVALID {
"ESP_OTA_IMG_INVALID"
} else if ota_state == esp_ota_img_states_t_ESP_OTA_IMG_ABORTED {
"ESP_OTA_IMG_ABORTED"
} else if ota_state == esp_ota_img_states_t_ESP_OTA_IMG_UNDEFINED {
"ESP_OTA_IMG_UNDEFINED"
} else {
&format!("unknown {ota_state}")
}
};
log(LogMessage::PartitionState, 0, 0, "", ota_state_string);
let mut board = BOARD_ACCESS.lock().unwrap();
board.general_fault(false);
log(LogMessage::MountingFilesystem, 0, 0, "", "");
board.mount_file_system()?;
let free_space = board.file_system_size()?;
log(
LogMessage::FilesystemMount,
free_space.free_size as u32,
free_space.total_size as u32,
&free_space.used_size.to_string(),
"",
);
let cur = board
.get_rtc_time()
.or_else(|err| {
println!("rtc module error: {:?}", err);
board.general_fault(true);
board.time()
})
.map_err(|err| -> Result<(), _> {
bail!("time error {}", err);
})
.unwrap();
//check if we know the time current > 2020 (plausibility checks, this code is newer than 2020)
if cur.year() < 2020 {
to_config = true;
log(LogMessage::YearInplausibleForceConfig, 0, 0, "", "");
}
println!("cur is {}", cur);
board.update_charge_indicator();
if board.get_restart_to_conf() {
log(LogMessage::ConfigModeSoftwareOverride, 0, 0, "", "");
for _i in 0..2 {
board.general_fault(true);
Delay::new_default().delay_ms(100);
board.general_fault(false);
Delay::new_default().delay_ms(100);
}
to_config = true;
board.general_fault(true);
board.set_restart_to_conf(false);
} else if board.mode_override_pressed() {
board.general_fault(true);
log(LogMessage::ConfigModeButtonOverride, 0, 0, "", "");
for _i in 0..5 {
board.general_fault(true);
Delay::new_default().delay_ms(100);
board.general_fault(false);
Delay::new_default().delay_ms(100);
}
if board.mode_override_pressed() {
board.general_fault(true);
to_config = true;
} else {
board.general_fault(false);
}
}
let config: PlantControllerConfig = match board.get_config() {
Ok(valid) => valid,
Err(err) => {
log(
LogMessage::ConfigModeMissingConfig,
0,
0,
"",
&err.to_string(),
);
//config upload will trigger reboot!
let _ = board.wifi_ap(None);
drop(board);
let reboot_now = Arc::new(AtomicBool::new(false));
let _webserver = httpd(reboot_now.clone());
wait_infinity(WaitType::MissingConfig, reboot_now.clone());
}
};
println!("attempting to connect wifi");
let network_mode = if config.network.ssid.is_some() {
try_connect_wifi_sntp_mqtt(&mut board, &config)
} else {
println!("No wifi configured");
NetworkMode::OFFLINE
};
if matches!(network_mode, NetworkMode::OFFLINE) && to_config {
println!("Could not connect to station and config mode forced, switching to ap mode!");
match board.wifi_ap(Some(config.network.ap_ssid.clone())) {
Ok(_) => {
println!("Started ap, continuing")
}
Err(err) => println!("Could not start config override ap mode due to {}", err),
}
}
let timezone = match &config.timezone {
Some(tz_str) => tz_str.parse::<Tz>().unwrap_or_else(|_| {
println!("Invalid timezone '{}', falling back to UTC", tz_str);
UTC
}),
None => UTC, // Fallback to UTC if no timezone is set
};
let timezone_time = cur.with_timezone(&timezone);
println!(
"Running logic at utc {} and {} {}",
cur,
timezone.name(),
timezone_time
);
if let NetworkMode::WIFI { ref ip_address, .. } = network_mode {
publish_firmware_info(version, address, ota_state_string, &mut board, &config, &ip_address, timezone_time);
publish_battery_state(&mut board, &config);
}
log(
LogMessage::StartupInfo,
matches!(network_mode, NetworkMode::WIFI { .. }) as u32,
matches!(network_mode, NetworkMode::WIFI { sntp: SntpMode::SYNC { .. }, .. }) as u32,
matches!(network_mode, NetworkMode::WIFI { mqtt: true, .. }).to_string().as_str(),
"",
);
if to_config {
//check if client or ap mode and init Wi-Fi
println!("executing config mode override");
//config upload will trigger reboot!
