diff --git a/reactor-plc/databus.lua b/reactor-plc/databus.lua
index b2bd1c2..65ecae9 100644
--- a/reactor-plc/databus.lua
+++ b/reactor-plc/databus.lua
@@ -53,7 +53,6 @@ function databus.tx_hw_status(plc_state)
databus.ps.publish("reactor_dev_state", util.trinary(plc_state.no_reactor, 1, util.trinary(plc_state.reactor_formed, 3, 2)))
databus.ps.publish("has_modem", not plc_state.no_modem)
databus.ps.publish("degraded", plc_state.degraded)
- databus.ps.publish("init_ok", plc_state.init_ok)
end
-- transmit thread (routine) statuses
diff --git a/reactor-plc/panel/front_panel.lua b/reactor-plc/panel/front_panel.lua
index 7a346df..fa05f3c 100644
--- a/reactor-plc/panel/front_panel.lua
+++ b/reactor-plc/panel/front_panel.lua
@@ -51,11 +51,11 @@ local function init(panel)
local system = Div{parent=panel,width=14,height=18,x=2,y=3}
- local init_ok = LED{parent=system,label="STATUS",colors=cpair(colors.green,colors.red)}
+ local degraded = LED{parent=system,label="STATUS",colors=cpair(colors.green,colors.red)}
local heartbeat = LED{parent=system,label="HEARTBEAT",colors=ind_grn}
system.line_break()
- init_ok.register(databus.ps, "init_ok", init_ok.update)
+ degraded.register(databus.ps, "degraded", degraded.update)
heartbeat.register(databus.ps, "heartbeat", heartbeat.update)
local reactor = LEDPair{parent=system,label="REACTOR",off=colors.red,c1=colors.yellow,c2=colors.green}
diff --git a/reactor-plc/plc.lua b/reactor-plc/plc.lua
index a2929cb..7da563f 100644
--- a/reactor-plc/plc.lua
+++ b/reactor-plc/plc.lua
@@ -707,6 +707,112 @@ function plc.comms(version, nic, reactor, rps, conn_watchdog)
reactor.__p_enable_afc()
end
+ -- handle a burn rate command
+ ---@param packet rplc_frame
+ ---@param setpoints plc_setpoints
+ --- EVENT_CONSUMER: this function consumes events
+ local function _handle_burn_rate(packet, setpoints)
+ if (packet.length == 2) and (type(packet.data[1]) == "number") then
+ local success = false
+ local burn_rate = math.floor(packet.data[1] * 10) / 10
+ local ramp = packet.data[2]
+
+ -- if no known max burn rate, check again
+ if self.max_burn_rate == nil then
+ self.max_burn_rate = reactor.getMaxBurnRate()
+ end
+
+ -- if we know our max burn rate, update current burn rate setpoint if in range
+ if self.max_burn_rate ~= ppm.ACCESS_FAULT then
+ if burn_rate > 0 and burn_rate <= self.max_burn_rate then
+ if ramp then
+ setpoints.burn_rate_en = true
+ setpoints.burn_rate = burn_rate
+ success = true
+ else
+ reactor.setBurnRate(burn_rate)
+ success = reactor.__p_is_ok()
+ end
+ else
+ log.debug(burn_rate .. " rate outside of 0 < x <= " .. self.max_burn_rate)
+ end
+ end
+
+ _send_ack(packet.type, success)
+ else
+ log.debug("RPLC set burn rate packet length mismatch or non-numeric burn rate")
+ end
+ end
+
+ -- handle an auto burn rate command
+ ---@param packet rplc_frame
+ ---@param setpoints plc_setpoints
+ --- EVENT_CONSUMER: this function consumes events
+ local function _handle_auto_burn_rate(packet, setpoints)
+ if (packet.length == 3) and (type(packet.data[1]) == "number") and (type(packet.data[3]) == "number") then
+ local ack = AUTO_ACK.FAIL
+ local burn_rate = math.floor(packet.data[1] * 100) / 100
+ local ramp = packet.data[2]
+ self.auto_ack_token = packet.data[3]
+
+ -- if no known max burn rate, check again
+ if self.max_burn_rate == nil then
+ self.max_burn_rate = reactor.getMaxBurnRate()
+ end
+
+ -- if we know our max burn rate, update current burn rate setpoint if in range
+ if self.max_burn_rate ~= ppm.ACCESS_FAULT then
+ if burn_rate < 0.01 then
+ if rps.is_active() then
+ -- auto scram to disable
