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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
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docs/00_index.md
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@@ -138,6 +138,7 @@ how to run it.
|---|-------|--------| |---|-------|--------|
| [40](40_building_running_demo.md) | Building, running, the demo | Docker setup, the two-container demo, every transaction it walks through. | | [40](40_building_running_demo.md) | Building, running, the demo | Docker setup, the two-container demo, every transaction it walks through. |
| [41](41_integration_hardware_mes_production.md) | Integration | Wiring sensors and recipes, talking to a real MES, HSMS-GS for multi-MES, persistence layout, monitoring, security hardening, performance envelope. | | [41](41_integration_hardware_mes_production.md) | Integration | Wiring sensors and recipes, talking to a real MES, HSMS-GS for multi-MES, persistence layout, monitoring, security hardening, performance envelope. |
| [42](42_vendor_daemon_and_clients.md) | The vendor daemon + language clients | secs_gemd, the gRPC API and the HCACK-4 command contract, the Python client, EquipmentRuntime + per-capability registration, the threading contract, which tier to pick. |
### Part 5 — Reference ### Part 5 — Reference
docs/35_state_machines_and_dispatch.md
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@@ -64,9 +64,11 @@ router->on(2, 41, [model](const auto& m) {
// register_* functions; register_default_handlers(runtime) wires them all. // register_* functions; register_default_handlers(runtime) wires them all.
``` ```
The `examples/pvd_tool/main.cpp` §6 register 51 handlers in ~460 The `examples/pvd_tool/main.cpp` §6 gets all 56 with ONE call —
lines. Each handler is a few lines: parse the body, mutate or read `register_default_handlers(runtime)` — then adds tool behaviour via
a store, build the reply. `commands.set_handler`. Inside the capability functions each handler is
still a few lines: parse the body, mutate or read a store, build the
reply.
### What happens for unhandled primaries ### What happens for unhandled primaries
docs/41_integration_hardware_mes_production.md
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@@ -41,7 +41,7 @@ the worked reference. Section by section:
| §3 Recipe runner | PJ → SettingUp → Processing → ProcessComplete walk; per-step CEID emit | | §3 Recipe runner | PJ → SettingUp → Processing → ProcessComplete walk; per-step CEID emit |
| §4 Alarm threshold monitor | Continuous threshold evaluation against ECID setpoints | | §4 Alarm threshold monitor | Continuous threshold evaluation against ECID setpoints |
| §5 EPT cycling | E116 transitions driven by PJ state + safety alarms | | §5 EPT cycling | E116 transitions driven by PJ state + safety alarms |
| §6 Router handlers | 51 handlers in ~460 lines — every S/F a host might send to a PVD tool | | §6 main() | `EquipmentRuntime` + `register_default_handlers` (all 56) + `set_handler` for START — was 51 hand-written handlers before the runtime |
| §7 main() | YAML load → validate → compose → run | | §7 main() | YAML load → validate → compose → run |
A real tool fork: A real tool fork:
docs/42_vendor_daemon_and_clients.md
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@@ -0,0 +1,201 @@
# 42 — The vendor daemon and language clients
Chapters 30–41 teach the embedded C++ path: your `main()` owns the engine.
This chapter teaches the **daemon path** — the engine as its own process,
your tool software in any language on the other side of a socket — and the
runtime/capability API both paths share. If you are integrating a tool and
your controller is not C++, start here.
Everything in this chapter is exercised by `tools/run_interop.sh` (the
`daemon`, `pyclient`, and `daemon-unit` steps) against the secsgem-py
reference host. Status and remaining work: [DAEMON_ROADMAP.md](DAEMON_ROADMAP.md).
---
## 1. Why a daemon at all
A fab host enforces timers: T3 reply timeouts, T6 control transactions,
linktest heartbeats. If the GEM stack lives inside your tool application,
every crash, upgrade, GC pause, or hung hardware call of that application
is a **communication failure the fab can see** — and in production that
can mean the tool gets taken offline and lots get held.
