In 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-024: Automated test equipment (ATE) 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. ==Testbed==The edge device is the [[MISC-TN-004:_Running_Debian_(armbian)_on_SBCSPG#The_hardware_platform|SBCSPG gateway]] running Debian Bullseye. To deploy this distribution onto the target, the same approach described [[ORCA-TN-001_—_Running_Armbian_Bullseye_(Debian_11)|here]] was used. Unlike Orca SBC, SBCSPG is based on a 32-bit ARM Cortex-A7 processor, though. As such, a [https://mirrors.dotsrc.org/armbian-dl/tritium-h3/archive/Armbian_22.11.1_Tritium-h3_bullseye_current_5.15.80_minimal.img.xz different image] was used. To install Fledge, the <code>apt</code>-based approach described [https://fledge-iot.readthedocs.io/en/latest/quick_start/installing.html here] was followed. It is worth to remember that some dependencies were handled manually. For instance, <code>autoconf</code> and <code>libtool</code> packages were installed manually.

https===Enabling the connection to the PLC===As described in [[MISC-TN-024://mirrors.dotsrc.org/armbianAutomated test equipment (ATE) monitoring with SBCSPG gateway and ThingsBoard IoT platform|''MISC-dl/tritiumTN-h3/archive/Armbian_22024'']], the PLC we want to talk to is connected to a different subnet, namely 192.11168.1_Tritium-h3_bullseye_current_530.150/24.80_minimalFor testing the connection to the PLC, after adding the required subnet configuration, the <code>modbus</code> command line tool was used, which is provided by the <code>modbus_cli</code> package.imgIn the following example, the register mapped ad the address 300 is read.xz

LAN <pre class="board-terminal">root@sbcspg:/usr/local/fledge/python/fledge/plugins/north# ip addr add 192.168.30.253/24 dev eth0 label eth0:1

armbian@sbcspg:~/devel/fledge$ pip install modbus_cliDefaulting to user installation because normal site-packages is not writeableRequirement already satisfied: modbus_cli in /home/armbian/.local/lib/python3.9/site-packages (0.1.8)Requirement already satisfied: colorama in /home/armbian/.local/lib/python3.9/site-packages (from modbus_cli) (0.4.6)Requirement already satisfied: umodbus in /home/armbian/.local/lib/python3.9/site-packages (from modbus_cli) (1.0.4)Requirement already satisfied: pyserial~=3.4 in /usr/local/lib/python3.9/dist-packages (from umodbus->modbus_cli) (3.5)

300: 33 0x2132 0x20</pre> 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 access PLC exposed data, the Fledge's <code>modbustcp</code> South plugin was used. Please note that also we had to patch it manually to solve a bug that prevented it from working properly. The patch is detailed [https://github.com/fledge-iot/fledge-south-modbustcp/pull/26/files here]. To make the change effective, we disabled and re-enabled the plugin via the web interface.

https[[File:SBCSPG-Fledge-2.png|center|thumb|600x600px|Installing the <code>modbustcp<//githubcode> South plugin.]][[File:SBCSPG-Fledge-3.png|center|thumb|600x600px|Configuring the plugin]][[File:SBCSPG-Fledge-4.png|center|thumb|600x600px|Configuring the plugin.com/fledge]][[File:SBCSPG-Fledge-iot/fledge5.png|center|thumb|600x600px|The plugin is enabled.]][[File:SBCSPG-southFledge-modbustcp/pull/26/files6.png|center|thumb|600x600px|Fledge provides a native web interface to visualize collected data. ]]

You can think about this This Technical Note (TN) as an evolution of the article <pre class="[[MISCboard-TNterminal">root@sbcspg:/usr/local/fledge/python/fledge/plugins/north# apt install mosquitto mosquitto-021clientsReading package lists... DoneBuilding dependency tree... DoneReading state information... DoneThe following additional packages will be installed: libcjson1 libdlt2 libev4 libmosquitto1 libwebsockets16Suggested packages: SBCSPG apparmorThe following NEW packages will be installed: libcjson1 libdlt2 libev4 libmosquitto1 libwebsockets16 mosquitto mosquitto-clients0 upgraded, 7 newly installed, 0 to remove and ThingsBoard IoT8 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. The use case described here is a real6-world application based on the same elements1+deb11u1 [46.1 kB]Get:3 http: //deb.debian.org/debian bullseye/main armhf libev4 armhf 1:4.33-1 [38.6 kB]* Get:4 http://deb.debian.org/debian bullseye/main armhf libmosquitto1 armhf 2.0.11-1 [83.5 kB]Get:5 http://deb.debian.org/debian bullseye/main armhf libwebsockets16 armhf 4.0.20-2 [MISC163 kB]Get:6 http://deb.debian.org/debian bullseye/main armhf mosquitto armhf 2.0.11-TN-004: Running Debian (armbian) on SBCSPG#The hardware platform|The ''SBCSPG'' industrial gateway]1 [253 kB] * [httpsGet:7 http://thingsboarddeb.iodebian.org/docsdebian bullseye/ ''ThingsBoard IoT platform''main armhf mosquitto-clients armhf 2.0.11-1 [110 kB] * [httpsFetched 715 kB in 0s (1,817 kB/s) Selecting previously unselected package libcjson1:armhf.(Reading database ... 72206 files and directories currently installed.)Preparing to unpack .../0-libcjson1_1.7.14-1_armhf.deb ...Unpacking libcjson1:armhf (1.7.14-1) ...Selecting previously unselected package libdlt2:armhf.Preparing to unpack .../thingsboard1-libdlt2_2.18.6-1+deb11u1_armhf.deb ...Unpacking libdlt2:armhf (2.18.6-1+deb11u1) ...Selecting previously unselected package libev4:armhf.Preparing to unpack ...io/docs2-libev4_1%3a4.33-1_armhf.deb ...Unpacking libev4:armhf (1:4.33-1) ...Selecting previously unselected package libmosquitto1:armhf.Preparing to unpack .../iot3-libmosquitto1_2.0.11-gateway1_armhf.deb ...Unpacking libmosquitto1:armhf (2.0.11-1) ...Selecting previously unselected package libwebsockets16:armhf.Preparing to unpack .../what4-islibwebsockets16_4.0.20-iot2_armhf.deb ...Unpacking libwebsockets16:armhf (4.0.20-gateway2) ...Selecting previously unselected package mosquitto.Preparing to unpack .../ ''ThingsBoard IoT gateway'']5-mosquitto_2.0.11-1_armhf.deb ...Unpacking mosquitto (2.0.11-1) ...Selecting previously unselected package mosquitto-clients. The application is Preparing to monitor robotized DAVE Embedded Systems' ATEs like the one shown [httpsunpack .../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) ...Setting up libdlt2:armhf (2.18.6-1+deb11u1) ...Setting up libwebsockets16:armhf (4.0.20-2) ...Setting up mosquitto (2.0.11-1) ...Created symlink /etc/systemd/system/multi-user.target.wants/youtumosquitto.beservice → /lib/systemd/system/OoNiKgJXq00?t=409 here]mosquitto.service.Processing triggers for libc-bin (2.31-13+deb11u5) ...</pre>

