#634 coordinator backplane interface

coordinator/backplane.lua

@@ -0,0 +1,228 @@
+--
+-- Coordinator System Core Peripheral Backplane
+--
+
+local log     = require("scada-common.log")
+local network = require("scada-common.network")
+local ppm     = require("scada-common.ppm")
+local util    = require("scada-common.util")
+
+local coordinator = require("coordinator.coordinator")
+local iocontrol   = require("coordinator.iocontrol")
+local sounder     = require("coordinator.sounder")
+
+local println = util.println
+
+local log_sys    = coordinator.log_sys
+local log_boot   = coordinator.log_boot
+local log_comms  = coordinator.log_comms
+
+---@class crd_backplane
+local backplane = {}
+
+local _bp = {
+    smem = nil,     ---@type crd_shared_memory
+
+    wlan_pref = true,
+    lan_iface = "",
+
+    act_nic = nil,  ---@type nic
+    wd_nic = nil,   ---@type nic|nil
+    wl_nic = nil,   ---@type nic|nil
+
+    speaker = nil, ---@type Speaker|nil
+
+    ---@class crd_displays
+    displays = {
+        main = nil,         ---@type Monitor|nil
+        main_iface = "",
+        flow = nil,         ---@type Monitor|nil
+        flow_iface = "",
+        unit_displays = {}, ---@type Monitor[]
+        unit_ifaces = {}    ---@type string[]
+    }
+}
+
+-- initialize the display peripheral backplane
+---@param config crd_config
+---@return boolean success, string error_msg
+function backplane.init_displays(config)
+    local displays = _bp.displays
+
+    local w, h, _
+
+    log.info("BKPLN: DISPLAY INIT")
+
+    -- monitor configuration verification
+
+    local mon_cfv = util.new_validator()
+
+    mon_cfv.assert_type_str(config.MainDisplay)
+    if not config.DisableFlowView then mon_cfv.assert_type_str(config.FlowDisplay) end
+
+    mon_cfv.assert_eq(#config.UnitDisplays, config.UnitCount)
+    for i = 1, #config.UnitDisplays do
+        mon_cfv.assert_type_str(config.UnitDisplays[i])
+    end
+
+    if not mon_cfv.valid() then
+        return false, "Monitor configuration invalid."
+    end
+
+    -- setup and check display peripherals
+
+    -- main display
+
+    local disp, iface = ppm.get_periph(config.MainDisplay), config.MainDisplay
+
+    displays.main = disp
+    displays.main_iface = iface
+
+    log.info("BKPLN: DISPLAY LINK_" .. util.trinary(disp, "UP", "DOWN") .. " MAIN/" .. iface)
+
+    if not disp then
+        return false, "Main monitor is not connected."
+    end
+
+    disp.setTextScale(0.5)
+    w, _ = ppm.monitor_block_size(disp.getSize())
+    if w ~= 8 then
+        log.info("BKPLN: DISPLAY MAIN/" .. iface .. " BAD RESOLUTION")
+        return false, util.c("Main monitor width is incorrect (was ", w, ", must be 8).")
+    end
+
+    -- flow display
+
+    if not config.DisableFlowView then
+        disp, iface = ppm.get_periph(config.FlowDisplay), config.FlowDisplay
+
+        displays.flow = disp
+        displays.flow_iface = iface
+
+        log.info("BKPLN: DISPLAY LINK_" .. util.trinary(disp, "UP", "DOWN") .. " FLOW/" .. iface)
+
+        if not disp then
+            return false, "Flow monitor is not connected."
+        end
+
+        disp.setTextScale(0.5)
+        w, _ = ppm.monitor_block_size(disp.getSize())
+        if w ~= 8 then
+            log.info("BKPLN: DISPLAY FLOW/" .. iface .. " BAD RESOLUTION")
+            return false, util.c("Flow monitor width is incorrect (was ", w, ", must be 8).")
+        end
+    end
+
+    -- unit display(s)
+
+    for i = 1, config.UnitCount do
+        disp, iface = ppm.get_periph(config.UnitDisplays[i]), config.UnitDisplays[i]
