==Introduction==
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|this one''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/ LF EdgeFledge] 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.
LAN 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.30
armbian@sbcspg===Enabling the connection to the PLC===As described in [[MISC-TN-024:~$ pip install Automated test equipment (ATE) monitoring with SBCSPG gateway and ThingsBoard IoT platform|''MISC-TN-024'']], the 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 used, which is provided by the <code>modbus_cli</code> package. In the following example, the register mapped ad the address 300 is read.
<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_cli
Defaulting to user installation because normal site-packages is not writeable
Requirement 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)
[notice] A new release of pip is available: 23.0 -> 23.0.1
[notice] To update, run: python3 -m pip install --upgrade pip
...
armbian@sbcspg:~$ ./.local/bin/modbus 192.168.30.42:502 300
Parsed 0 registers definitions from 1 files
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. [[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 plugin is enabled.]][[File:SBCSPG-Fledge-6.png|center|thumb|600x600px|Fledge provides a native web interface to visualize collected data. ]]
https://github.com/fledge-iot/fledge-south-modbustcp/pull/26/files
Riavviare south === Enabling the connection to ThingsBoard IoT platform ===In order to upload collected data to ThingsBoard platform, a simple North plugin disablewas developed. To this end, the Microsoft Azure plugin was used as reference. The ThingsBoard North plugin is minimalist and '''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</enable per via graficacode> command line tool.
<pre class="board-terminal">
root@sbcspg:/usr/local/fledge/python/fledge/plugins/north# apt install mosquitto mosquitto-clients
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
libcjson1 libdlt2 libev4 libmosquitto1 libwebsockets16
Suggested packages:
apparmor
The following NEW packages will be installed:
libcjson1 libdlt2 libev4 libmosquitto1 libwebsockets16 mosquitto mosquitto-clients
0 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]
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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 [163 kB]
Get:6 http://deb.debian.org/debian bullseye/main armhf mosquitto armhf 2.0.11-1 [253 kB]
Get:7 http://deb.debian.org/debian bullseye/main armhf mosquitto-clients armhf 2.0.11-1 [110 kB]
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</pre>
You can think about this This Technical Note (TN) as an evolution The following box shows the code of the article "[[MISC-TN-021: SBCSPG and ThingsBoard IoT]]". The use case 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://thingsboard.io/docs/ ''ThingsBoard IoT platform''] * [https://thingsboard.io/docs/iot-gateway/what-is-iot-gateway/ ''ThingsBoard IoT gateway'']. The application is to monitor robotized DAVE Embedded Systems' ATEs like the one shown [https://youtu.be/OoNiKgJXq00?t=409 here]plugin.
<syntaxhighlight lang="python" class"mw-collapsible= Implementation ="" mw-collapsed"="">The implementation is suitable for a production environment. Unlike what we did for [[MISC# -TN*-021coding: 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 shows the complete solution.utf-8 -*-
[[File:ATE monitoring SBCSPG """ ThingsBoard.png|center|thumb|1000x1000px]]North plugin"""import asyncioimport timeimport jsonimport sysimport os
Technically, the gateway can communicate with the ATE using different physical links and protocols. In the example under discussion, the physical link is Ethernet and the protocol is Modbus/TCP. The gateway retrieves periodically some data regarding the robotic arm used to move the device under test (DUT). These data are [https://www.universal-robots.com/articles/ur/interface-communication/modbus-server/ exposed by the PLC governing the arm] and are documented in detail [https://s3-eu-west-1.amazonaws.com/ur-support-site/16377/ModBus%20server%20data.pdf here].
=== ThingsBoard IoT configuration ===
To install ThingsBoard IoT platform on an EC2 instance, [https://thingsboard.io/docs/user-guide/install/cluster/aws-self-hosted-setup/ these instructions] were followed.
=== ThingsBoard IoT gateway configuration ===from fledge.common import loggerTo run this esample, the most important module to configure was the [https://thingsboardfrom 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__ = "192Apache 2.168.30.420", __version__ = "port${VERSION}": 502, "type": "tcp", "method": "socket",_LOGGER = logger.setup(__name__) _CONFIG_CATEGORY_NAME = "timeoutTHINGSBOARD": 35, _CONFIG_CATEGORY_DESCRIPTION = "byteOrderThingsBoard Python North Plugin": "BIG", "retries": true, "retryOnEmpty": true,_DEFAULT_CONFIG = { "retryOnInvalid" 'plugin': true,{ "pollPeriod" 'description': 5000'ThingsBoard North Plugin', "unitId" 'type': 1'string', "deviceName" 'default': "UR5"'thingsboard', "sendDataOnlyOnChange" 'readonly': 'true,' "connectAttemptTimeMs": 5000 }, "connectAttemptCounttb_iot_platform_host": 5, "waitAfterFailedAttemptsMs": 300000, "timeseries": [{ { "tagdescription": "base_joint_temperature_deg_CThingsBoard IoT platform host.", "type": "16intstring", "functionCode": 3, "objectsCountdefault": 1, "addressput the public name of your host here": 300 }, { "tagorder": "shoulder_joint_temperature_deg_C2", "typedisplayName": "16intThingsBoard IoT platform host", "functionCode": 3 }, "objectsCounttb_mqtt_topic": 1, "address": 301 },{ { "tagdescription": "base_joint_current_mAMQTT topic", "type": "16intstring", "functionCode": 3, "objectsCountdefault": 1, "addressv1/devices/me/telemetry": 290 }, { "tagorder": "shoulder_joint_current_mA3", "typedisplayName": "16intMQTT topic", "functionCode" 'readonly': 3,'true' "objectsCount": 1 }, "addresstb_device_access_token": 291 },{ { "tagdescription": "elbow_joint_current_mADevice's access token.", "type": "16intstring", "functionCodedefault": 3, "objectsCount": 1, "addressput your device's token here": 292 }, { "tagorder": "wrist1_joint_current_mA4", "typedisplayName": "16int", "functionCodeDevice's access token": 3, "objectsCount": 1 }, "addresssource": 293 },{ { "tagdescription": "wrist2_joint_current_mASource of data to be sent on the stream.", "type": "16intenumeration", "functionCodedefault": 3, "objectsCount": 1, "addressreadings": 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 """
</syntaxhighlight>
== 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.]]