Revert "feat(valve): Implement obstacle detection with configurable thresholds"

This reverts commit 3c2235733b.

docs/modbus-registers.de.md

@@ -51,8 +51,6 @@ Alle Register sind in einer einzigen, durchgehenden Liste pro Register-Typ (`Inp
 | **0x0002** | `MAX_CLOSING_TIME_S`          | Ventil            | Sicherheits-Timeout in Sekunden für den Schliessen-Vorgang.                                                                                |
 | **0x0003** | `END_CURRENT_THRESHOLD_OPEN_MA` | Ventil            | Minimaler Stromschwellenwert in mA zur Endlagenerkennung beim Öffnen.                                                                     |
 | **0x0004** | `END_CURRENT_THRESHOLD_CLOSE_MA` | Ventil            | Minimaler Stromschwellenwert in mA zur Endlagenerkennung beim Schliessen.                                                                |
-| **0x0005** | `OBSTACLE_CURRENT_THRESHOLD_OPEN_MA` | Ventil            | Stromschwellenwert in mA zur Hinderniserkennung beim Öffnen.                                                                              |
-| **0x0006** | `OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA` | Ventil            | Stromschwellenwert in mA zur Hinderniserkennung beim Schliessen.                                                                         |
 | **0x0010** | `DIGITAL_OUTPUTS_STATE`   | Ausgänge          | Bitmaske zum Lesen und Schreiben der Ausgänge. Bit 0: Ausgang 1, Bit 1: Ausgang 2. `1`=AN, `0`=AUS.                                         |
 | **0x00F0** | `WATCHDOG_TIMEOUT_S`          | System            | Timeout des Fail-Safe-Watchdogs in Sekunden. `0`=Deaktiviert.                                                                             |
 | **0x00F1** | `DEVICE_RESET`                | System            | Schreibt `1` um das Gerät neu zu starten.                                                                                                 |

software/include/lib/modbus_server.h

@@ -89,21 +89,9 @@ enum {
 	 */
 	REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002,
 	/**
-	 * @brief Minimum current threshold in mA for end-position detection during opening.
+	 * @brief Minimum current threshold in mA for end-position detection.
 	 */
-	REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003,
+	REG_HOLDING_VALVE_END_CURRENT_THRESHOLD_MA = 0x0003,
-	/**
-	 * @brief Minimum current threshold in mA for end-position detection during closing.
-	 */
-	REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004,
-	/**
-	 * @brief Obstacle current threshold in mA for opening.
-	 */
-	REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_OPEN_MA = 0x0005,
-	/**
-	 * @brief Obstacle current threshold in mA for closing.
-	 */
-	REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA = 0x0006,
 	/**
 	 * @brief Bitmask for reading and writing digital outputs. Bit 0: Output 1,
 	 * Bit 1: Output 2. 1=ON, 0=OFF.

software/include/lib/valve.h

@@ -32,8 +32,7 @@ enum valve_movement {
 	VALVE_MOVEMENT_IDLE, /**< The valve is not moving. */
 	VALVE_MOVEMENT_OPENING, /**< The valve is currently opening. */
 	VALVE_MOVEMENT_CLOSING, /**< The valve is currently closing. */
-	VALVE_MOVEMENT_ERROR, /**< An error occurred during movement. */
+	VALVE_MOVEMENT_ERROR /**< An error occurred during movement. */
-	VALVE_MOVEMENT_OBSTACLE /**< An obstacle was detected during movement. */
 };
 
 /**
@@ -114,20 +113,6 @@ void valve_set_end_current_threshold_open(uint16_t current_ma);
  */
 void valve_set_end_current_threshold_close(uint16_t current_ma);
 
-/**
- * @brief Sets the current threshold for obstacle detection during opening.
- *
- * @param current_ma The current threshold in milliamps.
- */
-void valve_set_obstacle_current_threshold_open(uint16_t current_ma);
-
-/**
- * @brief Sets the current threshold for obstacle detection during closing.
- *
- * @param current_ma The current threshold in milliamps.
- */
-void valve_set_obstacle_current_threshold_close(uint16_t current_ma);
-
 /**
  * @brief Gets the current threshold for end-position detection during opening.
  *
@@ -156,20 +141,6 @@ uint16_t valve_get_max_open_time(void);
  */
 uint16_t valve_get_max_close_time(void);
 