+
+        displays.unit_displays[i] = disp
+        displays.unit_ifaces[i] = iface
+
+        log.info("BKPLN: DISPLAY LINK_" .. util.trinary(disp, "UP", "DOWN") .. " UNIT_" .. i .. "/" .. iface)
+
+        if not disp then
+            return false, "Unit " .. i .. " monitor is not connected."
+        end
+
+        disp.setTextScale(0.5)
+        w, h = ppm.monitor_block_size(disp.getSize())
+        if w ~= 4 or h ~= 4 then
+            log.info("BKPLN: DISPLAY UNIT_" .. i .. "/" .. iface .. " BAD RESOLUTION")
+            return false, util.c("Unit ", i, " monitor size is incorrect (was ", w, " by ", h,", must be 4 by 4).")
+        end
+    end
+
+    log.info("BKPLN: DISPLAY INIT OK")
+
+    return true, ""
+end
+
+-- initialize the system peripheral backplane
+---@param config crd_config
+---@param __shared_memory crd_shared_memory
+---@return boolean success
+function backplane.init(config, __shared_memory)
+    _bp.smem      = __shared_memory
+    _bp.wlan_pref = config.PreferWireless
+    _bp.lan_iface = config.WiredModem
+
+    -- Modem Init
+
+    -- init wired NIC
+    if type(config.WiredModem) == "string" then
+        local modem  = ppm.get_modem(_bp.lan_iface)
+        local wd_nic = network.nic(modem)
+
+        log.info("BKPLN: WIRED PHY_" .. util.trinary(modem, "UP ", "DOWN ") .. _bp.lan_iface)
+        log_comms("wired comms modem " .. util.trinary(modem, "connected", "not found"))
+
+        -- set this as active for now
+        _bp.act_nic = wd_nic
+        _bp.wd_nic  = wd_nic
+
+        iocontrol.fp_has_wd_modem(modem ~= nil)
+    end
+
+    -- init wireless NIC(s)
+    if config.WirelessModem then
+        local modem, iface = ppm.get_wireless_modem()
+        local wl_nic       = network.nic(modem)
+
+        log.info("BKPLN: WIRELESS PHY_" .. util.trinary(modem, "UP ", "DOWN ") .. iface)
+        log_comms("wireless comms modem " .. util.trinary(modem, "connected", "not found"))
+
+        -- set this as active if connected or if both modems are disconnected and this is preferred
+        if (modem and _bp.wlan_pref) or not (_bp.act_nic and _bp.act_nic.is_connected()) then
+            _bp.act_nic = wl_nic
+        end
+
+        _bp.wl_nic = wl_nic
+
+        iocontrol.fp_has_wl_modem(modem ~= nil)
+    end
+
+    -- at least one comms modem is required
+    if not ((_bp.wd_nic and _bp.wd_nic.is_connected()) or (_bp.wl_nic and _bp.wl_nic.is_connected())) then
+        log_comms("no comms modem found")
+        println("startup> no comms modem found")
+        log.warning("BKPLN: no comms modem on startup")
+        return false
+    end
+
+    -- Speaker Init
+
+    _bp.speaker = ppm.get_device("speaker")
+
+    if not _bp.speaker then
+        log_boot("annunciator alarm speaker not found")
+
+        println("startup> speaker not found")
+        log.fatal("BKPLN: no annunciator alarm speaker found")
+
+        return false
+    else
+        log.info("BKPLN: SPEAKER LINK_UP " .. ppm.get_iface(_bp.speaker))
+        log_boot("annunciator alarm speaker connected")
+
+        local sounder_start = util.time_ms()
+        sounder.init(_bp.speaker, config.SpeakerVolume)
+
+        log_boot("tone generation took " .. (util.time_ms() - sounder_start) .. "ms")
+        log_sys("annunciator alarm configured")
+
+        iocontrol.fp_has_speaker(true)
+    end
+
+    return true
+end
+
+-- get the active NIC
+---@return nic
+function backplane.active_nic() return _bp.act_nic end
+
+function backplane.displays() return _bp.displays end
+
+return backplane