+ log.debug("AUTO: stopping the reactor to meet 0.0 burn rate")
+ if rps.scram() then
+ ack = AUTO_ACK.ZERO_DIS_OK
+ else
+ log.warning("AUTO: automatic reactor stop failed")
+ end
+ else
+ ack = AUTO_ACK.ZERO_DIS_OK
+ end
+ elseif burn_rate <= self.max_burn_rate then
+ if not rps.is_active() then
+ -- activate the reactor
+ log.debug("AUTO: activating the reactor")
+
+ reactor.setBurnRate(0.01)
+ if reactor.__p_is_faulted() then
+ log.warning("AUTO: failed to reset burn rate for auto activation")
+ else
+ if not rps.auto_activate() then
+ log.warning("AUTO: automatic reactor activation failed")
+ end
+ end
+ end
+
+ -- if active, set/ramp burn rate
+ if rps.is_active() then
+ if ramp then
+ log.debug(util.c("AUTO: setting burn rate ramp to ", burn_rate))
+ setpoints.burn_rate_en = true
+ setpoints.burn_rate = burn_rate
+ ack = AUTO_ACK.RAMP_SET_OK
+ else
+ log.debug(util.c("AUTO: setting burn rate directly to ", burn_rate))
+ reactor.setBurnRate(burn_rate)
+ ack = util.trinary(reactor.__p_is_faulted(), AUTO_ACK.FAIL, AUTO_ACK.DIRECT_SET_OK)
+ end
+ end
+ else
+ log.debug(util.c(burn_rate, " rate outside of 0 < x <= ", self.max_burn_rate))
+ end
+ end
+
+ _send_ack(packet.type, ack)
+ else
+ log.debug("RPLC set automatic burn rate packet length mismatch or non-numeric burn rate")
+ end
+ end
+
-- PUBLIC FUNCTIONS --
---@class plc_comms
@@ -748,8 +854,8 @@ function plc.comms(version, nic, reactor, rps, conn_watchdog)
---@param formed boolean reactor formed (from PLC state)
function public.send_status(no_reactor, formed)
if self.linked then
- local mek_data = nil ---@type table
- local heating_rate = 0.0 ---@type number
+ local mek_data = nil ---@type table
+ local heating_rate = 0.0 ---@type number
if (not no_reactor) and rps.is_formed() then
if _update_status_cache() then mek_data = self.status_cache end
@@ -803,15 +909,11 @@ function plc.comms(version, nic, reactor, rps, conn_watchdog)
-- get as RPLC packet
if s_pkt.protocol() == PROTOCOL.RPLC then
local rplc_pkt = comms.rplc_packet()
- if rplc_pkt.decode(s_pkt) then
- pkt = rplc_pkt.get()
- end
+ if rplc_pkt.decode(s_pkt) then pkt = rplc_pkt.get() end
-- get as SCADA management packet
elseif s_pkt.protocol() == PROTOCOL.SCADA_MGMT then
local mgmt_pkt = comms.mgmt_packet()
- if mgmt_pkt.decode(s_pkt) then
- pkt = mgmt_pkt.get()
- end
+ if mgmt_pkt.decode(s_pkt) then pkt = mgmt_pkt.get() end
else
log.debug("unsupported packet type " .. s_pkt.protocol(), true)
end
@@ -823,16 +925,13 @@ function plc.comms(version, nic, reactor, rps, conn_watchdog)
-- handle RPLC and MGMT packets
---@param packet rplc_frame|mgmt_frame packet frame
---@param plc_state plc_state PLC state
- ---@param setpoints setpoints setpoint control table
- function public.handle_packet(packet, plc_state, setpoints)
- -- print a log message to the terminal as long as the UI isn't running
- local function println_ts(message) if not plc_state.fp_ok then util.println_ts(message) end end
-
+ ---@param setpoints plc_setpoints setpoint control table
+ ---@param println_ts function console print, when UI isn't running
+ function public.handle_packet(packet, plc_state, setpoints, println_ts)
local protocol = packet.scada_frame.protocol()
local l_chan = packet.scada_frame.local_channel()
local src_addr = packet.scada_frame.src_addr()
- -- handle packets now that we have prints setup
if l_chan == config.PLC_Channel then
-- check sequence number
if self.r_seq_num == nil then
@@ -867,36 +966,7 @@ function plc.comms(version, nic, reactor, rps, conn_watchdog)
log.debug("sent out structure again, did supervisor miss it?")