-/**
- * @brief Gets the current threshold for obstacle detection during opening.
- *
- * @return The current threshold in milliamps.
- */
-uint16_t valve_get_obstacle_current_threshold_open(void);
-
-/**
- * @brief Gets the current threshold for obstacle detection during closing.
- *
- * @return The current threshold in milliamps.
- */
-uint16_t valve_get_obstacle_current_threshold_close(void);
-
 /**
  * @brief Gets the current drawn by the valve motor during opening.
  *

software/lib/shell_valve/shell_valve.c

@@ -55,32 +55,6 @@ static int cmd_valve_set_end_curr_close(const struct shell *sh, size_t argc, cha
 	return 0;
 }
 
-static int cmd_valve_set_obs_curr_open(const struct shell *sh, size_t argc, char **argv)
-{
-	if (argc != 2) {
-		shell_print(sh, "Usage: valve set_obs_curr_open <milliamps>");
-		return -EINVAL;
-	}
-
-	uint16_t current_ma = (uint16_t)atoi(argv[1]);
-	valve_set_obstacle_current_threshold_open(current_ma);
-	shell_print(sh, "Obstacle current threshold (open) set to %u mA.", current_ma);
-	return 0;
-}
-
-static int cmd_valve_set_obs_curr_close(const struct shell *sh, size_t argc, char **argv)
-{
-	if (argc != 2) {
-		shell_print(sh, "Usage: valve set_obs_curr_close <milliamps>");
-		return -EINVAL;
-	}
-
-	uint16_t current_ma = (uint16_t)atoi(argv[1]);
-	valve_set_obstacle_current_threshold_close(current_ma);
-	shell_print(sh, "Obstacle current threshold (close) set to %u mA.", current_ma);
-	return 0;
-}
-
 static int cmd_valve_show(const struct shell *sh, size_t argc, char **argv)
 {
 	const int label_width = 30;
@@ -98,16 +72,6 @@ static int cmd_valve_show(const struct shell *sh, size_t argc, char **argv)
 	    label_width,
 	    "End Current Threshold (Close):",
 	    valve_get_end_current_threshold_close());
-	shell_print(sh,
-	    "%*s %u mA",
-	    label_width,
-	    "Obstacle Current Threshold (Open):",
-	    valve_get_obstacle_current_threshold_open());
-	shell_print(sh,
-	    "%*s %u mA",
-	    label_width,
-	    "Obstacle Current Threshold (Close):",
-	    valve_get_obstacle_current_threshold_close());
 	return 0;
 }
 
@@ -122,14 +86,6 @@ SHELL_STATIC_SUBCMD_SET_CREATE(sub_valve_settings,
         NULL,
         "Set end current threshold for closing (mA)",
         cmd_valve_set_end_curr_close),
-    SHELL_CMD(set_obs_curr_open,
-        NULL,
-        "Set obstacle current threshold for opening (mA)",
-        cmd_valve_set_obs_curr_open),
-    SHELL_CMD(set_obs_curr_close,
-        NULL,
-        "Set obstacle current threshold for closing (mA)",
-        cmd_valve_set_obs_curr_close),
     SHELL_CMD(show, NULL, "Show valve configuration", cmd_valve_show),
     SHELL_SUBCMD_SET_END);
 

software/lib/valve/valve.c

@@ -29,8 +29,6 @@ static uint16_t max_opening_time_s = 10;
 static uint16_t max_closing_time_s = 10;
 static uint16_t end_current_threshold_open_ma = 10; // Default value for open
 static uint16_t end_current_threshold_close_ma = 10; // Default value for close
-static uint16_t obstacle_current_threshold_open_ma = 600; // Default value for open
-static uint16_t obstacle_current_threshold_close_ma = 600; // Default value for close
 static struct k_work_delayable valve_work; // Work item for scheduling valve movement timeouts
 static struct k_timer movement_timer;
 
@@ -49,11 +47,6 @@ static void valve_work_handler(struct k_work *work)
 
 	if (current_movement == VALVE_MOVEMENT_OPENING) {
 		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current_ma);
-		if (current_ma > obstacle_current_threshold_open_ma) {
-			LOG_ERR("Obstacle detected during opening! Current: %d mA", current_ma);
-			current_movement = VALVE_MOVEMENT_OBSTACLE;
-			goto work_handler_finish;
-		}
 		if (current_ma > end_current_threshold_open_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
@@ -61,11 +54,6 @@ static void valve_work_handler(struct k_work *work)
 		LOG_INF("Valve finished opening");
 	} else if (current_movement == VALVE_MOVEMENT_CLOSING) {
 		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current_ma);
-		if (current_ma > obstacle_current_threshold_close_ma) {
-			LOG_ERR("Obstacle detected during closing! Current: %d mA", current_ma);
-			current_movement = VALVE_MOVEMENT_OBSTACLE;
-			goto work_handler_finish;
-		}
 		if (current_ma > end_current_threshold_close_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
@@ -75,7 +63,6 @@ static void valve_work_handler(struct k_work *work)
 	}
 	current_movement = VALVE_MOVEMENT_IDLE;
 
