mbreiser · Oct 19, 2026
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
@@ -136,6 +136,11 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 SCANIMAGE_CMD_TOPIC = "/scanimage/cmd"
 SCANIMAGE_REPLY_TOPIC = "/scanimage/reply"
 SCANIMAGE_STATUS_TOPIC = "/scanimage/status"
+# The SiPM controller (nodes/sipm_node.py, read-only): its 1 Hz status carries bias/enable/offsets/
+# temperature, the detector settings ScanImage's TIFF header does not have.
+SIPM_CMD_TOPIC = "/sipm/cmd"
+SIPM_REPLY_TOPIC = "/sipm/reply"
+SIPM_STATUS_TOPIC = "/sipm/status"
 # ScanImage's ZeroMQ frame stream as topics (nodes/scanimage_frames_node.py, LAB-303 Block R). STREAMS:
 # recorded into the bag as received, like /bias/frames, and never derived into a run-log line (the
 # telemetry rule: a string-tagged stream is not a behavior sample). The preview images are bounded at
@@ -155,6 +160,7 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 CONNECTOR_TOPICS = {
     "bias": {"cmd": BIAS_CMD_TOPIC, "reply": BIAS_REPLY_TOPIC, "status": BIAS_STATUS_TOPIC},
     "scanimage": {"cmd": SCANIMAGE_CMD_TOPIC, "reply": SCANIMAGE_REPLY_TOPIC, "status": SCANIMAGE_STATUS_TOPIC},
+    "sipm": {"cmd": SIPM_CMD_TOPIC, "reply": SIPM_REPLY_TOPIC, "status": SIPM_STATUS_TOPIC},
 }
 FRAME_TOPIC = "/arena/frame"
 RAW_QOS = QoSProfile(
@@ -305,6 +311,7 @@ def topics(self) -> dict[str, str]:
             SESSION_TOPIC: STRING_TYPE, BROWSER_TOPIC: STRING_TYPE, EVENT_TOPIC: STRING_TYPE,
             KINEFLY_TOPIC: STRING_TYPE, BIAS_CMD_TOPIC: STRING_TYPE, BIAS_REPLY_TOPIC: STRING_TYPE, BIAS_STATUS_TOPIC: STRING_TYPE, BIAS_FRAMES_TOPIC: STRING_TYPE,
             SCANIMAGE_CMD_TOPIC: STRING_TYPE, SCANIMAGE_REPLY_TOPIC: STRING_TYPE, SCANIMAGE_STATUS_TOPIC: STRING_TYPE,
+            SIPM_CMD_TOPIC: STRING_TYPE, SIPM_REPLY_TOPIC: STRING_TYPE, SIPM_STATUS_TOPIC: STRING_TYPE,
             **STREAM_TOPICS,
         }
         if self._typed:
@@ -859,7 +866,8 @@ def on_log_open() -> None:
                 "record": {"bag": log.bag_name, "profile": log._profile, "typed": typed},
                 "topics": {"fictrac": FICTRAC_FRAME_TOPIC if typed else FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC,
                            "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC, BIAS_FRAMES_TOPIC],
-                           "scanimage": [SCANIMAGE_CMD_TOPIC, SCANIMAGE_REPLY_TOPIC, SCANIMAGE_STATUS_TOPIC], "frame": FRAME_TOPIC,
+                           "scanimage": [SCANIMAGE_CMD_TOPIC, SCANIMAGE_REPLY_TOPIC, SCANIMAGE_STATUS_TOPIC],
+                           "sipm": [SIPM_CMD_TOPIC, SIPM_REPLY_TOPIC, SIPM_STATUS_TOPIC], "frame": FRAME_TOPIC,
                            "browser": BROWSER_TOPIC, "event": EVENT_TOPIC, "session": SESSION_TOPIC},
             }
         )

diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
@@ -26,6 +26,7 @@
   /kinefly/raw     the adapter envelope (DERIVED stream)             → ["kf", ms, seq, t_src, L, R, head, abd]
   /bias/reply, /bias/status  the BIAS node's JSON (DERIVED)          → {"type":"connector","src":"bias",…}
   /scanimage/reply, /scanimage/status  the ScanImage node's JSON (DERIVED) → {"type":"connector","src":"scanimage",…}
+  /sipm/reply, /sipm/status  the SiPM node's JSON (DERIVED)          → {"type":"connector","src":"sipm",…}
   /fictrac/raw | /fictrac/frame  the adapter's FicTrac records       → used only for level `full`
 