elseif packet.type == RPLC_TYPE.MEK_BURN_RATE then
-- set the burn rate
- if (packet.length == 2) and (type(packet.data[1]) == "number") then
- local success = false
- local burn_rate = math.floor(packet.data[1] * 10) / 10
- local ramp = packet.data[2]
-
- -- if no known max burn rate, check again
- if self.max_burn_rate == nil then
- self.max_burn_rate = reactor.getMaxBurnRate()
- end
-
- -- if we know our max burn rate, update current burn rate setpoint if in range
- if self.max_burn_rate ~= ppm.ACCESS_FAULT then
- if burn_rate > 0 and burn_rate <= self.max_burn_rate then
- if ramp then
- setpoints.burn_rate_en = true
- setpoints.burn_rate = burn_rate
- success = true
- else
- reactor.setBurnRate(burn_rate)
- success = reactor.__p_is_ok()
- end
- else
- log.debug(burn_rate .. " rate outside of 0 < x <= " .. self.max_burn_rate)
- end
- end
-
- _send_ack(packet.type, success)
- else
- log.debug("RPLC set burn rate packet length mismatch or non-numeric burn rate")
- end
+ _handle_burn_rate(packet, setpoints)
elseif packet.type == RPLC_TYPE.RPS_ENABLE then
-- enable the reactor
self.scrammed = false
@@ -925,68 +995,7 @@ function plc.comms(version, nic, reactor, rps, conn_watchdog)
_send_ack(packet.type, true)
elseif packet.type == RPLC_TYPE.AUTO_BURN_RATE then
-- automatic control requested a new burn rate
- if (packet.length == 3) and (type(packet.data[1]) == "number") and (type(packet.data[3]) == "number") then
- local ack = AUTO_ACK.FAIL
- local burn_rate = math.floor(packet.data[1] * 100) / 100
- local ramp = packet.data[2]
- self.auto_ack_token = packet.data[3]
-
- -- if no known max burn rate, check again
- if self.max_burn_rate == nil then
- self.max_burn_rate = reactor.getMaxBurnRate()
- end
-
- -- if we know our max burn rate, update current burn rate setpoint if in range
- if self.max_burn_rate ~= ppm.ACCESS_FAULT then
- if burn_rate < 0.01 then
- if rps.is_active() then
- -- auto scram to disable
- log.debug("AUTO: stopping the reactor to meet 0.0 burn rate")
- if rps.scram() then
- ack = AUTO_ACK.ZERO_DIS_OK
- else
- log.warning("AUTO: automatic reactor stop failed")
- end
- else
- ack = AUTO_ACK.ZERO_DIS_OK
- end
- elseif burn_rate <= self.max_burn_rate then
- if not rps.is_active() then
- -- activate the reactor
- log.debug("AUTO: activating the reactor")
-
- reactor.setBurnRate(0.01)
- if reactor.__p_is_faulted() then
- log.warning("AUTO: failed to reset burn rate for auto activation")
- else
- if not rps.auto_activate() then
- log.warning("AUTO: automatic reactor activation failed")
- end
- end
- end
-
- -- if active, set/ramp burn rate
- if rps.is_active() then
- if ramp then
- log.debug(util.c("AUTO: setting burn rate ramp to ", burn_rate))
- setpoints.burn_rate_en = true
- setpoints.burn_rate = burn_rate
- ack = AUTO_ACK.RAMP_SET_OK
- else
- log.debug(util.c("AUTO: setting burn rate directly to ", burn_rate))
- reactor.setBurnRate(burn_rate)
- ack = util.trinary(reactor.__p_is_faulted(), AUTO_ACK.FAIL, AUTO_ACK.DIRECT_SET_OK)
- end
- end
- else
- log.debug(util.c(burn_rate, " rate outside of 0 < x <= ", self.max_burn_rate))
- end
- end
-
- _send_ack(packet.type, ack)
- else
- log.debug("RPLC set automatic burn rate packet length mismatch or non-numeric burn rate")
- end
+ _handle_auto_burn_rate(packet, setpoints)
else
log.debug("received unknown RPLC packet type " .. packet.type)
end
diff --git a/reactor-plc/startup.lua b/reactor-plc/startup.lua
index ddf289a..fcbacd9 100644
--- a/reactor-plc/startup.lua
+++ b/reactor-plc/startup.lua
@@ -18,7 +18,7 @@ local plc = require("reactor-plc.plc")
local renderer = require("reactor-plc.renderer")
local threads = require("reactor-plc.threads")
-local R_PLC_VERSION = "v1.8.22"
+local R_PLC_VERSION = "v1.9.0"
local println = util.println
local println_ts = util.println_ts
@@ -87,7 +87,6 @@ local function main()
-- PLC system state flags
---@class plc_state
plc_state = {
- init_ok = true,
fp_ok = false,
shutdown = false,
degraded = true,
@@ -97,19 +96,22 @@ local function main()
},
-- control setpoints