coordinator/coordinator.lua

@@ -29,11 +29,9 @@ local config = {}
 
 coordinator.config = config
 
--- load the coordinator configuration<br>
+-- load the coordinator configuration
--- status of 0 is OK, 1 is bad config, 2 is bad monitor config
----@return 0|1|2 status, nil|monitors_struct|string monitors (or error message)
 function coordinator.load_config()
-    if not settings.load("/coordinator.settings") then return 1 end
+    if not settings.load("/coordinator.settings") then return false end
 
     config.UnitCount = settings.get("UnitCount")
     config.SpeakerVolume = settings.get("SpeakerVolume")
@@ -121,85 +119,7 @@ function coordinator.load_config()
     cfv.assert_type_int(config.ColorMode)
     cfv.assert_range(config.ColorMode, 1, themes.COLOR_MODE.NUM_MODES)
 
-    -- Monitor Setup
+    return cfv.valid()
-
-    ---@class monitors_struct
-    local monitors = {
-        main = nil,         ---@type Monitor|nil
-        main_name = "",
-        flow = nil,         ---@type Monitor|nil
-        flow_name = "",
-        unit_displays = {}, ---@type Monitor[]
-        unit_name_map = {}  ---@type string[]
-    }
-
-    local mon_cfv = util.new_validator()
-
-    -- get all interface names
-    local names = {}
-    for iface, _ in pairs(ppm.get_monitor_list()) do table.insert(names, iface) end
-
-    local function setup_monitors()
-        mon_cfv.assert_type_str(config.MainDisplay)
-        if not config.DisableFlowView then mon_cfv.assert_type_str(config.FlowDisplay) end
-        mon_cfv.assert_eq(#config.UnitDisplays, config.UnitCount)
-
-        if mon_cfv.valid() then
-            local w, h, _
-
-            if not util.table_contains(names, config.MainDisplay) then
-                return 2, "Main monitor is not connected."
-            end
-
-            monitors.main = ppm.get_periph(config.MainDisplay)
-            monitors.main_name = config.MainDisplay
-
-            monitors.main.setTextScale(0.5)
-            w, _ = ppm.monitor_block_size(monitors.main.getSize())
-            if w ~= 8 then
-                return 2, util.c("Main monitor width is incorrect (was ", w, ", must be 8).")
-            end
-
-            if not config.DisableFlowView then
-                if not util.table_contains(names, config.FlowDisplay) then
-                    return 2, "Flow monitor is not connected."
-                end
-
-                monitors.flow = ppm.get_periph(config.FlowDisplay)
-                monitors.flow_name = config.FlowDisplay
-
-                monitors.flow.setTextScale(0.5)
-                w, _ = ppm.monitor_block_size(monitors.flow.getSize())
-                if w ~= 8 then
-                    return 2, util.c("Flow monitor width is incorrect (was ", w, ", must be 8).")
-                end
-            end
-
-            for i = 1, config.UnitCount do
-                local display = config.UnitDisplays[i]
-                if type(display) ~= "string" or not util.table_contains(names, display) then
-                    return 2, "Unit " .. i .. " monitor is not connected."
-                end
-
-                monitors.unit_displays[i] = ppm.get_periph(display)
-                monitors.unit_name_map[i] = display
-
-                monitors.unit_displays[i].setTextScale(0.5)
-                w, h = ppm.monitor_block_size(monitors.unit_displays[i].getSize())
-                if w ~= 4 or h ~= 4 then
-                    return 2, util.c("Unit ", i, " monitor size is incorrect (was ", w, " by ", h,", must be 4 by 4).")
-                end
-            end
-        else return 2, "Monitor configuration invalid." end
-    end
-
-    if cfv.valid() then
-        local ok, result, message = pcall(setup_monitors)
-        assert(ok, util.c("fatal error while trying to verify monitors: ", result))
-        if result == 2 then return 2, message end
-    else return 1 end
-
-    return 0, monitors
 end
 
 -- dmesg print wrapper

coordinator/iocontrol.lua

@@ -290,9 +290,13 @@ end
 -- toggle heartbeat indicator
 function iocontrol.heartbeat() io.fp.ps.toggle("heartbeat") end
 
+-- report presence of the wired modem
+---@param has_modem boolean
+function iocontrol.fp_has_wd_modem(has_modem) io.fp.ps.publish("has_wd_modem", has_modem) end
+
 -- report presence of the wireless modem
 ---@param has_modem boolean
-function iocontrol.fp_has_modem(has_modem) io.fp.ps.publish("has_modem", has_modem) end
+function iocontrol.fp_has_wl_modem(has_modem) io.fp.ps.publish("has_wl_modem", has_modem) end
 
