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feat(example)+docs: pvd_tool on the modern stack; chapter 42 teaches the daemon path

Browse Source 
C9 — the flagship vendor example now demonstrates the intended integration
shape. examples/pvd_tool/main.cpp: 1093 -> 570 lines. The 466-line
hand-registered handler section and the hand-wired Server/Router/emit
plumbing are gone, replaced by EquipmentRuntime + register_default_handlers
(the example now serves all 56 handlers, up from its hand-picked 51) +
commands.set_handler for the START-runs-the-recipe behaviour (was a
hard-coded S2F41 router override). All domain logic — sensor simulator,
recipe runner, alarm threshold monitor, EPT cycler, Prometheus gauges —
unchanged. pvd's SVIDs 1/2 and CEIDs 400/401 match the roles: defaults, so
the built-ins bind with no config change. Verified: builds clean, boots
("registered 56 handlers", config loaded, EPT cycling), HSMS :5000 accepts,
metrics :9090 answers HTTP 200. logfn flushes per line so docker/CI logs
are visible immediately.

Writing project — new tutorial chapter docs/42_vendor_daemon_and_clients.md:
why a daemon (the host-timer argument), the proto contract and the HCACK-4
command semantics, the Python client walkthrough, EquipmentRuntime +
capability registration + roles:, the threading contract (posting API /
read_sync / hooks-on-io-thread) and primary-vs-observer slots, and a
which-tier-do-I-pick table. Indexed in 00_index Part 4. Refreshed the three
spots that still described pvd_tool's old "51 handlers in ~460 lines" shape
(ch35, ch41, pvd README) — drift killed in the same commit that made it.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Raphael Maenle
2026-06-10 23:31:22 +02:00
parent af1a159c59
commit 4f3031aeb9
6 changed files with 285 additions and 606 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/pvd_tool/README.md
+1 -1
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@@ -21,7 +21,7 @@ customize. They're written to be a template, not an abstract demo.
| §3 Recipe runner | Driving a PJ through SettingUp → Processing → ProcessComplete by walking the recipe body, with per-step CEID emission |
| §4 Alarm threshold monitor | Continuous threshold-based alarm logic (chamber pressure, cleaning interval) with set/clear emission |
| §5 EPT cycling | E116 state transitions driven by PJ state + safety alarms |
| §6 Router handlers | Every SECS/GEM message a host might send to a PVD tool, 51 handlers in ~460 lines |
| §6 main() | `EquipmentRuntime` + `register_default_handlers` (all 56 GEM handlers in one call) + `commands.set_handler` for the START behaviour |
| §7 main() | Loading YAML → validating → composing → running, including the Prometheus exporter on `:9090` (§7.3) |
## Running it
examples/pvd_tool/main.cpp
+76 -601
View File
@@ -37,16 +37,12 @@
#include <string>
#include <vector>
#include "secsgem/config/loader.hpp"
#include "secsgem/config/validate.hpp"
#include "secsgem/endpoint.hpp"
#include "secsgem/gem/control_state.hpp"
#include "secsgem/gem/data_model.hpp"
#include "secsgem/gem/e116_constants.hpp"
#include "secsgem/gem/messages.hpp"
#include "secsgem/gem/router.hpp"
#include "secsgem/gem/default_handlers.hpp"
#include "secsgem/gem/runtime.hpp"
#include "secsgem/metrics/prometheus.hpp"
#include "secsgem/secs2/message.hpp"
#include "secsgem/secs2/item.hpp"
using namespace secsgem;
using namespace std::chrono_literals;
@@ -437,473 +433,15 @@ struct EptCycler {
} // namespace pvd
// =============================================================================
// §6. Router handler registration
// §6. main() — the integration, on the modern stack
// =============================================================================
//
// This is the smallest set of handlers a host needs to talk to the
// tool and run a recipe. apps/secs_server.cpp has the full
// catalogue (~30 more handlers) for terminal services, slot maps,
// E40/E94 jobs, etc.; in production you'd copy that here too.