- ---@class setpoints
+ ---@class plc_setpoints
setpoints = {
burn_rate_en = false,
burn_rate = 0.0
},
-- core PLC devices
+ ---@class plc_dev
plc_dev = {
- reactor = ppm.get_fission_reactor(),
+---@diagnostic disable-next-line: assign-type-mismatch
+ reactor = ppm.get_fission_reactor(), ---@type table
modem = ppm.get_wireless_modem()
},
-- system objects
+ ---@class plc_sys
plc_sys = {
rps = nil, ---@type rps
nic = nil, ---@type nic
@@ -136,14 +138,20 @@ local function main()
-- we need a reactor, can at least do some things even if it isn't formed though
if plc_state.no_reactor then
- println("init> fission reactor not found")
- log.warning("init> no reactor on startup")
+ println("startup> fission reactor not found")
+ log.warning("startup> no reactor on startup")
- plc_state.init_ok = false
plc_state.degraded = true
+ plc_state.reactor_formed = false
+
+ -- mount a virtual peripheral to init the RPS with
+ local _, dev = ppm.mount_virtual()
+ smem_dev.reactor = dev
+
+ log.info("startup> mounted virtual device as reactor")
elseif not smem_dev.reactor.isFormed() then
- println("init> fission reactor is not formed")
- log.warning("init> reactor logic adapter present, but reactor is not formed")
+ println("startup> fission reactor is not formed")
+ log.warning("startup> reactor logic adapter present, but reactor is not formed")
plc_state.degraded = true
plc_state.reactor_formed = false
@@ -151,89 +159,74 @@ local function main()
-- modem is required if networked
if __shared_memory.networked and plc_state.no_modem then
- println("init> wireless modem not found")
- log.warning("init> no wireless modem on startup")
+ println("startup> wireless modem not found")
+ log.warning("startup> no wireless modem on startup")
-- scram reactor if present and enabled
if (smem_dev.reactor ~= nil) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
smem_dev.reactor.scram()
end
- plc_state.init_ok = false
plc_state.degraded = true
end
- -- print a log message to the terminal as long as the UI isn't running
- local function _println_no_fp(message) if not plc_state.fp_ok then println(message) end end
-
- -- PLC init
- --- EVENT_CONSUMER: this function consumes events
- local function init()
- -- scram on boot if networked, otherwise leave the reactor be
- if __shared_memory.networked and (not plc_state.no_reactor) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
- smem_dev.reactor.scram()
- end
-
- -- setup front panel
- if not renderer.ui_ready() then
- local message
- plc_state.fp_ok, message = renderer.try_start_ui(config.FrontPanelTheme, config.ColorMode)
-
- -- ...or not
- if not plc_state.fp_ok then
- println_ts(util.c("UI error: ", message))
- println("init> running without front panel")
- log.error(util.c("front panel GUI render failed with error ", message))
- log.info("init> running in headless mode without front panel")
- end
- end
-
- if plc_state.init_ok then
- -- init reactor protection system
- smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
- log.debug("init> rps init")
-
- if __shared_memory.networked then
- -- comms watchdog
- smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
- log.debug("init> conn watchdog started")
-
- -- create network interface then setup comms
- smem_sys.nic = network.nic(smem_dev.modem)
- smem_sys.plc_comms = plc.comms(R_PLC_VERSION, smem_sys.nic, smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
- log.debug("init> comms init")
- else
- _println_no_fp("init> starting in offline mode")
- log.info("init> running without networking")
- end
-
- -- notify user of emergency coolant configuration status
- if config.EmerCoolEnable then
- println("init> emergency coolant control ready")
- log.info("init> running with emergency coolant control available")
- end
-
- util.push_event("clock_start")
-
- _println_no_fp("init> completed")
- log.info("init> startup completed")
- else
- _println_no_fp("init> system in degraded state, awaiting devices...")
- log.warning("init> started in a degraded state, awaiting peripheral connections...")