 -- report presence of the speaker
 ---@param has_speaker boolean

coordinator/renderer.lua

@@ -29,7 +29,7 @@ local renderer = {}
 -- render engine
 local engine = {
     color_mode = 1,         ---@type COLOR_MODE
-    monitors = nil,         ---@type monitors_struct|nil
+    monitors = nil,         ---@type crd_displays|nil
     dmesg_window = nil,     ---@type Window|nil
     ui_ready = false,
     fp_ready = false,
@@ -83,7 +83,7 @@ function renderer.configure(config)
 end
 
 -- link to the monitor peripherals
----@param monitors monitors_struct
+---@param monitors crd_displays
 function renderer.set_displays(monitors)
     engine.monitors = monitors
 
@@ -336,18 +336,18 @@ function renderer.handle_reconnect(name, device)
     -- note: handle_resize is a more adaptive way of re-initializing a connected monitor
     --       since it can handle a monitor being reconnected that isn't the right size
 
-    if engine.monitors.main_name == name then
+    if engine.monitors.main_iface == name then
         is_used = true
         engine.monitors.main = device
 
         renderer.handle_resize(name)
-    elseif engine.monitors.flow_name == name then
+    elseif engine.monitors.flow_iface == name then
         is_used = true
         engine.monitors.flow = device
 
         renderer.handle_resize(name)
     else
-        for idx, monitor in ipairs(engine.monitors.unit_name_map) do
+        for idx, monitor in ipairs(engine.monitors.unit_ifaces) do
             if monitor == name then
                 is_used = true
                 engine.monitors.unit_displays[idx] = device
@@ -372,7 +372,7 @@ function renderer.handle_resize(name)
 
     if not engine.monitors then return false, false end
 
-    if engine.monitors.main_name == name and engine.monitors.main then
+    if engine.monitors.main_iface == name and engine.monitors.main then
         local device = engine.monitors.main  ---@type Monitor
 
         -- this is necessary if the bottom left block was broken and on reconnect
@@ -415,7 +415,7 @@ function renderer.handle_resize(name)
                 is_ok = false
             end
         else engine.dmesg_window.redraw() end
-    elseif engine.monitors.flow_name == name and engine.monitors.flow then
+    elseif engine.monitors.flow_iface == name and engine.monitors.flow then
         local device = engine.monitors.flow ---@type Monitor
 
         -- this is necessary if the bottom left block was broken and on reconnect
@@ -452,7 +452,7 @@ function renderer.handle_resize(name)
             end
         end
     else
-        for idx, monitor in ipairs(engine.monitors.unit_name_map) do
+        for idx, monitor in ipairs(engine.monitors.unit_ifaces) do
             local device = engine.monitors.unit_displays[idx]
 
             if monitor == name and device then
@@ -505,12 +505,12 @@ function renderer.handle_mouse(event)
         if engine.fp_ready and event.monitor == "terminal" then
             engine.ui.front_panel.handle_mouse(event)
         elseif engine.ui_ready then
-            if event.monitor == engine.monitors.main_name then
+            if event.monitor == engine.monitors.main_iface then
                 if engine.ui.main_display then engine.ui.main_display.handle_mouse(event) end
-            elseif event.monitor == engine.monitors.flow_name then
+            elseif event.monitor == engine.monitors.flow_iface then
                 if engine.ui.flow_display then engine.ui.flow_display.handle_mouse(event) end
             else
-                for id, monitor in ipairs(engine.monitors.unit_name_map) do
+                for id, monitor in ipairs(engine.monitors.unit_ifaces) do
                     local display = engine.ui.unit_displays[id]
                     if event.monitor == monitor and display then
                         if display then display.handle_mouse(event) end

coordinator/startup.lua

@@ -12,6 +12,7 @@ local network     = require("scada-common.network")
 local ppm         = require("scada-common.ppm")
 local util        = require("scada-common.util")
 
+local backplane   = require("coordinator.backplane")
 local configure   = require("coordinator.configure")
 local coordinator = require("coordinator.coordinator")
 local iocontrol   = require("coordinator.iocontrol")
@@ -36,45 +37,13 @@ local log_crypto = coordinator.log_crypto
 -- get configuration
 ----------------------------------------
 