 Clock and order rules (comparison.md §4, B1/B2):
@@ -76,11 +77,14 @@
 TOPIC_BIAS_STATUS = "/bias/status"
 TOPIC_SCANIMAGE_REPLY = "/scanimage/reply"
 TOPIC_SCANIMAGE_STATUS = "/scanimage/status"
+TOPIC_SIPM_REPLY = "/sipm/reply"
+TOPIC_SIPM_STATUS = "/sipm/status"
 # Connector device topics → (connector id, event kind): their JSON becomes a DERIVED
 # {"type":"connector","src":<id>,"kind":…} line (mirror of bridge_node.CONNECTOR_TOPICS).
 CONNECTOR_TOPIC_SRC = {
     TOPIC_BIAS_REPLY: ("bias", "reply"), TOPIC_BIAS_STATUS: ("bias", "status"),
     TOPIC_SCANIMAGE_REPLY: ("scanimage", "reply"), TOPIC_SCANIMAGE_STATUS: ("scanimage", "status"),
+    TOPIC_SIPM_REPLY: ("sipm", "reply"), TOPIC_SIPM_STATUS: ("sipm", "status"),
 }
 
 
@@ -298,7 +302,7 @@ def fictrac_fields(rec: dict) -> tuple[int, list[float]] | None:
 
 def convert(records: list[dict], level: str | None = None, order: str = "seq", connectors=None) -> tuple[list, dict]:
     """→ (lines as JSON values, report). `level` None = the level the run was opened with."""
-    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0, "scanimage": 0,
+    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0, "scanimage": 0, "sipm": 0,
              "connector_cmds": 0, "skipped": 0, "unordered_inserts": 0}
     opens = [r for r in records if r["topic"] == TOPIC_SESSION]
     session_open = None

diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
@@ -8,6 +8,7 @@
     pixi run rig -- --scanimage        # + the ScanImage node (JSON server on this PC); --si-mock for a stand-in
     pixi run rig -- --foxglove         # + foxglove_bridge (:8766) from the `viz` environment
     pixi run rig -- --scanimage-frames # + the ScanImage ZMQ frame-stream node (SUB tcp://127.0.0.1:65179; Bergamo, Block R)
+    pixi run rig -- --sipm --sipm-args "--dll-dir C:\\…\\Release"  # + the read-only SiPM controller node (Bergamo, Block S)
 
 Order: the router first (nodes retry until it answers on 127.0.0.1:7447), then every
 adapter/node. Each child's stderr is prefixed with its name. Ctrl-C stops everything in
@@ -141,6 +142,8 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--scanimage", action="store_true", help="also run the ScanImage node (talks to ScanImage's JSON server, default 127.0.0.1:5555)")
     p.add_argument("--scanimage-frames", action="store_true", help="also run the ScanImage frame-stream node (ZMQ SUB on ScanImage's ZMQAddress → /scanimage/frame_meta, frame_stats, preview/ch<id>)")
     p.add_argument("--scanimage-frames-args", default="", help="extra args for scanimage_frames_node.py (e.g. --address tcp://127.0.0.1:65179 --preview-hz 5 --dump frames.jsonl)")
+    p.add_argument("--sipm", action="store_true", help="also run the read-only SiPM controller node (nodes/sipm_node.py; needs --sipm-args \"--dll-dir …\" or \"--fake\")")
+    p.add_argument("--sipm-args", default="", help="extra args for sipm_node.py (e.g. --dll-dir <ThorSiPM Release folder> --params-file sipm_params.json)")
     p.add_argument("--si-mock", action="store_true", help="also run tests/si_json_mock.py (a stand-in for ScanImage's JSON server, port 5555)")
     p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)")
     p.add_argument("--viz-args", default="", help="extra args for viz_node.py (--deg-per-frame, --frame-dir, --feature-az0, --frames)")
@@ -212,6 +215,9 @@ def main(argv: list[str] | None = None) -> int:
     if args.scanimage_frames:
         # Connects (never binds), so no port pre-flight: ScanImage binds at each acquisition start.
         nodes.append(Child("si-frame", [py, str(NODES / "scanimage_frames_node.py"), *split_args(args.scanimage_frames_args)]))
+    if args.sipm:
+        # Owns the COM port while it runs: ThorSiPM_Control.exe must be closed (one program per port).
+        nodes.append(Child("sipm", [py, str(NODES / "sipm_node.py"), *split_args(args.sipm_args)]))
     bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *split_args(args.bridge_args)])
     nodes.append(bridge)
     if foxglove:

diff --git a/ros2-poc/nodes/sipm_cmd.py b/ros2-poc/nodes/sipm_cmd.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+"""sipm_cmd.py — send one command to sipm_node.py and print its reply (all commands are read-only).
+
+    pixi run sipm-cmd -- status
+    pixi run sipm-cmd -- get --name PARAM_PMT1_ENABLE
+    pixi run sipm-cmd -- get --id 1201
+    pixi run sipm-cmd -- info --id 1201
+    pixi run sipm-cmd -- scan --from 0 --to 2000 --out sipm_scan.json
+    pixi run sipm-cmd -- disconnect      # free the COM port (e.g. to reopen ThorSiPM_Control.exe)
+    pixi run sipm-cmd -- reconnect
+
+Exit 0 on `ok`, 1 on an error reply, 2 on no reply.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import threading
+import time
+import uuid
+from pathlib import Path
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=50,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("command", help="ping | status | get | info | scan | disconnect | reconnect")
+    p.add_argument("--id", type=int, help="get/info: parameter ID")
+    p.add_argument("--name", help="get/info: a --params-file name or a PARAM_* name")
+    p.add_argument("--from", dest="first", type=int, help="scan: first ID (default 0)")
+    p.add_argument("--to", dest="last", type=int, help="scan: last ID (default 2000)")
+    p.add_argument("--timeout", type=float, default=30.0, help="seconds to wait for the reply (default: 30; a full scan takes a while)")
+    p.add_argument("--json", action="store_true", help="print the raw reply JSON")
+    p.add_argument("--out", help="also write the reply JSON to this file")
+    args, ros_args = p.parse_known_args(argv)
+    params = {k: v for k, v in (("id", args.id), ("name", args.name), ("from", args.first), ("to", args.last)) if v is not None}
+    cid = str(uuid.uuid4())[:8]
+
+    rclpy.init(args=ros_args)
+    node = Node("sipm_cmd_" + cid)
+    got: dict = {}
+    done = threading.Event()
+
+    def on_reply(msg: String) -> None:
+        try:
+            rep = json.loads(msg.data)
+        except json.JSONDecodeError:
+            return
+        if isinstance(rep, dict) and rep.get("id") == cid:
+            got.update(rep)
+            done.set()
+
+    node.create_subscription(String, "/sipm/reply", on_reply, QOS)
+    pub = node.create_publisher(String, "/sipm/cmd", QOS)
+    time.sleep(0.5)  # discovery
+    m = String()
+    m.data = json.dumps({"id": cid, "command": args.command, "params": params})
+    pub.publish(m)
+    deadline = time.monotonic() + args.timeout
+    while not done.is_set() and time.monotonic() < deadline:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    node.destroy_node()
+    try:
+        rclpy.try_shutdown()
+    except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
+        pass
+    if not got:
+        print(f"[sipm-cmd] no reply within {args.timeout:g}s (is `pixi run sipm-node` running?)", file=sys.stderr)
+        return 2
+    if args.out:
+        Path(args.out).write_text(json.dumps(got, indent=1), encoding="utf-8")
+    if args.json:
+        print(json.dumps(got, indent=1))
+    else:
+        v = got.get("value")
+        if args.command == "scan" and isinstance(v, dict):
+            for r in v.get("available", []):
+                print(f"  {r['id']:5d}  {r.get('name') or '?':40s}  value={r.get('value')!r}")
+            print(f"{len(v.get('available', []))} available; not in the GUI enum: {v.get('not_in_enum')}")
+        print(f"{got.get('command')} → {got.get('outcome')} ({got.get('rtt_ms')} ms)"
+              + (f"  value={json.dumps(v)[:300]}" if v not in (None, "") and args.command != "scan" else "")
+              + (f"  error={got.get('error')}" if got.get("error") else ""))
+    return 0 if got.get("ok") else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())