== Implementation ==The implementation is suitable for a production environment. Unlike what we did for [[MISC-TN-021: SBCSPG and ThingsBoard IoT|this TN]], in this case the ThingsBoard IoT platform was installed on the cloud, specifically on an AWS EC2 instance running Ubuntu Linux. The following diagram box shows the complete solutioncode of the ThingsBoard plugin.

[[File<syntaxhighlight lang="python" class"mw-collapsible="" mw-collapsed"=""># -*- coding:ATE monitoring SBCSPG ThingsBoard.png|center|thumb|1000x1000px]]utf-8 -*-

=== ThingsBoard IoT gateway configuration ===To run this esample, the most important module to configure was the [https://thingsboardfrom fledge.common import loggerfrom fledge.io/docs/iot-gateway/config/modbus/ Modbus connector]plugins. The following box shows the resulting configuration file needed to poll some variables of the arm's joints (namely temperatures and currents)north.<syntaxhighlight lang="json">armbian@sbcspg:~$ cat /etc/thingsboard-gateway/config/modbuscommon.jsoncommon import *{ __author__ = "masterAndrea Marson": { __copyright__ = "slavesCopyright (c) 2023 DAVE Srl": [ { "host__license__ = ": "192.168.30Apache 2.420", __version__ = "port${VERSION}": 502, _LOGGER = logger.setup(__name__) _CONFIG_CATEGORY_NAME = "typeTHINGSBOARD": _CONFIG_CATEGORY_DESCRIPTION = "tcpThingsBoard Python North Plugin", "method": "socket", "timeout"_DEFAULT_CONFIG = { 'plugin': 35,{ "byteOrder" 'description': "BIG"'ThingsBoard North Plugin', "retries" 'type': true'string', "retryOnEmpty" 'default': true'thingsboard', "retryOnInvalid" 'readonly': 'true,' "pollPeriod": 5000 }, "unitIdtb_iot_platform_host": 1,{ "deviceNamedescription": "UR5ThingsBoard IoT platform host.", "sendDataOnlyOnChangetype": true, "connectAttemptTimeMsstring": 5000, "connectAttemptCountdefault": 5, "waitAfterFailedAttemptsMsput the public name of your host here": 300000, "timeseries": [ { "tagorder": "base_joint_temperature_deg_C2", "typedisplayName": "16intThingsBoard IoT platform host", "functionCode": 3 }, "objectsCounttb_mqtt_topic": 1, "address": 300 },{ { "tagdescription": "shoulder_joint_temperature_deg_CMQTT topic", "type": "16intstring", "functionCode ": 3, "objectsCountdefault": 1, "addressv1/devices/me/telemetry": 301 }, { "tagorder": "base_joint_current_mA3", "typedisplayName": "16intMQTT topic", "functionCode" 'readonly': 3,'true' "objectsCount": 1 }, "addresstb_device_access_token": 290{ }, { "tagdescription": "shoulder_joint_current_mADevice's access token.", "type": "16intstring", "functionCode ": 3, "objectsCountdefault": 1, "addressput your device's token here": 291 }, { "tagorder": "elbow_joint_current_mA4", "typedisplayName": "16intDevice's access token", "functionCode": 3 }, "objectsCountsource": 1, "address": 292{ }, { "tagdescription": "wrist1_joint_current_mASource of data to be sent on the stream.", "type": "16intenumeration", "functionCodedefault": 3, "objectsCountreadings": 1, "address": 293 }, { "tagoptions": ["wrist2_joint_current_mAreadings"], "typeorder": "16int5", "functionCodedisplayName": 3, "objectsCountSource": 1, "address" 'readonly': 294'true' } }, def plugin_info(): return { "tag" 'name': "wrist3_joint_current_mA"'thingsboard', "type" 'version': "16int"'2.1.0', "functionCode" 'type': 3'north', "objectsCount" 'interface': '1.0', "address" 'config': 295 } ] } ]_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.]]