drop(board);
let reboot_now = Arc::new(AtomicBool::new(false));
let _webserver = httpd(reboot_now.clone());
wait_infinity(WaitType::ConfigButton, reboot_now.clone());
} else {
log(LogMessage::NormalRun, 0, 0, "", "");
}
let dry_run = false;
let tank_state = determine_tank_state(&mut board, &config);
if tank_state.is_enabled() {
if let Some(err) = tank_state.got_error(&config.tank) {
match err {
TankError::SensorDisabled => { /* unreachable */ }
TankError::SensorMissing(raw_value_mv) => log(
LogMessage::TankSensorMissing,
raw_value_mv as u32,
0,
"",
"",
),
TankError::SensorValueError { value, min, max } => log(
LogMessage::TankSensorValueRangeError,
min as u32,
max as u32,
&format!("{}", value),
"",
),
TankError::BoardError(err) => {
log(LogMessage::TankSensorBoardError, 0, 0, "", &err.to_string())
}
}
// disabled cannot trigger this because of wrapping if is_enabled
board.general_fault(true);
} else if tank_state.warn_level(&config.tank).is_ok_and(|warn| warn) {
log(LogMessage::TankWaterLevelLow, 0, 0, "", "");
board.general_fault(true);
}
}
let mut water_frozen = false;
let water_temp = obtain_tank_temperature(&mut board);
if let Ok(res) = water_temp {
if res < WATER_FROZEN_THRESH {
water_frozen = true;
}
}
publish_tank_state(&mut board, &config, &tank_state, &water_temp);
let plantstate: [PlantState; PLANT_COUNT] =
core::array::from_fn(|i| PlantState::read_hardware_state(i, &mut board, &config.plants[i]));
publish_plant_states(&mut board, &config, &timezone_time, &plantstate);
let pump_required = plantstate
.iter()
.zip(&config.plants)
.any(|(it, conf)| it.needs_to_be_watered(conf, &timezone_time))
&& !water_frozen;
if pump_required {
log(LogMessage::EnableMain, dry_run as u32, 0, "", "");
if !dry_run {
board.any_pump(true)?; // enables main power output, eg for a central pump with valve setup or a main water valve for the risk affine
}
for (plant_id, (state, plant_config)) in plantstate.iter().zip(&config.plants).enumerate() {
if state.needs_to_be_watered(plant_config, &timezone_time) {
let pump_count = board.consecutive_pump_count(plant_id) + 1;
board.store_consecutive_pump_count(plant_id, pump_count);
let pump_ineffective = pump_count > plant_config.max_consecutive_pump_count as u32;
if pump_ineffective {
log(
LogMessage::ConsecutivePumpCountLimit,
pump_count as u32,
plant_config.max_consecutive_pump_count as u32,
&(plant_id+1).to_string(),
"",
);
board.fault(plant_id, true);
}
log(
LogMessage::PumpPlant,
(plant_id + 1) as u32,
plant_config.pump_time_s as u32,
&dry_run.to_string(),
"",
);
board.store_last_pump_time(plant_id, cur);
board.last_pump_time(plant_id);
//state.active = true;
pump_info(&mut board, &config, plant_id, true, pump_ineffective);
if !dry_run {
board.pump(plant_id, true)?;
Delay::new_default().delay_ms(1000 * plant_config.pump_time_s as u32);
board.pump(plant_id, false)?;
}
pump_info(&mut board, &config, plant_id, false, pump_ineffective);
} else if !state.pump_in_timeout(plant_config, &timezone_time) {
// plant does not need to be watered and is not in timeout
// -> reset consecutive pump count
board.store_consecutive_pump_count(plant_id, 0);
}
}
if !dry_run {
board.any_pump(false)?; // disable main power output, eg for a central pump with valve setup or a main water valve for the risk affine
}
}
let is_day = board.is_day();
let state_of_charge = board.battery_monitor.state_charge_percent().unwrap_or(0);
let mut light_state = LightState {
enabled: config.night_lamp.enabled,
..Default::default()
};
if light_state.enabled {
light_state.is_day = is_day;
light_state.out_of_work_hour = !in_time_range(
&timezone_time,
config.night_lamp.night_lamp_hour_start,
config.night_lamp.night_lamp_hour_end,
);
if state_of_charge < config.night_lamp.low_soc_cutoff {
board.set_low_voltage_in_cycle();
} else if state_of_charge > config.night_lamp.low_soc_restore {
board.clear_low_voltage_in_cycle();
}
light_state.battery_low = board.low_voltage_in_cycle();
if !light_state.out_of_work_hour {
if config.night_lamp.night_lamp_only_when_dark {
if !light_state.is_day {
if light_state.battery_low {
board.light(false)?;
} else {