`secs_gemd` inverts the deployment: the daemon owns the durable HSMS
relationship and answers the host from its own process, around the clock.
Your tool software connects over gRPC, pushes values and events in, and
receives host commands out. It can restart any time; the host never
notices. Spooling (chapter 13 §spool) covers the gap if the *host* link
drops; the daemon model covers the gap if *your software* drops.
```
tool software (any language) secs_gemd fab host / MES
┌──────────────────────────┐ gRPC ┌──────────────────────────┐ HSMS ┌────────┐
│ set / fire / alarm │◄─────►│ EquipmentRuntime │◄────►│ MES │
│ @on("START") handlers │ :50051│ + register_default_* │SECS-II└────────┘
│ (restartable, crashable) │ │ + spool, timers, FSMs │
└──────────────────────────┘ └──────────────────────────┘
```
Run it:
```sh
build/secs_gemd --port 5000 --grpc 0.0.0.0:50051 --config-dir data
```
One process, two faces: passive HSMS equipment on `--port`, the gRPC tool
API on `--grpc`.
---
## 2. The API contract (`proto/secsgem/v1/equipment.proto`)
The proto is the source of truth; read it — it is heavily commented. The
shape in one breath: everything is **name-based** (the names from your
`equipment.yaml`; never numeric SVIDs/CEIDs/ALIDs) and **plain-typed**
(a `Value` oneof of text/integer/real/boolean/binary/list; the daemon
converts to each variable's declared SECS-II format, so an F4 variable
stays F4 on the wire no matter what you send).
| RPC | What it does |
|---|---|
| `SetVariables` / `GetVariables` | write/read variables by name |
| `FireEvent` | trigger a collection event; daemon assembles the configured report → S6F11 |
| `SetAlarm` / `ClearAlarm` | S5F1 set/clear, by alarm `name:` (or stringified ALID) |
| `GetControlState` / `RequestControlState` | read the E30 control state / operator transitions |
| `WatchHealth` | server stream: link state, control state, spool depth |
| `Subscribe` | server stream: everything the host asks of the tool |
| `CompleteCommand` | close a streamed command's audit entry |
### The HCACK-4 command contract
The one piece of SEMI behaviour you must understand: when the host sends a
remote command (S2F41 START), the daemon does **not** wait for your tool.
It answers the host immediately:
- **No tool subscribed** → the command's declarative ack from
`equipment.yaml` (exactly the pre-daemon behaviour; nothing buffered,
nothing replayed later).
- **Tool subscribed** → `HCACK=4` ("accepted, will finish later"), and the
command appears on your `Subscribe` stream with its parameters.
The S2F42 transaction is already closed by the time you see the command.
The host learns the *real* outcome the way E30 intends: from the
**collection event you fire on success** (or the alarm you raise on
failure). `CompleteCommand` only feeds the daemon's audit log. This is the
same pattern secsgem-py applications and commercial GEM gateways use — the
protocol was designed for it.
---
## 3. The Python client (`clients/python`)
`pip install` the package (pure Python — pre-generated stubs, no compiled
extension) and the entire integration is:
```python
from secsgem_client import Equipment
eq = Equipment("localhost:50051")
eq.set(ChamberPressure=2.5) # host sees it on its next S1F3
eq["WaferCounter"] = 7 # item syntax, same thing
print(eq.get("ChamberPressure")) # read back through the daemon
eq.fire("ProcessStarted", ChamberPressure=2.75) # values, then S6F11
eq.alarm("chiller_temp_high") # S5F1 set
eq.clear("chiller_temp_high") # S5F1 clear
@eq.on("START") # host S2F41 -> your function
def start(cmd):
run_recipe(cmd.params.get("PPID"))
eq.fire("ProcessStarted") # the host's completion signal
eq.listen(background=True) # consume the Subscribe stream
eq.control_state # "ONLINE_REMOTE"
eq.request_control_state("HOST_OFFLINE") # operator panel -> maintenance
eq.health() # link / control state / spool depth
```
Anything the daemon declines raises `SecsGemError` with its explanation
(`no variable named 'ChamberPresure'`). A complete runnable tool is
[clients/python/examples/mini_tool.py](../clients/python/examples/mini_tool.py)
(~25 lines). The package is validated end-to-end by
`interop/pyclient_interop.py`: 13 checks driving the published API while
secsgem-py judges the wire.