--- mount connected devices (required for monitor setup)
+-- first pass configuration check before validating monitors
-ppm.mount_all()
+if not coordinator.load_config() then
-
-local wait_on_load = true
-local loaded, monitors = coordinator.load_config()
-
--- if the computer just started, its chunk may have just loaded (...or the user rebooted)
--- if monitor config failed, maybe an adjacent chunk containing all or part of a monitor has not loaded yet, so keep trying
-while wait_on_load and loaded == 2 and os.clock() < CHUNK_LOAD_DELAY_S do
-    term.clear()
-    term.setCursorPos(1, 1)
-    println("There was a monitor configuration problem at boot.\n")
-    println("Startup will keep trying every 2s in case of chunk load delays.\n")
-    println(util.sprintf("The configurator will be started in %ds if all attempts fail.\n", math.max(0, CHUNK_LOAD_DELAY_S - os.clock())))
-    println("(click to skip to the configurator)")
-
-    local timer_id = util.start_timer(2)
-
-    while true do
-        local event, param1 = util.pull_event()
-        if event == "timer" and param1 == timer_id then
-            -- remount and re-attempt
-            ppm.mount_all()
-            loaded, monitors = coordinator.load_config()
-            break
-        elseif event == "mouse_click" or event == "terminate" then
-            wait_on_load = false
-            break
-        end
-    end
-end
-
-if loaded ~= 0 then
     -- try to reconfigure (user action)
-    local success, error = configure.configure(loaded, monitors)
+    local success, error = configure.configure(1)
     if success then
-        loaded, monitors = coordinator.load_config()
+        if not coordinator.load_config() then
-        if loaded ~= 0 then
+            println("failed to load a valid configuration, please reconfigure")
-            println(util.trinary(loaded == 2, "monitor configuration invalid", "failed to load a valid configuration") .. ", please reconfigure")
             return
         end
     else
@@ -83,9 +52,6 @@ if loaded ~= 0 then
     end
 end
 
--- passed checks, good now
----@cast monitors monitors_struct
-
 local config = coordinator.config
 
 ----------------------------------------
@@ -102,6 +68,64 @@ println(">> SCADA Coordinator " .. COORDINATOR_VERSION .. " <<")
 crash.set_env("coordinator", COORDINATOR_VERSION)
 crash.dbg_log_env()
 
+----------------------------------------
+-- display init
+----------------------------------------
+
+-- mount connected devices (required for monitor setup)
+ppm.mount_all()
+
+local wait_on_load = true
+
+local disp_ok, disp_err = backplane.init_displays(config)
+
+-- if the computer just started, its chunk may have just loaded (...or the user rebooted)
+-- if monitor config failed, maybe an adjacent chunk containing all or part of a monitor has not loaded yet, so keep trying
+while wait_on_load and (not disp_ok) and os.clock() < CHUNK_LOAD_DELAY_S do
+    term.clear()
+    term.setCursorPos(1, 1)
+    println("There was a monitor configuration problem at boot.\n")
+    println("Startup will keep trying every 2s in case of chunk load delays.\n")
+    println(util.sprintf("The configurator will be started in %ds if all attempts fail.\n", math.max(0, CHUNK_LOAD_DELAY_S - os.clock())))
+    println("(click to skip to the configurator)")
+
+    local timer_id = util.start_timer(2)
+
+    while true do
+        local event, param1 = util.pull_event()
+        if event == "timer" and param1 == timer_id then
+            -- remount and re-attempt
+            ppm.mount_all()
+            disp_ok, disp_err = backplane.init_displays(config)
+            break
+        elseif event == "mouse_click" or event == "terminate" then
+            wait_on_load = false
+            break
+        end
+    end
+end
+
+if not disp_ok then
+    -- try to reconfigure (user action)
+    local success, error = configure.configure(2, disp_err)
+    if success then
+        if not coordinator.load_config() then
+            println("failed to load a valid configuration, please reconfigure")
+            return
+        else
+            disp_ok, disp_err = backplane.init_displays(config)
+
+            if not disp_ok then
+                println("monitor configuration invalid, please reconfigure")
+                return
+            end
+        end
+    else
+        println("configuration error: " .. error)
+        return
+    end
+end
+
 ----------------------------------------
 -- main application
 ----------------------------------------
@@ -111,15 +135,12 @@ local function main()
     -- system startup
     ----------------------------------------
 
-    -- log mounts now since mounting was done before logging was ready
-    ppm.log_mounts()
-
     -- report versions/init fp PSIL
     iocontrol.init_fp(COORDINATOR_VERSION, comms.version)
 