void register_handlers(gem::Router& router,
std::shared_ptr<gem::EquipmentDataModel> model,
std::shared_ptr<gem::ControlStateMachine> sm,
const config::EquipmentDescriptor& desc,
std::function<void(uint32_t)> emit_event,
std::function<void(uint32_t)> emit_alarm_set,
std::shared_ptr<pvd::RecipeRunner> recipe) {
// S1F1 → S1F2 Are You There
router.on(1, 1, [desc](const s2::Message&) {
return gem::s1f2_on_line_data(desc.model_name, desc.software_rev);
});
// S1F3 → S1F4 Selected Status Request
router.on(1, 3, [model](const s2::Message& m) {
auto svids = gem::parse_s1f3(m);
if (!svids) return s2::Message(1, 0, false);
std::vector<std::optional<s2::Item>> values;
if (svids->empty()) {
for (const auto& sv : model->svids.all()) values.push_back(sv.value);
} else {
for (auto id : *svids) {
auto sv = model->svids.get(id);
values.push_back(sv ? std::optional<s2::Item>(sv->value) : std::nullopt);
}
}
return gem::s1f4_selected_status_data(values);
});
// S1F11 → S1F12 Status Variable Namelist Request
router.on(1, 11, [model](const s2::Message&) {
std::vector<gem::StatusName> rows;
for (const auto& sv : model->svids.all())
rows.push_back({sv.id, sv.name, sv.units});
return gem::s1f12_status_namelist_data(rows);
});
// S1F13 → S1F14 Establish Communications
router.on(1, 13, [desc](const s2::Message&) {
return gem::s1f14_establish_comms_ack(gem::CommAck::Accept,
{desc.model_name, desc.software_rev});
});
// S1F17 → S1F18 Request Online
router.on(1, 17, [sm](const s2::Message&) {
auto ack = sm->on_host_request_online();
return gem::s1f18_online_ack(ack);
});
// S2F13 → S2F14 EC Values
router.on(2, 13, [model](const s2::Message& m) {
auto ids = gem::parse_u4_list_body(m);
if (!ids) return s2::Message(2, 0, false);
std::vector<s2::Item> values;
for (auto id : *ids) {
auto ec = model->ecids.get(id);
values.push_back(ec ? ec->value : s2::Item::list({}));
}
return gem::s2f14_ec_data(values);
});
// S2F17 → S2F18 Clock
router.on(2, 17, [model](const s2::Message&) {
return gem::s2f18_date_time_data(model->clock.current_time_string());
});
// S2F41 → S2F42 Host Command
router.on(2, 41, [model, emit_event, emit_alarm_set, recipe]
(const s2::Message& m) {
auto cmd = gem::parse_s2f41(m);
if (!cmd) return gem::s2f42_host_command_ack(gem::HostCmdAck::ParameterInvalid, {});
auto result = model->commands.dispatch(cmd->rcmd, cmd->params);
if (result.ack == gem::HostCmdAck::Accept) {
if (result.emit_ceid) emit_event(*result.emit_ceid);
if (result.set_alarm) emit_alarm_set(*result.set_alarm);
// Demo: RCMD=START with PJ in WaitingForStart triggers the
// recipe runner. Real tools would gate on richer state.
if (cmd->rcmd == "START") {
for (const auto& pjid : model->process_jobs.ids()) {
auto* pj = model->process_jobs.get(pjid);
if (pj && pj->fsm->state() == gem::ProcessJobState::WaitingForStart) {
model->process_jobs.fire_internal(pjid, gem::ProcessJobEvent::Start);
recipe->start(pjid);
break;
}
}
}
}
return gem::s2f42_host_command_ack(result.ack, {});
});
// S5F5 → S5F6 List Alarms
router.on(5, 5, [model](const s2::Message& m) {
auto ids = gem::parse_u4_list_body(m);
std::vector<gem::Alarm> alarms;
if (ids && ids->empty()) alarms = model->alarms.all();
else if (ids)
for (auto id : *ids) {
auto a = model->alarms.get(id);
if (a) alarms.push_back(*a);
}
return gem::s5f6_list_alarms_data(
alarms, [model](uint32_t id) { return model->alarms.active(id); });
});
// S7F5 → S7F6 Process Program Request
router.on(7, 5, [model](const s2::Message& m) {
auto ppid = gem::parse_s7f5(m);
if (!ppid) return gem::s7f6_process_program_data("", "");
auto body = model->recipes.get(*ppid);
return gem::s7f6_process_program_data(*ppid, body ? *body : "");
});
// S7F19 → S7F20 Current PP List
router.on(7, 19, [model](const s2::Message&) {
return gem::s7f20_current_eppd_data(model->recipes.list());
});
// -------- Extended handlers (mirrors apps/secs_server.cpp) ----------
// These follow the demo server's patterns one-for-one. A real
// vendor's main.cpp would either include them inline (as we do here)
// or extract them to a shared helper.