Other languages: generate stubs from the proto (`protoc` supports 11+
languages) and wrap them the same way — the Python client is ~200 lines
and is the reference for what a thin wrapper should feel like.
---
## 4. The shared core: `EquipmentRuntime` + capability registration
Both `secs_server` and `secs_gemd` (and any future surface) are thin
fronts over the same two calls:
```cpp
#include "secsgem/gem/runtime.hpp"
#include "secsgem/gem/default_handlers.hpp"
gem::EquipmentRuntime::Config cfg;
cfg.equipment_yaml = "data/equipment.yaml";
cfg.control_state_yaml = "data/control_state.yaml";
cfg.process_job_yaml = "data/process_job_state.yaml";
cfg.control_job_yaml = "data/control_job_state.yaml";
cfg.port = 5000;
cfg.log = [](const std::string& m) { std::cout << m << std::endl; };
gem::EquipmentRuntime R(cfg);
gem::register_default_handlers(R); // all 56 GEM handlers + emitters
R.run(); // accept + io_context (blocks)
```
`register_default_handlers` is the composition of **15 per-capability
functions** (`register_identification`, `register_alarms`,
`register_carriers`, `register_jobs`, …) mirroring how E30 itself lists
capabilities (S1F19). A sensor-class tool with no carriers or jobs
registers only what it is — the unregistered messages get the Router's
SxF0/S9 default treatment, which is exactly what "I don't implement that
capability" should look like on the wire.
The ids the built-ins touch (the control-state/clock SVIDs the engine
refreshes, the CEIDs fired on CJ state changes) come from the `roles:`
block in `equipment.yaml` — visible coupling, no magic constants.
### The threading contract (the one rule)
One io_context thread owns the model. From any other thread:
- **writes** go through the runtime's posting API
(`set_variable`, `emit_event`, `set_alarm`, `clear_alarm`);
- **reads of mutable state** go through `read_sync` (post + future with a
deadline) — `control_state()` alone is lock-free (atomic mirror);
- **behaviour hooks** (`commands.set_handler`, state-change observers) run
*on* the io thread: return promptly, post long work elsewhere.
This is TSan-enforced in CI, daemon included. The first violation ever
caught was in our own test — the lane works.
### Observers vs. the primary slot
State machines expose `set_state_change_handler` (the primary slot —
yours, replaceable) **and** `add_state_change_handler` (append-only
observers that survive the primary being set). The runtime and daemon use
observers for the control-state mirror, `WatchHealth`, and the command
stream, so they never fight your application over the slot.
---
## 5. Which tier do I pick?
| Your situation | Tier |
|---|---|
| New tool, Python anywhere in the controller, fastest start | Python client |
| Existing controller in C#/Java/Go/…; multi-process architecture; tool app must be restartable without the host noticing | gRPC daemon + thin client |
| In-process integration, custom transports, hard real-time adjacency | Embedded C++ (`EquipmentRuntime`, chapter 41) |
They compose: a C++ tool can still run the daemon for the HSMS face and
talk gRPC locally — that is precisely the "tool software + separate
SECS server" deployment many fabs already run.