- end
-
- databus.tx_hw_status(plc_state)
+ -- scram on boot if networked, otherwise leave the reactor be
+ if __shared_memory.networked and (not plc_state.no_reactor) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
+ log.debug("startup> power-on SCRAM")
+ smem_dev.reactor.scram()
end
+ -- setup front panel
+ local message
+ plc_state.fp_ok, message = renderer.try_start_ui(config.FrontPanelTheme, config.ColorMode)
+
+ -- ...or not
+ if not plc_state.fp_ok then
+ println_ts(util.c("UI error: ", message))
+ println("startup> running without front panel")
+ log.error(util.c("front panel GUI render failed with error ", message))
+ log.info("startup> running in headless mode without front panel")
+ end
+
+ -- print a log message to the terminal as long as the UI isn't running
+ local function _println_no_fp(msg) if not plc_state.fp_ok then println(msg) end end
+
----------------------------------------
- -- start system
+ -- initialize PLC
----------------------------------------
- -- initialize PLC
- init()
+ -- init reactor protection system
+ smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
+ log.debug("startup> rps init")
+
+ -- notify user of emergency coolant configuration status
+ if config.EmerCoolEnable then
+ _println_no_fp("startup> emergency coolant control ready")
+ log.info("startup> emergency coolant control available")
+ end
+
+ -- conditionally init comms
+ if __shared_memory.networked then
+ -- comms watchdog
+ smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
+ log.debug("startup> conn watchdog started")
+
+ -- create network interface then setup comms
+ smem_sys.nic = network.nic(smem_dev.modem)
+ smem_sys.plc_comms = plc.comms(R_PLC_VERSION, smem_sys.nic, smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
+ log.debug("startup> comms init")
+ else
+ _println_no_fp("startup> starting in non-networked mode")
+ log.info("startup> starting without networking")
+ end
+
+ databus.tx_hw_status(plc_state)
+
+ _println_no_fp("startup> completed")
+ log.info("startup> completed")
-- init threads
- local main_thread = threads.thread__main(__shared_memory, init)
+ local main_thread = threads.thread__main(__shared_memory)
local rps_thread = threads.thread__rps(__shared_memory)
if __shared_memory.networked then
@@ -247,14 +240,12 @@ local function main()
-- run threads
parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec, comms_thread_tx.p_exec, comms_thread_rx.p_exec, sp_ctrl_thread.p_exec)
- if plc_state.init_ok then
- -- send status one last time after RPS shutdown
- smem_sys.plc_comms.send_status(plc_state.no_reactor, plc_state.reactor_formed)
- smem_sys.plc_comms.send_rps_status()
+ -- send status one last time after RPS shutdown
+ smem_sys.plc_comms.send_status(plc_state.no_reactor, plc_state.reactor_formed)
+ smem_sys.plc_comms.send_rps_status()
- -- close connection
- smem_sys.plc_comms.close()
- end
+ -- close connection
+ smem_sys.plc_comms.close()
else
-- run threads, excluding comms
parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec)
diff --git a/reactor-plc/threads.lua b/reactor-plc/threads.lua
index b56ccc7..5703dc7 100644
--- a/reactor-plc/threads.lua
+++ b/reactor-plc/threads.lua
@@ -31,8 +31,7 @@ local MQ__COMM_CMD = {
-- main thread
---@nodiscard
---@param smem plc_shared_memory
----@param init function
-function threads.thread__main(smem, init)
+function threads.thread__main(smem)
-- print a log message to the terminal as long as the UI isn't running
local function println_ts(message) if not smem.plc_state.fp_ok then util.println_ts(message) end end
@@ -42,7 +41,7 @@ function threads.thread__main(smem, init)
-- execute thread
function public.exec()
databus.tx_rt_status("main", true)
- log.debug("main thread init, clock inactive")
+ log.debug("main thread start")
-- send status updates at 2Hz (every 10 server ticks) (every loop tick)
-- send link requests at 0.5Hz (every 40 server ticks) (every 8 loop ticks)
@@ -55,6 +54,9 @@ function threads.thread__main(smem, init)
local plc_state = smem.plc_state
local plc_dev = smem.plc_dev
+ -- start clock
+ loop_clock.start()
+
-- event loop
while true do
-- get plc_sys fields (may have been set late due to degraded boot)
@@ -67,7 +69,6 @@ function threads.thread__main(smem, init)
-- handle event
if event == "timer" and loop_clock.is_clock(param1) then
- -- note: loop clock is only running if init_ok = true
-- blink heartbeat indicator
databus.heartbeat()
@@ -118,14 +119,14 @@ function threads.thread__main(smem, init)
-- update indicators
databus.tx_hw_status(plc_state)
- elseif event == "modem_message" and networked and plc_state.init_ok and nic.is_connected() then
+ elseif event == "modem_message" and networked and nic.is_connected() then
-- got a packet
local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
if packet ~= nil then
-- pass the packet onto the comms message queue
smem.q.mq_comms_rx.push_packet(packet)
end
- elseif event == "timer" and networked and plc_state.init_ok and conn_watchdog.is_timer(param1) then
+ elseif event == "timer" and networked and conn_watchdog.is_timer(param1) then
-- haven't heard from server recently? close connection and shutdown reactor
plc_comms.close()
smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
@@ -146,8 +147,7 @@ function threads.thread__main(smem, init)
elseif networked and type == "modem" then
---@cast device Modem
-- we only care if this is our wireless modem
- -- note, check init_ok first since nic will be nil if it is false
- if plc_state.init_ok and nic.is_modem(device) then
+ if nic.is_modem(device) then
nic.disconnect()
println_ts("comms modem disconnected!")