// S1F15 → S1F16 Request Offline
router.on(1, 15, [sm](const s2::Message&) {
return gem::s1f16_offline_ack(sm->on_host_request_offline());
});
// S1F19 → S1F20 GEM Compliance
router.on(1, 19, [desc](const s2::Message&) {
std::vector<gem::CapabilityEntry> caps;
for (const auto& c : desc.capabilities) caps.push_back({c.first, c.second});
return gem::s1f20_get_gem_compliance_data(
desc.software_rev, desc.equipment_type, caps);
});
// S1F21 → S1F22 DVID Namelist
router.on(1, 21, [model](const s2::Message&) {
std::vector<gem::StatusName> rows;
for (const auto& dv : model->dvids.all())
rows.push_back({dv.id, dv.name, dv.units});
return gem::s1f22_data_variable_namelist_data(rows);
});
// S1F23 → S1F24 CEID Namelist
router.on(1, 23, [model](const s2::Message& m) {
auto req = gem::parse_s1f23(m);
std::vector<gem::CollectionEventName> rows;
if (req && req->empty()) {
for (const auto& e : model->events.all_events())
rows.push_back({e.id, e.name, model->events.vids_for(e.id)});
} else if (req) {
for (auto id : *req) {
auto info = model->events.event_info(id);
rows.push_back({id, info ? info->name : "", model->events.vids_for(id)});
}
}
return gem::s1f24_collection_event_namelist_data(rows);
});
// S2F15 → S2F16 EC Set
router.on(2, 15, [model](const s2::Message& m) {
auto sets = gem::parse_s2f15(m);
auto eac = gem::EquipmentAck::Accept;
if (!sets) eac = gem::EquipmentAck::Denied_OutOfRange;
else for (const auto& s : *sets) {
auto r = model->ecids.set_value(s.ecid, s.value);
if (r != gem::EquipmentAck::Accept) eac = r;
}
return gem::s2f16_ec_ack(eac);
});
// S2F29 → S2F30 EC Namelist
router.on(2, 29, [model](const s2::Message& m) {
auto ids = gem::parse_u4_list_body(m);
std::vector<gem::EquipmentConstant> ecs;
if (ids && ids->empty()) ecs = model->ecids.all();
else if (ids) for (auto id : *ids) {
auto ec = model->ecids.get(id);
if (ec) ecs.push_back(*ec);
}
std::vector<gem::EcNameRow> rows;
for (const auto& ec : ecs)
rows.push_back({ec.id, ec.name, ec.min_str, ec.max_str, "", ec.units});
return gem::s2f30_ec_namelist_data(rows);
});
// S2F31 → S2F32 Set Clock
router.on(2, 31, [model](const s2::Message& m) {
auto t = gem::parse_s2f31(m);
return gem::s2f32_date_time_ack(
t ? model->clock.set_time_string(*t) : gem::TimeAck::Error);
});
// S2F33/F35/F37 Dynamic event report config
router.on(2, 33, [model](const s2::Message& m) {
auto req = gem::parse_s2f33(m);
auto ack = gem::DefineReportAck::InvalidFormat;
if (req) {
std::vector<std::pair<uint32_t, std::vector<uint32_t>>> rows;
for (const auto& r : req->reports) rows.emplace_back(r.rptid, r.vids);
ack = model->define_reports(rows);
}
return gem::s2f34_define_report_ack(ack);
});
router.on(2, 35, [model](const s2::Message& m) {
auto req = gem::parse_s2f35(m);
auto ack = gem::LinkEventAck::InvalidFormat;
if (req) {
std::vector<std::pair<uint32_t, std::vector<uint32_t>>> rows;
for (const auto& l : req->links) rows.emplace_back(l.ceid, l.rptids);
ack = model->link_event_reports(rows);
}
return gem::s2f36_link_event_report_ack(ack);
});
router.on(2, 37, [model](const s2::Message& m) {
auto req = gem::parse_s2f37(m);
auto ack = req ? model->enable_events(req->enable, req->ceids)
: gem::EnableEventAck::UnknownCeid;
return gem::s2f38_enable_event_ack(ack);
});
// S2F21 Legacy remote command
router.on(2, 21, [model, emit_event, emit_alarm_set](const s2::Message& m) {
auto rcmd = gem::parse_s2f21(m);
if (!rcmd) return gem::s2f22_remote_command_ack(gem::HostCmdAck::ParameterInvalid);
auto result = model->commands.dispatch(*rcmd, {});
if (result.ack == gem::HostCmdAck::Accept) {
if (result.emit_ceid) emit_event(*result.emit_ceid);
if (result.set_alarm) emit_alarm_set(*result.set_alarm);
}
return gem::s2f22_remote_command_ack(result.ack);
