ORCAIn essence, this Technical Note (TN) is very similar to [[MISC-TN-024: Automated test equipment (ATE) monitoring with SBCSPG gateway and ThingsBoard IoT platform|''MISC-TN-001_—_Running_Armbian_Bullseye_024: Automated test equipment (Debian_11ATE)monitoring with SBCSPG gateway and ThingsBoard IoT platform'']]. There is a noticeable difference, however, as a different software stack was used on the edge device. In this case, [https://www.lfedge.org/projects/fledge/ Fledge] was utilized.

You can think about this This Technical Note (TN) as an evolution of To install Fledge, the article "[[MISC<code>apt</code>-TN-021: SBCSPG and ThingsBoard IoT]]". The use case based approach described here is a real-world application based on the same elements: * [[MISC-TN-004: Running Debian (armbian) on SBCSPG#The hardware platform|The ''SBCSPG'' industrial gateway]] * [https://thingsboardfledge-iot.readthedocs.io/docsen/ ''ThingsBoard IoT platform''] * [https:latest/quick_start/thingsboardinstalling.io/docs/iot-gateway/what-is-iot-gateway/ ''ThingsBoard IoT gateway''html here]was followed. The application It is worth to monitor robotized DAVE Embedded Systems' ATEs like the one shown [https:remember that some dependencies were handled manually. For instance, <code>autoconf</code> and <code>libtool</youtu.be/OoNiKgJXq00?t=409 here]code> packages were installed manually.

== Implementation =Enabling the connection to the PLC===The implementation is suitable for a production environment. Unlike what we did for As described in [[MISC-TN-021024: Automated test equipment (ATE) monitoring with SBCSPG gateway and ThingsBoard IoTplatform|this ''MISC-TN-024'']], in this case the ThingsBoard IoT platform PLC we want to talk to is connected to a different subnet, namely 192.168.30.0/24. For testing the connection to the PLC, after adding the required subnet configuration, the <code>modbus</code> command line tool was installed on used, which is provided by the cloud, specifically on an AWS EC2 instance running Ubuntu Linux<code>modbus_cli</code> package. The In the following diagram shows example, the register mapped ad the complete solutionaddress 300 is read.

[[File<pre class="board-terminal">root@sbcspg:ATE monitoring SBCSPG ThingsBoard/usr/local/fledge/python/fledge/plugins/north# ip addr add 192.png|center|thumb|1000x1000px]]168.30.253/24 dev eth0 label eth0:1

Technically, the gateway can communicate with the ATE using different physical links and protocolsarmbian@sbcspg:~/devel/fledge$ pip install modbus_cliDefaulting to user installation because normal site-packages is not writeableRequirement already satisfied: modbus_cli in /home/armbian/. In the example under discussion, the physical link is Ethernet and the protocol is Modbuslocal/lib/TCPpython3. The gateway retrieves periodically some data regarding the robotic arm used to move the device under test 9/site-packages (DUT0.1.8)Requirement already satisfied: colorama in /home/armbian/. These data are [https:local/lib/wwwpython3.universal9/site-robotspackages (from modbus_cli) (0.com4.6)Requirement already satisfied: umodbus in /articleshome/urarmbian/interface-communication.local/modbus-serverlib/ exposed by the PLC governing the arm] and are documented in detail [https:python3.9//s3-eu-westsite-packages (from modbus_cli) (1.amazonaws0.4)Requirement already satisfied: pyserial~=3.com4 in /usr/ur-support-sitelocal/16377lib/ModBus%20server%20datapython3.pdf here]9/dist-packages (from umodbus->modbus_cli) (3.5)

=== ThingsBoard IoT configuration ===[notice] A new release of pip is available: 23.0 -> 23.0.1[notice] To install ThingsBoard IoT platform on an EC2 instanceupdate, [httpsrun://thingsboard.io/docs/userpython3 -guide/m pip install--upgrade pip...armbian@sbcspg:~$ ./cluster.local/aws-self-hosted-setupbin/ these instructions] were followedmodbus 192.168.30. 42:502 300Parsed 0 registers definitions from 1 files300: 32 0x20</pre>