@@ -161,10 +161,8 @@ function threads.thread__main(smem, init)
plc_state.no_modem = true
plc_state.degraded = true
- if plc_state.init_ok then
- -- try to scram reactor if it is still connected
- smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
- end
+ -- try to scram reactor if it is still connected
+ smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
end
else
log.warning("a modem was disconnected")
@@ -196,29 +194,27 @@ function threads.thread__main(smem, init)
plc_state.degraded = false
end
- if plc_state.init_ok then
- smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
+ smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
- rps.reconnect_reactor(plc_dev.reactor)
- if networked then
- plc_comms.reconnect_reactor(plc_dev.reactor)
- end
-
- -- partial reset of RPS, specific to becoming formed/reconnected
- -- without this, auto control can't resume on chunk load
- rps.reset_formed()
+ rps.reconnect_reactor(plc_dev.reactor)
+ if networked then
+ plc_comms.reconnect_reactor(plc_dev.reactor)
end
+
+ -- partial reset of RPS, specific to becoming formed/reconnected
+ -- without this, auto control can't resume on chunk load
+ rps.reset_formed()
elseif networked and type == "modem" then
---@cast device Modem
-- note, check init_ok first since nic will be nil if it is false
- if device.isWireless() and not (plc_state.init_ok and nic.is_connected()) then
+ if device.isWireless() and not nic.is_connected() then
-- reconnected modem
plc_dev.modem = device
plc_state.no_modem = false
- if plc_state.init_ok then nic.connect(device) end
+ nic.connect(device)
- println_ts("wireless modem reconnected.")
+ println_ts("comms modem reconnected")
log.info("comms modem reconnected")
-- determine if we are still in a degraded state
@@ -226,29 +222,19 @@ function threads.thread__main(smem, init)
plc_state.degraded = false
end
elseif device.isWireless() then
- log.info("unused wireless modem reconnected")
+ log.info("unused wireless modem connected")
else
- log.info("wired modem reconnected")
+ log.info("wired modem connected")
end
end
end
- -- if not init'd and no longer degraded, proceed to init
- if not plc_state.init_ok and not plc_state.degraded then
- plc_state.init_ok = true
- init()
- end
-
-- update indicators
databus.tx_hw_status(plc_state)
elseif event == "mouse_click" or event == "mouse_up" or event == "mouse_drag" or event == "mouse_scroll" or
event == "double_click" then
-- handle a mouse event
renderer.handle_mouse(core.events.new_mouse_event(event, param1, param2, param3))
- elseif event == "clock_start" then
- -- start loop clock
- loop_clock.start()
- log.debug("main thread clock started")
end
-- check for termination request
@@ -278,7 +264,6 @@ function threads.thread__main(smem, init)
-- this thread cannot be slept because it will miss events (namely "terminate" otherwise)
if not plc_state.shutdown then
log.info("main thread restarting now...")