});
// S2F23 trace, S2F43 spool reset, S2F45 limits, S2F47 limit attrs
router.on(2, 23, [model](const s2::Message& m) {
auto req = gem::parse_s2f23(m);
auto ack = gem::TraceAck::Accept;
if (!req) ack = gem::TraceAck::InvalidPeriod;
else for (auto v : req->svids)
if (!model->vid_exists(v)) { ack = gem::TraceAck::UnknownVid; break; }
return gem::s2f24_trace_initialize_ack(ack);
});
router.on(2, 43, [model](const s2::Message& m) {
auto streams = gem::parse_s2f43(m);
if (streams) model->spool.set_spoolable_streams(*streams);
return gem::s2f44_reset_spooling_ack(
streams ? gem::ResetSpoolAck::Accept : gem::ResetSpoolAck::Denied_NotAllowed, {});
});
router.on(2, 47, [model](const s2::Message& m) {
auto vids = gem::parse_s2f47(m);
std::vector<gem::VidLimitsEntry> rows;
if (vids) {
const auto target = vids->empty() ? model->limits.all_vids() : *vids;
for (auto v : target) rows.push_back({v, model->limits.get_for_vid(v)});
}
return gem::s2f48_variable_limit_attribute_data(rows);
});
// S2F49 Enhanced remote command
router.on(2, 49, [model, emit_event](const s2::Message& m) {
auto cmd = gem::parse_s2f49(m);
if (!cmd) return gem::s2f50_enhanced_host_command_ack(
gem::HostCmdAck::ParameterInvalid, {});
auto result = model->commands.dispatch(cmd->rcmd, cmd->params);
if (result.ack == gem::HostCmdAck::Accept && result.emit_ceid)
emit_event(*result.emit_ceid);
return gem::s2f50_enhanced_host_command_ack(result.ack, {});
});
// S5F3 enable alarm, S5F7 list enabled
router.on(5, 3, [model](const s2::Message& m) {
auto req = gem::parse_s5f3(m);
return gem::s5f4_enable_alarm_ack(
req ? model->alarms.set_enabled(req->alid, (req->aled & 0x80) != 0)
: gem::AlarmAck::Error);
});
router.on(5, 7, [model](const s2::Message&) {
std::vector<gem::AlarmListing> rows;
for (const auto& a : model->alarms.all()) {
if (!model->alarms.enabled(a.id)) continue;
const uint8_t alcd = (a.severity_category & 0x7F) |
(model->alarms.active(a.id) ? 0x80 : 0x00);
rows.push_back({alcd, a.id, a.text});
}
return gem::s5f8_list_enabled_alarms_data(rows);
});
// S5F13/F17 exception recover
router.on(5, 13, [model](const s2::Message& m) {
auto req = gem::parse_s5f13(m);
return gem::s5f14_exception_recover_ack(
req ? model->exceptions.on_recover(req->exid, req->exrecvra)
: gem::AlarmAck::Error);
});
router.on(5, 17, [model](const s2::Message& m) {
auto exid = gem::parse_s5f17(m);
return gem::s5f18_exception_recover_abort_ack(
exid ? model->exceptions.on_recover_abort(*exid) : gem::AlarmAck::Error);
});
// S6F15/F19/F21 host-initiated event/report queries
router.on(6, 15, [model](const s2::Message& m) {
auto ceid = gem::parse_s6f15(m);
if (!ceid) return gem::s6f16_event_report_data({0, 0, {}});
return gem::s6f16_event_report_data({0, *ceid, model->compose_reports_for(*ceid)});
});
router.on(6, 19, [model](const s2::Message& m) {
auto rptid = gem::parse_s6f19(m);
std::vector<s2::Item> values;
if (rptid) for (const auto& r : model->events.all_reports()) {
if (r.id != *rptid) continue;
for (auto vid : r.vids) {
auto v = model->vid_value(vid);
values.push_back(v ? *v : s2::Item::list({}));
}
break;
}
return gem::s6f20_individual_report_data(values);
});
router.on(6, 21, [model](const s2::Message& m) {
auto rptid = gem::parse_s6f21(m);
std::vector<gem::AnnotatedValue> rows;
if (rptid) for (const auto& r : model->events.all_reports()) {
if (r.id != *rptid) continue;
for (auto vid : r.vids) {
auto v = model->vid_value(vid);
rows.push_back({vid, v ? *v : s2::Item::list({})});
}
break;
}
return gem::s6f22_annotated_report_data(rows);
});
// S6F23 spool data request
router.on(6, 23, [model](const s2::Message& m) {
auto rsdc = gem::parse_s6f23(m);
if (!rsdc) return gem::s6f24_request_spool_data_ack(gem::SpoolRequestAck::Denied);