=== ThingsBoard IoT gateway configuration ===We then configured Fledge in order to read periodically a couple of PLC's registers. Please note that this is a no-code operation as it is carried out with the help of the native web-based Fledge UI. To run this esampleaccess PLC exposed data, the most important module Fledge's <code>modbustcp</code> South plugin was used. Please note that also we had to configure was the patch it manually to solve a bug that prevented it from working properly. The patch is detailed [https://thingsboardgithub.iocom/docsfledge-iot/iotfledge-south-gatewaymodbustcp/configpull/modbus26/ Modbus connectorfiles here]. To make the change effective, we disabled and re-enabled the plugin via the web interface.  [[File:SBCSPG-Fledge-2.png|center|thumb|600x600px|Installing the <code>modbustcp</code> South plugin.]][[File:SBCSPG-Fledge-3.png|center|thumb|600x600px|Configuring the plugin]][[File:SBCSPG-Fledge-4.png|center|thumb|600x600px|Configuring the plugin.]][[File:SBCSPG-Fledge-5.png|center|thumb|600x600px|The following box shows plugin is enabled.]][[File:SBCSPG-Fledge-6.png|center|thumb|600x600px|Fledge provides a native web interface to visualize collected data. ]]  === Enabling the resulting configuration file needed connection to poll some variables of ThingsBoard IoT platform ===In order to upload collected data to ThingsBoard platform, a simple North plugin was developed. To this end, the armMicrosoft Azure plugin was used as reference. The ThingsBoard North plugin is minimalist and 's joints (namely temperatures and currents)''unfit for a real-world production environment'''. Nevertheless, it was enough to perform the basic tests described in this document. Before testing this new plugin, the <code>mosquitto-clients</code> package was installed as the plugin invokes the <code>mosquitto_pub</code> command line tool. <syntaxhighlight langpre class="jsonboard-terminal">armbianroot@sbcspg:~$ cat /etcusr/local/fledge/python/thingsboard-gatewayfledge/configplugins/modbusnorth# apt install mosquitto mosquitto-clientsReading package lists... DoneBuilding dependency tree... DoneReading state information...jsonDoneThe following additional packages will be installed:{ libcjson1 libdlt2 libev4 libmosquitto1 libwebsockets16 "master"Suggested packages: { "slaves" apparmorThe following NEW packages will be installed: libcjson1 libdlt2 libev4 libmosquitto1 libwebsockets16 mosquitto mosquitto-clients0 upgraded, 7 newly installed, 0 to remove and 8 not upgraded.Need to get 715 kB of archives.After this operation, 1,492 kB of additional disk space will be used.Do you want to continue? [Y/n] {Get:1 http://deb.debian.org/debian bullseye/main armhf libcjson1 armhf 1.7.14-1 [20.5 kB]Get:2 http://deb.debian.org/debian bullseye/main armhf libdlt2 armhf 2.18.6-1+deb11u1 [46.1 kB] "host"Get:3 http: "192//deb.debian.168org/debian bullseye/main armhf libev4 armhf 1:4.3033-1 [38.42",6 kB] "port"Get:4 http: 502,//deb.debian.org/debian bullseye/main armhf libmosquitto1 armhf 2.0.11-1 [83.5 kB] "type"Get:5 http: "tcp",//deb.debian.org/debian bullseye/main armhf libwebsockets16 armhf 4.0.20-2 [163 kB] "method"Get:6 http: "socket",//deb.debian.org/debian bullseye/main armhf mosquitto armhf 2.0.11-1 [253 kB] "timeout"Get:7 http: 35//deb.debian.org/debian bullseye/main armhf mosquitto-clients armhf 2.0.11-1 [110 kB]Fetched 715 kB in 0s (1,817 kB/s) "byteOrder"Selecting previously unselected package libcjson1: "BIG",armhf.(Reading database ... 