     -- init renderer
     renderer.configure(config)
-    renderer.set_displays(monitors)
+    renderer.set_displays(backplane.displays())
     renderer.init_displays()
     renderer.init_dmesg()
 
@@ -130,6 +151,12 @@ local function main()
     log_sys("system start on " .. os.date("%c"))
     log_boot("starting " .. COORDINATOR_VERSION)
 
+    -- message authentication init
+    if type(config.AuthKey) == "string" and string.len(config.AuthKey) > 0 then
+        local init_time = network.init_mac(config.AuthKey)
+        log_crypto("HMAC init took " .. init_time .. "ms")
+    end
+
     ----------------------------------------
     -- memory allocation
     ----------------------------------------
@@ -149,15 +176,9 @@ local function main()
             shutdown = false
         },
 
-        -- core coordinator devices
-        crd_dev = {
-            modem = ppm.get_wireless_modem(),
-            speaker = ppm.get_device("speaker") ---@type Speaker|nil
-        },
-
         -- system objects
+        ---@class crd_sys
         crd_sys = {
-            nic = nil,          ---@type nic
             coord_comms = nil,  ---@type coord_comms
             conn_watchdog = nil ---@type watchdog
         },
@@ -168,65 +189,17 @@ local function main()
         }
     }
 
-    local smem_dev = __shared_memory.crd_dev
     local smem_sys  = __shared_memory.crd_sys
-
     local crd_state = __shared_memory.crd_state
 
     ----------------------------------------
-    -- setup alarm sounder subsystem
+    -- init system
     ----------------------------------------
 
-    if smem_dev.speaker == nil then
+    -- modem and speaker initialization
-        log_boot("annunciator alarm speaker not found")
+    if not backplane.init(config, __shared_memory) then return end
-        println("startup> speaker not found")
-        log.fatal("no annunciator alarm speaker found")
-        return
-    else
-        local sounder_start = util.time_ms()
-        log_boot("annunciator alarm speaker connected")
-        sounder.init(smem_dev.speaker, config.SpeakerVolume)
-        log_boot("tone generation took " .. (util.time_ms() - sounder_start) .. "ms")
-        log_sys("annunciator alarm configured")
-        iocontrol.fp_has_speaker(true)
-    end
 
-    ----------------------------------------
-    -- setup communications
-    ----------------------------------------
-
-    -- message authentication init
-    if type(config.AuthKey) == "string" and string.len(config.AuthKey) > 0 then
-        local init_time = network.init_mac(config.AuthKey)
-        log_crypto("HMAC init took " .. init_time .. "ms")
-    end
-
-    -- get the communications modem
-    if smem_dev.modem == nil then
-        log_comms("wireless modem not found")
-        println("startup> wireless modem not found")
-        log.fatal("no wireless modem on startup")
-        return
-    else
-        log_comms("wireless modem connected")
-        iocontrol.fp_has_modem(true)
-    end
-
-    -- create connection watchdog
-    smem_sys.conn_watchdog = util.new_watchdog(config.SVR_Timeout)
-    smem_sys.conn_watchdog.cancel()
-    log.debug("startup> conn watchdog created")
-
-    -- create network interface then setup comms
-    smem_sys.nic = network.nic(smem_dev.modem)
-    smem_sys.coord_comms = coordinator.comms(COORDINATOR_VERSION, smem_sys.nic, smem_sys.conn_watchdog)
-    log.debug("startup> comms init")
-    log_comms("comms initialized")
-
-    ----------------------------------------
     -- start front panel
-    ----------------------------------------
-
     log_render("starting front panel UI...")
 
     local fp_message
@@ -238,6 +211,16 @@ local function main()
         return
     else log_render("front panel ready") end
 
+    -- create connection watchdog
+    smem_sys.conn_watchdog = util.new_watchdog(config.SVR_Timeout)
+    smem_sys.conn_watchdog.cancel()
+    log.debug("startup> conn watchdog created")
+
+    -- setup comms
+    smem_sys.coord_comms = coordinator.comms(COORDINATOR_VERSION, backplane.active_nic(), smem_sys.conn_watchdog)
+    log.debug("startup> comms init")
+    log_comms("comms initialized")
+
     ----------------------------------------
     -- start system
     ----------------------------------------