-work_handler_finish:
 	// Reset the movement timer
 	k_timer_stop(&movement_timer);
 
@@ -117,21 +104,13 @@ int valve_init(void)
 	settings_load_one("valve/end_current_threshold_close",
 	    &end_current_threshold_close_ma,
 	    sizeof(end_current_threshold_close_ma));
-	settings_load_one("valve/obstacle_current_threshold_open",
-	    &obstacle_current_threshold_open_ma,
-	    sizeof(obstacle_current_threshold_open_ma));
-	settings_load_one("valve/obstacle_current_threshold_close",
-	    &obstacle_current_threshold_close_ma,
-	    sizeof(obstacle_current_threshold_close_ma));
 
 	LOG_INF("Valve initialized: max_open=%us, max_close=%us, end_curr_open=%umA, "
-	        "end_curr_close=%umA, obs_curr_open=%umA, obs_curr_close=%umA",
+	        "end_curr_close=%umA",
 	    max_opening_time_s,
 	    max_closing_time_s,
 	    end_current_threshold_open_ma,
-	    end_current_threshold_close_ma,
+	    end_current_threshold_close_ma);
-	    obstacle_current_threshold_open_ma,
-	    obstacle_current_threshold_close_ma);
 	valve_close();
 	return 0;
 }
@@ -211,22 +190,6 @@ void valve_set_end_current_threshold_close(uint16_t current_ma)
 	    sizeof(end_current_threshold_close_ma));
 }
 
-void valve_set_obstacle_current_threshold_open(uint16_t current_ma)
-{
-	obstacle_current_threshold_open_ma = current_ma;
-	settings_save_one("valve/obstacle_current_threshold_open",
-	    &obstacle_current_threshold_open_ma,
-	    sizeof(obstacle_current_threshold_open_ma));
-}
-
-void valve_set_obstacle_current_threshold_close(uint16_t current_ma)
-{
-	obstacle_current_threshold_close_ma = current_ma;
-	settings_save_one("valve/obstacle_current_threshold_close",
-	    &obstacle_current_threshold_close_ma,
-	    sizeof(obstacle_current_threshold_close_ma));
-}
-
 uint16_t valve_get_max_open_time(void)
 {
 	return max_opening_time_s;
@@ -246,16 +209,6 @@ uint16_t valve_get_end_current_threshold_close(void)
 	return end_current_threshold_close_ma;
 }
 
-uint16_t valve_get_obstacle_current_threshold_open(void)
-{
-	return obstacle_current_threshold_open_ma;
-}
-
-uint16_t valve_get_obstacle_current_threshold_close(void)
-{
-	return obstacle_current_threshold_close_ma;
-}
-
 int32_t valve_get_opening_current(void)
 {
 	int32_t current;

software/tools/modbus_tool/modbus_tool.py

@@ -27,8 +27,6 @@ REG_HOLDING_MAX_OPENING_TIME_S = 0x0001
 REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002
 REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003
 REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004
-REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_OPEN_MA = 0x0005
-REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA = 0x0006
 REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010
 REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0
 REG_HOLDING_DEVICE_RESET = 0x00F1
@@ -92,7 +90,7 @@ def poll_status(slave_id, interval):
             ir_current = client.read_input_registers(REG_INPUT_MOTOR_OPEN_CURRENT_MA, count=2, slave=slave_id)
             ir_dig = client.read_input_registers(REG_INPUT_DIGITAL_INPUTS_STATE, count=2, slave=slave_id)
             ir_sys = client.read_input_registers(REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR, count=6, slave=slave_id)
-            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=6, slave=slave_id)
+            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=4, slave=slave_id)
             hr_dig = client.read_holding_registers(REG_HOLDING_DIGITAL_OUTPUTS_STATE, count=1, slave=slave_id)
             hr_sys = client.read_holding_registers(REG_HOLDING_WATCHDOG_TIMEOUT_S, count=1, slave=slave_id)
 