72206 files and directories currently installed.)Preparing to unpack .../0-libcjson1_1.7.14-1_armhf.deb ... "retries"Unpacking libcjson1: true,armhf (1.7.14-1) ... "retryOnEmpty"Selecting previously unselected package libdlt2: true,armhf.Preparing to unpack .../1-libdlt2_2.18.6-1+deb11u1_armhf.deb ... "retryOnInvalid"Unpacking libdlt2: true,armhf (2.18.6-1+deb11u1) ... "pollPeriod"Selecting previously unselected package libev4: 5000,armhf.Preparing to unpack .../2-libev4_1%3a4.33-1_armhf.deb ... "unitId"Unpacking libev4:armhf (1: 4.33-1,) ... "deviceName"Selecting previously unselected package libmosquitto1: "UR5",armhf.Preparing to unpack .../3-libmosquitto1_2.0.11-1_armhf.deb ... "sendDataOnlyOnChange"Unpacking libmosquitto1: true,armhf (2.0.11-1) ... "connectAttemptTimeMs"Selecting previously unselected package libwebsockets16: 5000,armhf.Preparing to unpack .../4-libwebsockets16_4.0.20-2_armhf.deb ... "connectAttemptCount"Unpacking libwebsockets16: armhf (4.0.20-2) ...Selecting previously unselected package mosquitto.Preparing to unpack .../5,-mosquitto_2.0.11-1_armhf.deb ...Unpacking mosquitto (2.0.11-1) ...Selecting previously unselected package mosquitto-clients.Preparing to unpack .../6-mosquitto-clients_2.0.11-1_armhf.deb ...Unpacking mosquitto-clients (2.0.11-1) ...Setting up libmosquitto1:armhf (2.0.11-1) ...Setting up libev4:armhf (1:4.33-1) ...Setting up libcjson1:armhf (1.7.14-1) ...Setting up mosquitto-clients (2.0.11-1) ... "waitAfterFailedAttemptsMs"Setting up libdlt2: 300000,armhf (2.18.6-1+deb11u1) ... "timeseries"Setting up libwebsockets16: [armhf (4.0.20-2) ...Setting up mosquitto (2.0.11-1) ...Created symlink /etc/systemd/system/multi-user.target.wants/mosquitto.service → /lib/systemd/system/mosquitto.service.Processing triggers for libc-bin (2.31-13+deb11u5) ...</pre> The following box shows the code of the ThingsBoard plugin. { <syntaxhighlight lang="tagpython": class"base_joint_temperature_deg_Cmw-collapsible=", "typemw-collapsed": ="16int",># -*- coding: utf-8 -*-  "functionCode": 3, "objectsCountThingsBoard North plugin": 1, "address": 300 },import asyncioimport timeimport jsonimport sysimport os   from fledge.common import loggerfrom fledge.plugins.north.common.common import * { __author__ = "tagAndrea Marson": __copyright__ = "shoulder_joint_temperature_deg_CCopyright (c) 2023 DAVE Srl", __license__ = "typeApache 2.0": __version__ = "16int${VERSION}", _LOGGER = logger.setup(__name__) _CONFIG_CATEGORY_NAME = "functionCodeTHINGSBOARD": 3, _CONFIG_CATEGORY_DESCRIPTION = "objectsCountThingsBoard Python North Plugin": 1, "address": 301 },_DEFAULT_CONFIG = { 'plugin': { "tag" 'description': "base_joint_current_mA"'ThingsBoard North Plugin', " 'type"': "16int"'string', "functionCode" 'default': 3'thingsboard', "objectsCount" 'readonly': 1'true' }, "addresstb_iot_platform_host": 290 },{ { "tagdescription": "shoulder_joint_current_mAThingsBoard IoT platform host.", "type": "16intstring", "functionCodedefault": 3"put the public name of your host here", "objectsCountorder": 1"2", "addressdisplayName": 291"ThingsBoard IoT platform host" }, "tb_mqtt_topic": { "tagdescription": "elbow_joint_current_mAMQTT topic", "type": "16intstring", "functionCodedefault": 3"v1/devices/me/telemetry", "objectsCountorder": 1"3", "addressdisplayName": 292"MQTT topic", 'readonly': 'true' }, "tb_device_access_token": { "tagdescription": "wrist1_joint_current_mADevice's access token.", "type": "16intstring", "functionCodedefault": 3"put your device's token here", "objectsCountorder": 1"4", "addressdisplayName": 293"Device's access token" }, "source": { "tagdescription": "wrist2_joint_current_mASource of data to be sent on the stream.", "type": "16intenumeration", "functionCodedefault": 3, "objectsCountreadings": 1, "address": 294 }, { "tagoptions": ["wrist3_joint_current_mAreadings"], "typeorder": "16int5", "functionCodedisplayName": 3, "objectsCountSource": 1, "address" 'readonly': 295 } ] } ]'true'