examples/pvd_tool/README.md
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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 | | §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 | | §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 | | §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) | | §7 main() | Loading YAML → validating → composing → running, including the Prometheus exporter on `:9090` (§7.3) |
## Running it ## Running it
examples/pvd_tool/main.cpp
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@@ -37,16 +37,12 @@
#include <string> #include <string>
#include <vector> #include <vector>
#include "secsgem/config/loader.hpp"
#include "secsgem/config/validate.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/data_model.hpp"
#include "secsgem/gem/e116_constants.hpp" #include "secsgem/gem/default_handlers.hpp"
#include "secsgem/gem/messages.hpp" #include "secsgem/gem/runtime.hpp"
#include "secsgem/gem/router.hpp"
#include "secsgem/metrics/prometheus.hpp" #include "secsgem/metrics/prometheus.hpp"
#include "secsgem/secs2/message.hpp" #include "secsgem/secs2/item.hpp"
using namespace secsgem; using namespace secsgem;
using namespace std::chrono_literals; using namespace std::chrono_literals;
@@ -437,473 +433,15 @@ struct EptCycler {
} // namespace pvd } // 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 // Everything protocol-shaped is three calls now: construct an
// tool and run a recipe. apps/secs_server.cpp has the full // EquipmentRuntime from the YAML, register_default_handlers (all 56 GEM
// catalogue (~30 more handlers) for terminal services, slot maps, // handlers + state-change emitters; ids bound via the config's roles:
// E40/E94 jobs, etc.; in production you'd copy that here too. // defaults), and hook tool behaviour onto the host commands with
// commands.set_handler. Compare with git history: this main() replaced
void register_handlers(gem::Router& router, // ~650 lines of hand-wired Server/Router/handler plumbing.
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()
// =============================================================================
int main(int argc, char** argv) { int main(int argc, char** argv) {
const std::string config_path = (argc > 1) ? argv[1] : 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) ? const uint16_t metrics_port = (argc > 4) ?
static_cast<uint16_t>(std::stoi(argv[4])) : 9090; 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; config::ConfigValidator v;
v.validate_equipment(config_path); v.validate_equipment(config_path);
@@ -927,167 +465,104 @@ int main(int argc, char** argv) {
} }
} }
auto logfn = [](const std::string& m) { // std::endl (not "\n"): flush per line so logs are visible immediately
std::cout << "[pvd] " << m << "\n"; // 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 --------------------------------------- // ---- The engine: one runtime + the default GEM behaviour ---------------
auto model = std::make_shared<gem::EquipmentDataModel>(); gem::EquipmentRuntime::Config cfg;
config::EquipmentDescriptor desc; cfg.equipment_yaml = config_path;
config::ControlStateConfig sm_cfg; 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 { try {
desc = config::load_equipment(config_path, *model); runtime = std::make_unique<gem::EquipmentRuntime>(cfg);
sm_cfg = config::load_control_state(state_path);
} catch (const std::exception& e) { } catch (const std::exception& e) {
std::cerr << "[pvd] config load failed: " << e.what() << "\n"; std::cerr << "[pvd] config load failed: " << e.what() << "\n";
return 1; return 1;
} }
auto sm = std::make_shared<gem::ControlStateMachine>( auto& R = *runtime;
sm_cfg.table, sm_cfg.initial); gem::register_default_handlers(R);
auto model = R.model_ptr();
logfn("loaded " + std::to_string(model->svids.size()) + " SVIDs, " + logfn("loaded " + std::to_string(model->svids.size()) + " SVIDs, " +
std::to_string(model->ecids.all().size()) + " ECIDs, " + std::to_string(model->ecids.all().size()) + " ECIDs, " +
std::to_string(model->events.all_events().size()) + " CEIDs, " + std::to_string(model->events.all_events().size()) + " CEIDs, " +
std::to_string(model->alarms.all().size()) + " alarms, " + std::to_string(model->alarms.all().size()) + " alarms, " +
std::to_string(model->recipes.list().size()) + " recipes"); std::to_string(model->recipes.list().size()) + " recipes");
asio::io_context io; // ---- Metrics exporter on a second port ---------------------------------
// ---- §7.3 Metrics exporter on a second port --------------------------
auto registry = std::make_shared<metrics::Registry>(); 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); metrics::MetricType::Counter);
registry->describe("pvd_chamber_pressure_torr", "Process chamber pressure", registry->describe("pvd_chamber_pressure_torr", "Process chamber pressure",
metrics::MetricType::Gauge); metrics::MetricType::Gauge);
registry->describe("pvd_spool_depth", "Queued spool messages", registry->describe("pvd_spool_depth", "Queued spool messages",
metrics::MetricType::Gauge); 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(); exporter->start();
logfn("metrics exporter on :" + std::to_string(metrics_port) + "/metrics"); logfn("metrics exporter on :" + std::to_string(metrics_port) + "/metrics");
// ---- §7.4 Sensor simulator, EPT cycler, alarm monitor --------------- // ---- Tool behaviour: sensors, EPT, alarms, recipes ----------------------
auto sim = std::make_shared<pvd::Simulator>(io, model); // The emit helpers are the runtime's thread-safe API plus a metrics bump.