if (*rsdc == gem::SpoolRequestCode::Purge) model->spool.clear();
else model->spool.drain(); // demo: drop the drained messages
return gem::s6f24_request_spool_data_ack(gem::SpoolRequestAck::Accept);
});
// S7F1 PP load inquire, S7F3 PP send, S7F17 PP delete
router.on(7, 1, [](const s2::Message& m) {
auto req = gem::parse_s7f1(m);
auto ack = gem::ProcessProgramAck::Accept;
if (!req || req->ppid.empty()) ack = gem::ProcessProgramAck::PpidNotFound;
return gem::s7f2_pp_load_grant(ack);
});
router.on(7, 3, [model](const s2::Message& m) {
auto pp = gem::parse_s7f3(m);
if (!pp) return gem::s7f4_process_program_ack(gem::ProcessProgramAck::LengthError);
model->recipes.add(pp->ppid, pp->ppbody);
return gem::s7f4_process_program_ack(gem::ProcessProgramAck::Accept);
});
router.on(7, 17, [model](const s2::Message& m) {
auto req = gem::parse_s7f17(m);
if (!req) return gem::s7f18_delete_pp_ack(gem::ProcessProgramAck::LengthError);
if (req->empty()) for (const auto& id : model->recipes.list()) model->recipes.remove(id);
else for (const auto& id : *req) model->recipes.remove(id);
return gem::s7f18_delete_pp_ack(gem::ProcessProgramAck::Accept);
});
// S10F3 host→equipment terminal display, S10F5 multi-line
router.on(10, 3, [](const s2::Message& m) {
auto td = gem::parse_s10f3(m);
if (td) std::cout << "[TERMINAL " << static_cast<int>(td->tid)
<< "] " << td->text << "\n";
return gem::s10f4_terminal_display_ack(gem::TerminalAck::Accepted);
});
router.on(10, 5, [](const s2::Message& m) {
auto td = gem::parse_s10f5(m);
if (td) for (const auto& line : td->lines)
std::cout << "[TERMINAL " << static_cast<int>(td->tid) << "] " << line << "\n";
return gem::s10f6_terminal_display_multi_ack(gem::TerminalAck::Accepted);
});
// S3 — E87 carriers (basic acceptance)
router.on(3, 17, [model](const s2::Message& m) {
auto req = gem::parse_s3f17(m);
if (!req) return gem::s3f18_carrier_action_ack(gem::CarrierActionAck::ParameterInvalid);
if (!model->carriers.has(req->carrierid))
return gem::s3f18_carrier_action_ack(gem::CarrierActionAck::CarrierIDUnknown);
return gem::s3f18_carrier_action_ack(gem::CarrierActionAck::Accept);
});
router.on(3, 19, [model](const s2::Message& m) {
auto req = gem::parse_s3f19(m);
if (!req) return gem::s3f20_slot_map_verify_ack(gem::SlotMapVerifyAck::Error);
return gem::s3f20_slot_map_verify_ack(
model->carriers.has(req->carrierid) ? gem::SlotMapVerifyAck::Accept
: gem::SlotMapVerifyAck::CarrierUnknown);
});
router.on(3, 25, [](const s2::Message&) {
return gem::s3f26_carrier_transfer_ack(gem::CarrierActionAck::Accept);
});
router.on(3, 27, [model](const s2::Message& m) {
auto cid = gem::parse_s3f27(m);
return gem::s3f28_cancel_carrier_ack(
cid && model->carriers.has(*cid) ? gem::CarrierActionAck::Accept
: gem::CarrierActionAck::CarrierIDUnknown);
});
// S14 — E39 GetAttr + E94 CJ create/delete
router.on(14, 1, [model](const s2::Message& m) {
auto req = gem::parse_s14f1(m);
if (!req) return gem::s14f2_get_attr_data({}, gem::ObjectAck::Error);
auto* obj = model->cem.get(req->objspec);
if (!obj) return gem::s14f2_get_attr_data({}, gem::ObjectAck::Denied_UnknownObject);
std::vector<gem::AttrValue> attrs;
for (const auto& id : req->attrids) {
auto v = model->cem.get_attr(req->objspec, id);
attrs.push_back({id, v.value_or(s2::Item::ascii(""))});
}
return gem::s14f2_get_attr_data(attrs, gem::ObjectAck::Success);
});
router.on(14, 9, [model](const s2::Message& m) {
auto req = gem::parse_s14f9(m);
if (!req) return gem::s14f10_create_control_job_ack("", gem::ObjectAck::Error);
auto r = model->control_jobs.create(req->ctljobid, req->prjobids,
[model](const std::string& id) { return model->process_jobs.has(id); });