light_state.active = true;
board.light(true)?;
}
}
} else if light_state.battery_low {
board.light(false)?;
} else {
light_state.active = true;
board.light(true)?;
}
} else {
light_state.active = false;
board.light(false)?;
}
println!("Lightstate is {:?}", light_state);
}
match serde_json::to_string(&light_state) {
Ok(state) => {
let _ = board.mqtt_publish(&config, "/light", state.as_bytes());
}
Err(err) => {
println!("Error publishing lightstate {}", err);
}
};
let deep_sleep_duration_minutes: u32 = if state_of_charge < 10 {
let _ = board.mqtt_publish(&config, "/deepsleep", "low Volt 12h".as_bytes());
12 * 60
} else if is_day {
let _ = board.mqtt_publish(&config, "/deepsleep", "normal 20m".as_bytes());
20
} else {
let _ = board.mqtt_publish(&config, "/deepsleep", "night 1h".as_bytes());
60
};
let _ = board.mqtt_publish(&config, "/state", "sleep".as_bytes());
mark_app_valid();
let stay_alive_mqtt = STAY_ALIVE.load(std::sync::atomic::Ordering::Relaxed);
let stay_alive = stay_alive_mqtt;
println!("Check stay alive, current state is {}", stay_alive);
if stay_alive {
println!("Go to stay alive move");
drop(board);
let reboot_now = Arc::new(AtomicBool::new(false));
let _webserver = httpd(reboot_now.clone());
wait_infinity(WaitType::MqttConfig, reboot_now.clone());
}
board.set_restart_to_conf(false);
board.deep_sleep(1000 * 1000 * 60 * deep_sleep_duration_minutes as u64);
}
fn obtain_tank_temperature(board: &mut MutexGuard<HAL>) -> anyhow::Result<f32> {
//multisample should be moved to water_temperature_c
let mut attempt = 1;
let water_temp: Result<f32, anyhow::Error> = loop {
let temp = board.water_temperature_c();
match &temp {
Ok(res) => {
println!("Water temp is {}", res);
break temp;
}
Err(err) => {
println!("Could not get water temp {} attempt {}", err, attempt)
}
}
if attempt == 5 {
break temp;
}
attempt += 1;
};
water_temp
}
fn publish_tank_state(board: &mut MutexGuard<HAL>, config: &PlantControllerConfig, tank_state: &TankState, water_temp: &anyhow::Result<f32>) {
match serde_json::to_string(&tank_state.as_mqtt_info(&config.tank, water_temp)) {
Ok(state) => {
let _ = board.mqtt_publish(&config, "/water", state.as_bytes());
}
Err(err) => {
println!("Error publishing tankstate {}", err);
}
};
}
fn publish_plant_states(board: &mut MutexGuard<HAL>, config: &PlantControllerConfig, timezone_time: &DateTime<Tz>, plantstate: &[PlantState; 8]) {
for (plant_id, (plant_state, plant_conf)) in plantstate.iter().zip(&config.plants).enumerate() {
match serde_json::to_string(&plant_state.to_mqtt_info(plant_conf, &timezone_time)) {
Ok(state) => {
let plant_topic = format!("/plant{}", plant_id + 1);
let _ = board.mqtt_publish(&config, &plant_topic, state.as_bytes());
//reduce speed as else messages will be dropped
Delay::new_default().delay_ms(200);
}
Err(err) => {
println!("Error publishing plant state {}", err);
}
};
}
}
fn publish_firmware_info(version: VersionInfo, address: u32, ota_state_string: &str, board: &mut MutexGuard<HAL>, config: &PlantControllerConfig, ip_address: &String, timezone_time: DateTime<Tz>) {
let _ = board.mqtt_publish(&config, "/firmware/address", ip_address.as_bytes());
let _ = board.mqtt_publish(&config, "/firmware/githash", version.git_hash.as_bytes());
let _ = board.mqtt_publish(
&config,
"/firmware/buildtime",
version.build_time.as_bytes(),
);
let _ = board.mqtt_publish(
&config,
"/firmware/last_online",
timezone_time.to_rfc3339().as_bytes(),
);
let _ = board.mqtt_publish(&config, "/firmware/ota_state", ota_state_string.as_bytes());
let _ = board.mqtt_publish(
&config,
"/firmware/partition_address",
format!("{:#06x}", address).as_bytes(),
);
let _ = board.mqtt_publish(&config, "/state", "online".as_bytes());
}
fn try_connect_wifi_sntp_mqtt(board: &mut MutexGuard<HAL>, config: &PlantControllerConfig) -> NetworkMode{
match board.wifi(
config.network.ssid.clone().unwrap(),
config.network.password.clone(),
10000,
) {
Ok(ip_info) => {
let sntp_mode: SntpMode = match board.sntp(1000 * 10) {
Ok(new_time) => {
println!("Using time from sntp");
let _ = board.set_rtc_time(&new_time);
SntpMode::SYNC {current: new_time}
}
Err(err) => {