@@ -101,7 +99,7 @@ def poll_status(slave_id, interval):
                     raise ModbusException(str(res))
             
             valve_state_raw = ir_valve.registers[0]
-            movement_map = {0: "Idle", 1: "Opening", 2: "Closing", 3: "Error", 4: "Obstacle"}
+            movement_map = {0: "Idle", 1: "Opening", 2: "Closing", 3: "Error"}
             state_map = {0: "Closed", 1: "Open"}
             new_data["movement"] = movement_map.get(valve_state_raw >> 8, 'Unknown')
             new_data["state"] = state_map.get(valve_state_raw & 0xFF, 'Unknown')
@@ -111,8 +109,6 @@ def poll_status(slave_id, interval):
             new_data["close_time"] = f"{hr_valve.registers[1]}s"
             new_data["end_curr_open"] = f"{hr_valve.registers[2]}mA"
             new_data["end_curr_close"] = f"{hr_valve.registers[3]}mA"
-            new_data["obs_curr_open"] = f"{hr_valve.registers[4]}mA"
-            new_data["obs_curr_close"] = f"{hr_valve.registers[5]}mA"
             new_data["digital_inputs"] = f"0x{ir_dig.registers[0]:04X}"
             new_data["button_events"] = f"0x{ir_dig.registers[1]:04X}"
             new_data["digital_outputs"] = f"0x{hr_dig.registers[0]:04X}"
@@ -238,7 +234,7 @@ def main_menu(stdscr, slave_id):
     stdscr.bkgd(' ', curses.color_pair(1))
 
     menu = ["Open Valve", "Close Valve", "Stop Valve", "Toggle Output 1", "Toggle Output 2", "Settings", "Reset Node", "Firmware Update", "Exit"]
-    settings_menu = ["Set Max Open Time", "Set Max Close Time", "Set End Current Open", "Set End Current Close", "Set Obstacle Current Open", "Set Obstacle Current Close", "Set Watchdog", "Back"]
+    settings_menu = ["Set Max Open Time", "Set Max Close Time", "Set End Current Open", "Set End Current Close", "Set Watchdog", "Back"]
     current_menu = menu
     current_row_idx = 0
     message, message_time = "", 0
@@ -289,10 +285,6 @@ def main_menu(stdscr, slave_id):
                     input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Open (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA
                 elif selected_option == "Set End Current Close":
                     input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Close (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA
-                elif selected_option == "Set Obstacle Current Open":
-                    input_mode, input_prompt, input_target_reg = True, "Enter Obstacle Current Threshold Open (mA): ", REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_OPEN_MA
-                elif selected_option == "Set Obstacle Current Close":
-                    input_mode, input_prompt, input_target_reg = True, "Enter Obstacle Current Threshold Close (mA): ", REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA
                 elif selected_option == "Set Watchdog":
                     input_mode, input_prompt, input_target_reg = True, "Enter Watchdog Timeout (s): ", REG_HOLDING_WATCHDOG_TIMEOUT_S
                 elif selected_option == "Reset Node":
@@ -332,8 +324,6 @@ def main_menu(stdscr, slave_id):
                 stdscr.addstr(3, col3, "Watchdog:", bold); stdscr.addstr(3, col3 + 16, str(current_data.get('watchdog', 'N/A')), normal)
                 stdscr.addstr(4, col3, "End Curr Open:", bold); stdscr.addstr(4, col3 + 16, str(current_data.get('end_curr_open', 'N/A')), normal)
                 stdscr.addstr(5, col3, "End Curr Close:", bold); stdscr.addstr(5, col3 + 16, str(current_data.get('end_curr_close', 'N/A')), normal)
-                stdscr.addstr(6, col3, "Obs Curr Open:", bold); stdscr.addstr(6, col3 + 16, str(current_data.get('obs_curr_open', 'N/A')), normal)
-                stdscr.addstr(7, col3, "Obs Curr Close:", bold); stdscr.addstr(7, col3 + 16, str(current_data.get('obs_curr_close', 'N/A')), normal)
                 stdscr.addstr(1, col4, "Firmware:", bold); stdscr.addstr(1, col4 + 14, str(current_data.get('firmware', 'N/A')), normal)
                 stdscr.addstr(2, col4, "Uptime:", bold); stdscr.addstr(2, col4 + 14, str(current_data.get('uptime', 'N/A')), normal)
                 stdscr.addstr(3, col4, "Dev. Status:", bold); stdscr.addstr(3, col4 + 14, str(current_data.get('device_status', 'N/A')), normal)