auto ack = (r == gem::ControlJobStore::CreateResult::Created)
? gem::ObjectAck::Success
: gem::ObjectAck::Denied_UnknownObject;
return gem::s14f10_create_control_job_ack(req->ctljobid, ack);
});
router.on(14, 11, [model](const s2::Message& m) {
auto id = gem::parse_s14f11(m);
return gem::s14f12_delete_control_job_ack(
id && model->control_jobs.remove(*id) ? gem::ObjectAck::Success
: gem::ObjectAck::Denied_UnknownObject);
});
// S16 — E40 PJ create/command/dequeue/monitor, E94 CJ command
router.on(16, 11, [model](const s2::Message& m) {
auto req = gem::parse_s16f11(m);
if (!req) return gem::s16f12_pr_job_create_ack(gem::HostCmdAck::ParameterInvalid);
auto r = model->process_jobs.create(req->prjobid, req->rcpspec.ppid, req->mtrloutspec,
[model](const std::string& ppid) { return model->recipes.get(ppid).has_value(); });
auto ack = gem::HostCmdAck::Accept;
if (r == gem::ProcessJobStore::CreateResult::Denied_AlreadyExists)
ack = gem::HostCmdAck::Rejected;
else if (r == gem::ProcessJobStore::CreateResult::Denied_InvalidPpid)
ack = gem::HostCmdAck::ParameterInvalid;
return gem::s16f12_pr_job_create_ack(ack);
});
router.on(16, 5, [model](const s2::Message& m) {
auto req = gem::parse_s16f5(m);
if (!req) return gem::s16f6_pr_job_command_ack(gem::HostCmdAck::ParameterInvalid);
auto ev = gem::pr_cmd_to_event(req->prcmd);
if (!ev) return gem::s16f6_pr_job_command_ack(gem::HostCmdAck::InvalidCommand);
return gem::s16f6_pr_job_command_ack(model->process_jobs.on_host_command(req->prjobid, *ev));
});
router.on(16, 7, [model](const s2::Message& m) {
auto req = gem::parse_s16f7(m);
if (!req) return gem::s16f8_pr_job_monitor_ack(gem::HostCmdAck::ParameterInvalid);
for (const auto& e : req->entries)
model->process_jobs.set_alert(e.prjobid, (e.pralert & 0x80) != 0);
return gem::s16f8_pr_job_monitor_ack(gem::HostCmdAck::Accept);
});
router.on(16, 13, [model](const s2::Message& m) {
auto id = gem::parse_s16f13(m);
return gem::s16f14_pr_job_dequeue_ack(
id ? model->process_jobs.dequeue(*id) : gem::HostCmdAck::ParameterInvalid);
});
router.on(16, 27, [model](const s2::Message& m) {
auto req = gem::parse_s16f27(m);
if (!req) return gem::s16f28_cj_command_ack(gem::HostCmdAck::ParameterInvalid);
auto ev = gem::ctl_cmd_to_event(req->ctljobcmd);
if (!ev) return gem::s16f28_cj_command_ack(gem::HostCmdAck::InvalidCommand);
return gem::s16f28_cj_command_ack(
model->control_jobs.on_host_command(req->ctljobid, *ev));
});
}
// =============================================================================
// §7. main()
// =============================================================================
// Everything protocol-shaped is three calls now: construct an
// EquipmentRuntime from the YAML, register_default_handlers (all 56 GEM
// handlers + state-change emitters; ids bound via the config's roles:
// defaults), and hook tool behaviour onto the host commands with
// commands.set_handler. Compare with git history: this main() replaced
// ~650 lines of hand-wired Server/Router/handler plumbing.
int main(int argc, char** argv) {
const std::string config_path = (argc > 1) ? argv[1] :
@@ -915,7 +453,7 @@ int main(int argc, char** argv) {
const uint16_t metrics_port = (argc > 4) ?
static_cast<uint16_t>(std::stoi(argv[4])) : 9090;
// ---- §7.1 Validate the YAML configs before binding the port ----------
// ---- Validate the YAML configs before binding the port -----------------
{
config::ConfigValidator v;
v.validate_equipment(config_path);
@@ -927,167 +465,104 @@ int main(int argc, char** argv) {
}
}
auto logfn = [](const std::string& m) {
std::cout << "[pvd] " << m << "\n";
};
// std::endl (not "\n"): flush per line so logs are visible immediately
// when stdout is piped (docker logs, CI captures).