println!("sntp error: {}", err);
board.general_fault(true);
SntpMode::OFFLINE
}
};
let mqtt_connected = if let Some(_) = config.network.mqtt_url {
match board.mqtt(&config) {
Ok(_) => {
println!("Mqtt connection ready");
true
}
Err(err) => {
println!("Could not connect mqtt due to {}", err);
false
}
}
} else {
false
};
NetworkMode::WIFI {
sntp: sntp_mode,
mqtt: mqtt_connected,
ip_address: ip_info.ip.to_string()
}
}
Err(_) => {
println!("Offline mode");
board.general_fault(true);
NetworkMode::OFFLINE
}
}
}
//TODO clean this up? better state
fn pump_info(board: &mut MutexGuard<HAL>, config: &PlantControllerConfig, plant_id: usize, pump_active: bool, pump_ineffective: bool) {
let pump_info = PumpInfo {
enabled: pump_active,
pump_ineffective
};
let pump_topic = format!("/pump{}", plant_id + 1);
match serde_json::to_string(&pump_info) {
Ok(state) => {
let _ = board.mqtt_publish(config, &pump_topic, state.as_bytes());
//reduce speed as else messages will be dropped
Delay::new_default().delay_ms(200);
}
Err(err) => {
println!("Error publishing pump state {}", err);
}
};
}
fn publish_battery_state(
board: &mut MutexGuard<'_, HAL<'_>>,
config: &PlantControllerConfig,
) {
let state = board.get_battery_state();
let _ = board.mqtt_publish(config, "/battery", state.as_bytes());
}
fn wait_infinity(wait_type: WaitType, reboot_now: Arc<AtomicBool>) -> ! {
let delay = wait_type.blink_pattern();
let mut led_count = 8;
let mut pattern_step = 0;
loop {
unsafe {
let mut lock = BOARD_ACCESS.lock().unwrap();
lock.update_charge_indicator();
match wait_type {
WaitType::MissingConfig => {
// Keep existing behavior: circular filling pattern
led_count %= 8;
led_count += 1;
for i in 0..8 {
lock.fault(i, i < led_count);
}
}
WaitType::ConfigButton => {
// Alternating pattern: 1010 1010 -> 0101 0101
pattern_step = (pattern_step + 1) % 2;
for i in 0..8 {
lock.fault(i, (i + pattern_step) % 2 == 0);
}
}
WaitType::MqttConfig => {
// Moving dot pattern
pattern_step = (pattern_step + 1) % 8;
for i in 0..8 {
lock.fault(i, i == pattern_step);
}
}
}
lock.general_fault(true);
drop(lock);
vTaskDelay(delay);
let mut lock = BOARD_ACCESS.lock().unwrap();
lock.general_fault(false);
// Clear all LEDs
for i in 0..8 {
lock.fault(i, false);
}
drop(lock);
vTaskDelay(delay);
if wait_type == WaitType::MqttConfig
&& !STAY_ALIVE.load(std::sync::atomic::Ordering::Relaxed)
{
reboot_now.store(true, std::sync::atomic::Ordering::Relaxed);
}
if reboot_now.load(std::sync::atomic::Ordering::Relaxed) {
//ensure clean http answer
Delay::new_default().delay_ms(500);
BOARD_ACCESS.lock().unwrap().deep_sleep(1);
}
}
}
}
fn main() {
let result = safe_main();
match result {
// this should not get triggered, safe_main should not return but go into deep sleep with sensbile
// timeout, this is just a fallback
Ok(_) => {
println!("Main app finished, restarting");
BOARD_ACCESS.lock().unwrap().set_restart_to_conf(false);
BOARD_ACCESS.lock().unwrap().deep_sleep(1);
}
// if safe_main exists with an error, rollback to a known good ota version
Err(err) => {
println!("Failed main {}", err);
let _rollback_successful = rollback_and_reboot();
panic!("Failed to rollback :(");
}
}
}
fn to_string<T: Display>(value: anyhow::Result<T>) -> String {
match value {
Ok(v) => v.to_string(),
Err(err) => {
format!("{:?}", err)
}
}
}
pub fn in_time_range(cur: &DateTime<Tz>, start: u8, end: u8) -> bool {
let curhour = cur.hour() as u8;
//eg 10-14
if start < end {
curhour > start && curhour < end
} else {
//eg 20-05
curhour > start || curhour < end
}
}
fn get_version() -> VersionInfo {
let branch = env!("VERGEN_GIT_BRANCH").to_owned();
let hash = &env!("VERGEN_GIT_SHA")[0..8];
let running_partition = unsafe { esp_ota_get_running_partition() };
let address = unsafe { (*running_partition).address };
let partition = if address > 100000 {
"ota_1 @ "
} else {
"ota_0 @ "
};
VersionInfo {
git_hash: branch + "@" + hash,
build_time: env!("VERGEN_BUILD_TIMESTAMP").to_owned(),
partition: partition.to_owned() + &address.to_string(),
}
}
#[derive(Serialize, Debug)]
struct VersionInfo {
git_hash: String,
build_time: String,
partition: String,
}