- util.push_event("clock_start")
end
end
end
@@ -316,47 +301,39 @@ function threads.thread__rps(smem)
-- get plc_sys fields (may have been set late due to degraded boot)
local rps = smem.plc_sys.rps
local plc_comms = smem.plc_sys.plc_comms
- -- get reactor, may have changed do to disconnect/reconnect
+ -- get reactor, it may have changed do to disconnect/reconnect
local reactor = plc_dev.reactor
- -- RPS checks
- if plc_state.init_ok then
- -- SCRAM if no open connection
- if networked and not plc_comms.is_linked() then
- if was_linked then
- was_linked = false
- rps.trip_timeout()
- end
- else
- was_linked = true
+ -- SCRAM if no open connection
+ if networked and not plc_comms.is_linked() then
+ if was_linked then
+ was_linked = false
+ rps.trip_timeout()
end
+ else was_linked = true end
- if (not plc_state.no_reactor) and rps.is_formed() then
- -- check reactor status
----@diagnostic disable-next-line: need-check-nil
- local reactor_status = reactor.getStatus()
- databus.tx_reactor_state(reactor_status)
+ -- check reactor status
+ if (not plc_state.no_reactor) and rps.is_formed() then
+ local reactor_status = reactor.getStatus()
+ databus.tx_reactor_state(reactor_status)
- -- if we tried to SCRAM but failed, keep trying
- -- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
- if rps.is_tripped() and reactor_status then
- rps.scram()
- end
- end
+ -- if we tried to SCRAM but failed, keep trying
+ -- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
+ if rps.is_tripped() and reactor_status then rps.scram() end
+ end
- -- if we are in standalone mode and the front panel isn't working, continuously reset RPS
- -- RPS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
- if not (networked or smem.plc_state.fp_ok) then rps.reset(true) end
+ -- if we are in standalone mode and the front panel isn't working, continuously reset RPS
+ -- RPS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
+ if not (networked or smem.plc_state.fp_ok) then rps.reset(true) end
- -- check safety (SCRAM occurs if tripped)
- if not plc_state.no_reactor then
- local rps_tripped, rps_status_string, rps_first = rps.check()
+ -- check safety (SCRAM occurs if tripped)
+ if not plc_state.no_reactor then
+ local rps_tripped, rps_status_string, rps_first = rps.check()
- if rps_tripped and rps_first then
- println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
- if networked and not plc_state.no_modem then
- plc_comms.send_rps_alarm(rps_status_string)
- end
+ if rps_tripped and rps_first then
+ println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
+ if networked and not plc_state.no_modem then
+ plc_comms.send_rps_alarm(rps_status_string)
end
end
end
@@ -368,19 +345,17 @@ function threads.thread__rps(smem)
if msg ~= nil then
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
- if plc_state.init_ok then
- if msg.message == MQ__RPS_CMD.SCRAM then
- -- SCRAM
- rps.scram()
- elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
- -- lost peripheral(s)
- rps.trip_fault()
- elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
- -- watchdog tripped
- rps.trip_timeout()
- println_ts("server timeout")
- log.warning("server timeout")
- end
+ if msg.message == MQ__RPS_CMD.SCRAM then
+ -- SCRAM
+ rps.scram()
+ elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
+ -- lost peripheral(s)
+ rps.trip_fault()
+ elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
+ -- watchdog tripped
+ rps.trip_timeout()
+ println_ts("supervisor timeout")
+ log.warning("supervisor timeout")
end
elseif msg.qtype == mqueue.TYPE.DATA then
-- received data
@@ -397,15 +372,15 @@ function threads.thread__rps(smem)
if plc_state.shutdown then
-- safe exit
log.info("rps thread shutdown initiated")
- if plc_state.init_ok then
- if rps.scram() then
- println_ts("reactor disabled")
- log.info("rps thread reactor SCRAM OK")
- else
- println_ts("exiting, reactor failed to disable")
- log.error("rps thread failed to SCRAM reactor on exit")
- end
+
+ if rps.scram() then
+ println_ts("exiting, reactor disabled")
+ log.info("rps thread reactor SCRAM OK")
+ else
+ println_ts("exiting, reactor failed to disable")
+ log.error("rps thread failed to SCRAM reactor on exit")
end
+
log.info("rps thread exiting")
break
end
@@ -428,7 +403,7 @@ function threads.thread__rps(smem)
databus.tx_rt_status("rps", false)
if not plc_state.shutdown then
- if plc_state.init_ok then smem.plc_sys.rps.scram() end
+ smem.plc_sys.rps.scram()
log.info("rps thread restarting in 5 seconds...")