auto logfn = [](const std::string& m) { std::cout << "[pvd] " << m << std::endl; };
// ---- §7.2 Build the data model ---------------------------------------
auto model = std::make_shared<gem::EquipmentDataModel>();
config::EquipmentDescriptor desc;
config::ControlStateConfig sm_cfg;
// ---- The engine: one runtime + the default GEM behaviour ---------------
gem::EquipmentRuntime::Config cfg;
cfg.equipment_yaml = config_path;
cfg.control_state_yaml = state_path;
cfg.process_job_yaml = "/app/data/process_job_state.yaml";
cfg.control_job_yaml = "/app/data/control_job_state.yaml";
cfg.port = port;
cfg.log = logfn;
std::unique_ptr<gem::EquipmentRuntime> runtime;
try {
desc = config::load_equipment(config_path, *model);
sm_cfg = config::load_control_state(state_path);
runtime = std::make_unique<gem::EquipmentRuntime>(cfg);
} catch (const std::exception& e) {
std::cerr << "[pvd] config load failed: " << e.what() << "\n";
return 1;
}
auto sm = std::make_shared<gem::ControlStateMachine>(
sm_cfg.table, sm_cfg.initial);
auto& R = *runtime;
gem::register_default_handlers(R);
auto model = R.model_ptr();
logfn("loaded " + std::to_string(model->svids.size()) + " SVIDs, " +
std::to_string(model->ecids.all().size()) + " ECIDs, " +
std::to_string(model->events.all_events().size()) + " CEIDs, " +
std::to_string(model->alarms.all().size()) + " alarms, " +
std::to_string(model->recipes.list().size()) + " recipes");
asio::io_context io;
// ---- §7.3 Metrics exporter on a second port --------------------------
// ---- Metrics exporter on a second port ---------------------------------
auto registry = std::make_shared<metrics::Registry>();
registry->describe("pvd_messages_total", "SECS messages dispatched",
registry->describe("pvd_events_total", "Collection events fired",
metrics::MetricType::Counter);
registry->describe("pvd_chamber_pressure_torr", "Process chamber pressure",
metrics::MetricType::Gauge);
registry->describe("pvd_spool_depth", "Queued spool messages",
metrics::MetricType::Gauge);
auto exporter = std::make_shared<metrics::PrometheusServer>(io, metrics_port, registry);
auto exporter = std::make_shared<metrics::PrometheusServer>(
R.io(), metrics_port, registry);
exporter->start();
logfn("metrics exporter on :" + std::to_string(metrics_port) + "/metrics");
// ---- §7.4 Sensor simulator, EPT cycler, alarm monitor ---------------
auto sim = std::make_shared<pvd::Simulator>(io, model);
sim->start();
auto ept = std::make_shared<pvd::EptCycler>(io, model);
ept->start();
// ---- §7.5 Server + handler wiring ------------------------------------
Server::Config server_cfg{port, desc.device_id, {}};
Server server(io, server_cfg);
server.on_log(logfn);
auto active_conn = std::make_shared<std::weak_ptr<Connection>>();
// Shared event-emission helper.
auto deliver_or_spool = [active_conn, model, logfn](s2::Message msg) {
auto conn = active_conn->lock();
if (!conn) {
model->spool.enqueue(msg);
return;
}
if (msg.reply_expected) {
conn->send_request(std::move(msg), [](std::error_code, const s2::Message&) {});
} else {
conn->send_data(std::move(msg));
}
};
auto emit_event = [&io, model, deliver_or_spool, registry](uint32_t ceid) {
asio::post(io, [model, deliver_or_spool, ceid]() {
if (!model->is_event_enabled(ceid)) return;
auto reports = model->compose_reports_for(ceid);
deliver_or_spool(gem::s6f11_event_report(0, ceid, reports));
});
// ---- Tool behaviour: sensors, EPT, alarms, recipes ----------------------
// The emit helpers are the runtime's thread-safe API plus a metrics bump.
auto emit_event = [&R, registry](uint32_t ceid) {
R.emit_event(ceid);
registry->inc("pvd_events_total", {{"ceid", std::to_string(ceid)}});
};
auto emit_alarm_set = [&io, model, deliver_or_spool, registry](uint32_t alid) {
asio::post(io, [model, deliver_or_spool, alid]() {
auto alarm = model->alarms.get(alid);
auto alcd = model->alarms.set_active(alid);
if (!alarm || !alcd || !model->alarms.enabled(alid)) return;
deliver_or_spool(gem::s5f1_alarm_report(*alcd, alid, alarm->text));
});
registry->inc("pvd_alarm_set_total", {{"alid", std::to_string(alid)}});
};
auto emit_alarm_clear = [&io, model, deliver_or_spool](uint32_t alid) {
asio::post(io, [model, deliver_or_spool, alid]() {
auto alarm = model->alarms.get(alid);
auto alcd = model->alarms.clear_active(alid);
if (!alarm || !alcd || !model->alarms.enabled(alid)) return;
deliver_or_spool(gem::s5f1_alarm_report(*alcd, alid, alarm->text));
});
};
auto emit_alarm_set = [&R](uint32_t alid) { R.set_alarm(alid); };
auto emit_alarm_clear = [&R](uint32_t alid) { R.clear_alarm(alid); };
auto sim = std::make_shared<pvd::Simulator>(R.io(), model);
sim->start();
auto ept = std::make_shared<pvd::EptCycler>(R.io(), model);
ept->start();
auto alarm_mon = std::make_shared<pvd::AlarmMonitor>(
io, model, emit_alarm_set, emit_alarm_clear);
R.io(), model, emit_alarm_set, emit_alarm_clear);
alarm_mon->start();
auto recipe_runner = std::make_shared<pvd::RecipeRunner>(
io, model, *sim, emit_event);
R.io(), model, *sim, emit_event);
// Wire control-state-change → CEID emission.