} def plugin_info(): return { 'name': 'thingsboard', 'version': '2.1.0', 'type': 'north', 'interface': '1.0', 'config': _DEFAULT_CONFIG } def plugin_init(data): _LOGGER.info('Initializing ThingsBoard North Python Plugin') global thingsboard_north, config thingsboard_north = ThingsBoardNorthPlugin() config = data _LOGGER.info(f'config = {config}') return config """Example of payload [{'reading': {'base_joint_temperature_deg_C': 34, 'base_joint_current_mA': 2042}, 'asset_code': 'Modbus TCP', 'id': 35613, 'ts': '2023-02-22 16:33:49.961000+00:00', 'user_ts': '2023-02-22 16:33:47.126849+00:00'}, {'reading': {'base_joint_temperature_deg_C': 34, 'base_joint_current_mA': 2045}, 'asset_code': 'Modbus TCP', 'id': 35614, 'ts': '2023-02-22 16:33:49.961000+00:00', 'user_ts': '2023-02-22 16:33:48.126817+00:00'}, {'reading': {'base_joint_temperature_deg_C': 34, 'base_joint_current_mA': 2060}, 'asset_code': 'Modbus TCP', 'id': 35615, 'ts': '2023-02-22 16:33:49.961000+00:00', 'user_ts': '2023-02-22 16:33:49.126827+00:00'}] Example of upload mosquitto_pub -d -q 1 -h "$THINGSBOARD_HOST_NAME" -t "v1/devices/me/telemetry" -u "$ACCESS_TOKEN" -m '{"base_joint_temperature_deg_C":33}'"""async def plugin_send(data, payload, stream_id): try: _LOGGER.info(f'ThingsBoard North Python - plugin_send: {stream_id}') _LOGGER.info(f'data = {data}') _LOGGER.info(f'payload = {payload}') _LOGGER.info(f'host = {data["tb_iot_platform_host"]["value"]}') for reading in payload: _LOGGER.info(f'reading = {reading}') _LOGGER.info(f'reading[reading] = {reading["reading"]}') s = 'mosquitto_pub -d -q 1 -h "' + data["tb_iot_platform_host"]["value"] + '" -t "' + data["tb_mqtt_topic"]["value"] + '" -u "' + data["tb_device_access_token"]["value"] + '" -m \'' + str(reading["reading"]) + "\'" _LOGGER.info(f's = {s}') os.system(s) except asyncio.CancelledError as ex: _LOGGER.exception(f'Exception occurred in plugin_send: {ex}') else: _LOGGER.info('payload sent successfully') return True, payload[len(payload-1)]["id"], len(payload) def plugin_shutdown(data): pass # TODO: North plugin can not be reconfigured? (per callback mechanism)def plugin_reconfigure(): pass class ThingsBoardNorthPlugin(object): """ North ThingsBoard Plugin """  

 == Dashboards Visualization of uploaded data ==ThingsBoard IoT allows Similarly to create easily custom dashboards to visualize data. At what we did in [[http://ec2-15-160-47-190.euMISC-southTN-1.compute.amazonaws.com024:8080/dashboard/1178fb20Automated test equipment (ATE) monitoring with SBCSPG gateway and ThingsBoard IoT platform|''MISC-e56dTN-11ec-8592-e3cb29424137?publicId=28967df0-e56d-11ec-8592-e3cb29424137 this link024'']] such , we created a simple dashboard is available showing some temperatures and currents of to visualize in real-time on cloud side collected data as shown in the arm's jointsfollowing example.[[File:ATE monitoring SBCSPG ThingsBoard dashboard1-Fledge-8.png|center|thumb|600x600px|Visualization of uploaded data.]]