sim->start(); auto emit_event = [&R, registry](uint32_t ceid) {
auto ept = std::make_shared<pvd::EptCycler>(io, model); R.emit_event(ceid);
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));
});
registry->inc("pvd_events_total", {{"ceid", std::to_string(ceid)}}); registry->inc("pvd_events_total", {{"ceid", std::to_string(ceid)}});
}; };
auto emit_alarm_set = [&io, model, deliver_or_spool, registry](uint32_t alid) { auto emit_alarm_set = [&R](uint32_t alid) { R.set_alarm(alid); };
asio::post(io, [model, deliver_or_spool, alid]() { auto emit_alarm_clear = [&R](uint32_t alid) { R.clear_alarm(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 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>( 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(); alarm_mon->start();
auto recipe_runner = std::make_shared<pvd::RecipeRunner>( 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. // Host command behaviour via the set_handler hook (runs on the io thread
sm->set_state_change_handler( // during S2F41/F21/F49 dispatch) — this used to be a hand-rolled S2F41
[logfn, emit_event, desc](gem::ControlState from, gem::ControlState to, // router override. The YAML still declares the static ack + emit_ceid;
gem::ControlEvent ev) { // this adds the part config can't express: actually starting the recipe.
logfn(std::string("control: ") + gem::control_state_name(from) + model->commands.set_handler(
" -> " + gem::control_state_name(to) + "START", [model, recipe_runner](const std::string&,
" (" + gem::control_event_name(ev) + ")"); const std::vector<gem::CommandParameter>&) {
if (desc.emit_on_control_change) for (const auto& pjid : model->process_jobs.ids()) {
emit_event(*desc.emit_on_control_change); 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 ---------------------- // ---- Periodic gauge updates for Prometheus ------------------------------
auto gauge_timer = std::make_shared<asio::steady_timer>(io); auto gauge_timer = std::make_shared<asio::steady_timer>(R.io());
std::function<void(std::error_code)> gauge_tick = auto gauge_tick = std::make_shared<std::function<void(std::error_code)>>();
[&gauge_tick, gauge_timer, model, registry](std::error_code ec) { *gauge_tick = [gauge_tick, gauge_timer, model, registry](std::error_code ec) {
if (ec) return; if (ec) return;
auto p = model->svids.get(pvd::kSvidChamberPressure); auto p = model->svids.get(pvd::kSvidChamberPressure);
if (p) { if (p && std::holds_alternative<std::vector<float>>(p->value.storage())) {
const float v = std::get<std::vector<float>>(p->value.storage())[0]; registry->set_gauge("pvd_chamber_pressure_torr",
registry->set_gauge("pvd_chamber_pressure_torr", v); std::get<std::vector<float>>(p->value.storage())[0]);
} }
registry->set_gauge("pvd_spool_depth", model->spool.size()); registry->set_gauge("pvd_spool_depth", model->spool.size());
gauge_timer->expires_after(5s); gauge_timer->expires_after(5s);
gauge_timer->async_wait(gauge_tick); gauge_timer->async_wait(*gauge_tick);
}; };
gauge_timer->expires_after(5s); 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)); logfn("ACME-PVD-3000 ready, listening on :" + std::to_string(port));
io.run(); R.run(); // accept connections + run the io_context (blocks)
return 0; return 0;
} }