sm->set_state_change_handler(
[logfn, emit_event, desc](gem::ControlState from, gem::ControlState to,
gem::ControlEvent ev) {
logfn(std::string("control: ") + gem::control_state_name(from) +
" -> " + gem::control_state_name(to) +
" (" + gem::control_event_name(ev) + ")");
if (desc.emit_on_control_change)
emit_event(*desc.emit_on_control_change);
// Host command behaviour via the set_handler hook (runs on the io thread
// during S2F41/F21/F49 dispatch) — this used to be a hand-rolled S2F41
// router override. The YAML still declares the static ack + emit_ceid;
// this adds the part config can't express: actually starting the recipe.
model->commands.set_handler(
"START", [model, recipe_runner](const std::string&,
const std::vector<gem::CommandParameter>&) {
for (const auto& pjid : model->process_jobs.ids()) {
auto* pj = model->process_jobs.get(pjid);
if (pj && pj->fsm->state() == gem::ProcessJobState::WaitingForStart) {
model->process_jobs.fire_internal(pjid, gem::ProcessJobEvent::Start);
recipe_runner->start(pjid);
break;
}
}
return gem::HostCmdAck::Accept;
});
// ---- §7.6 Periodic gauge updates for Prometheus ----------------------
auto gauge_timer = std::make_shared<asio::steady_timer>(io);
std::function<void(std::error_code)> gauge_tick =
[&gauge_tick, gauge_timer, model, registry](std::error_code ec) {
if (ec) return;
auto p = model->svids.get(pvd::kSvidChamberPressure);
if (p) {
const float v = std::get<std::vector<float>>(p->value.storage())[0];
registry->set_gauge("pvd_chamber_pressure_torr", v);
}
registry->set_gauge("pvd_spool_depth", model->spool.size());
gauge_timer->expires_after(5s);
gauge_timer->async_wait(gauge_tick);
};
// ---- Periodic gauge updates for Prometheus ------------------------------
auto gauge_timer = std::make_shared<asio::steady_timer>(R.io());
auto gauge_tick = std::make_shared<std::function<void(std::error_code)>>();
*gauge_tick = [gauge_tick, gauge_timer, model, registry](std::error_code ec) {
if (ec) return;
auto p = model->svids.get(pvd::kSvidChamberPressure);
if (p && std::holds_alternative<std::vector<float>>(p->value.storage())) {
registry->set_gauge("pvd_chamber_pressure_torr",
std::get<std::vector<float>>(p->value.storage())[0]);
}
registry->set_gauge("pvd_spool_depth", model->spool.size());
gauge_timer->expires_after(5s);
gauge_timer->async_wait(*gauge_tick);
};
gauge_timer->expires_after(5s);
gauge_timer->async_wait(gauge_tick);
gauge_timer->async_wait(*gauge_tick);
// ---- §7.7 Router + per-connection handler wiring --------------------
gem::Router router;
register_handlers(router, model, sm, desc,
emit_event, emit_alarm_set, recipe_runner);
logfn("registered " + std::to_string(router.size()) + " SECS-II handlers");
server.on_connection([&io, sm, model, logfn, active_conn, &router, registry]
(std::shared_ptr<Connection> conn) {
*active_conn = conn;
conn->set_closed_handler([active_conn](const std::string&) {
active_conn->reset();
});
conn->set_selected_handler([logfn, sm]() {
logfn(std::string("host SELECTED; control=") +
gem::control_state_name(sm->state()));
});
conn->set_message_handler(
[&router, model, conn, registry](const s2::Message& msg)
-> std::optional<s2::Message> {
registry->inc("pvd_messages_total",
{{"dir", "rx"},
{"stream", std::to_string(msg.stream)},
{"function", std::to_string(msg.function)}});
return router.dispatch_with_s9(
[&](uint8_t f, const std::array<uint8_t, 10>& mh) {
conn->emit_s9(f, mh);
},
[&]() -> std::optional<std::array<uint8_t, 10>> {
auto* h = conn->current_header();
return h ? std::optional{h->encode()} : std::nullopt;
}, msg);
});
});
server.start();
logfn("ACME-PVD-3000 ready, listening on :" + std::to_string(port));
io.run();
R.run(); // accept connections + run the io_context (blocks)
return 0;
}