util.psleep(5)
end
@@ -465,7 +440,7 @@ function threads.thread__comms_tx(smem)
while comms_queue.ready() and not plc_state.shutdown do
local msg = comms_queue.pop()
- if msg ~= nil and plc_state.init_ok then
+ if msg ~= nil then
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
if msg.message == MQ__COMM_CMD.SEND_STATUS then
@@ -521,6 +496,9 @@ end
---@nodiscard
---@param smem plc_shared_memory
function threads.thread__comms_rx(smem)
+ -- print a log message to the terminal as long as the UI isn't running
+ local function println_ts(message) if not smem.plc_state.fp_ok then util.println_ts(message) end end
+
---@class parallel_thread
local public = {}
@@ -546,7 +524,7 @@ function threads.thread__comms_rx(smem)
while comms_queue.ready() and not plc_state.shutdown do
local msg = comms_queue.pop()
- if msg ~= nil and plc_state.init_ok then
+ if msg ~= nil then
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
elseif msg.qtype == mqueue.TYPE.DATA then
@@ -555,7 +533,7 @@ function threads.thread__comms_rx(smem)
-- received a packet
-- handle the packet (setpoints passed to update burn rate setpoint)
-- (plc_state passed to check if degraded)
- plc_comms.handle_packet(msg.message, plc_state, setpoints)
+ plc_comms.handle_packet(msg.message, plc_state, setpoints, println_ts)
end
end
@@ -629,9 +607,7 @@ function threads.thread__setpoint_control(smem)
-- get reactor, may have changed do to disconnect/reconnect
local reactor = plc_dev.reactor
- if plc_state.init_ok and (not plc_state.no_reactor) then
- ---@cast reactor table won't be nil
-
+ if not plc_state.no_reactor then
-- check if we should start ramping
if setpoints.burn_rate_en and (setpoints.burn_rate ~= last_burn_sp) then
local cur_burn_rate = reactor.getBurnRate()
diff --git a/scada-common/network.lua b/scada-common/network.lua
index 7eccff7..f7213bd 100644
--- a/scada-common/network.lua
+++ b/scada-common/network.lua
@@ -4,6 +4,7 @@
local comms = require("scada-common.comms")
local log = require("scada-common.log")
+local ppm = require("scada-common.ppm")
local util = require("scada-common.util")
local md5 = require("lockbox.digest.md5")
@@ -76,17 +77,29 @@ local function compute_hmac(message)
end
-- NIC: Network Interface Controller
--- utilizes HMAC-MD5 for message authentication, if enabled
----@param modem Modem modem to use
+-- utilizes HMAC-MD5 for message authentication, if enabled and this is wireless
+---@param modem Modem|nil modem to use
function network.nic(modem)
local self = {
- connected = true, -- used to avoid costly MAC calculations if modem isn't even present
+ -- modem interface name
+ iface = "?",
+ -- phy name
+ name = "?",
+ -- used to quickly return out of tx/rx functions if there is nothing to do
+ connected = false,
+ -- used to avoid costly MAC calculations if not required
+ use_hash = false,
+ -- open channels
channels = {}
}
---@class nic:Modem
local public = {}
+ -- get the phy name
+ ---@nodiscard
+ function public.phy_name() return self.name end
+
-- check if this NIC has a connected modem
---@nodiscard
function public.is_connected() return self.connected end
@@ -95,9 +108,14 @@ function network.nic(modem)
---@param reconnected_modem Modem
function public.connect(reconnected_modem)
modem = reconnected_modem
- self.connected = true
- -- open previously opened channels
+ self.iface = ppm.get_iface(modem)
+ self.name = util.c(util.trinary(modem.isWireless(), "WLAN_PHY", "ETH_PHY"), "{", self.iface, "}")
+ self.connected = true
+ self.use_hash = c_eng.hmac and modem.isWireless()
+
+ -- open only previously opened channels
+ modem.closeAll()
for _, channel in ipairs(self.channels) do
modem.open(channel)
end
@@ -117,13 +135,13 @@ function network.nic(modem)
function public.is_modem(device) return device == modem end
-- wrap modem functions, then create custom functions
- public.connect(modem)
+ if modem then public.connect(modem) end
-- open a channel on the modem
-- if disconnected *after* opening, previousy opened channels will be re-opened on reconnection
---@param channel integer
function public.open(channel)
- modem.open(channel)
+ if modem then modem.open(channel) end
local already_open = false
for i = 1, #self.channels do
@@ -141,7 +159,7 @@ function network.nic(modem)
-- close a channel on the modem
---@param channel integer
function public.close(channel)
- modem.close(channel)
+ if modem then modem.close(channel) end
for i = 1, #self.channels do
if self.channels[i] == channel then
@@ -153,7 +171,7 @@ function network.nic(modem)
-- close all channels on the modem
function public.closeAll()
- modem.closeAll()
+ if modem then modem.closeAll() end
self.channels = {}
end
@@ -165,7 +183,7 @@ function network.nic(modem)
if self.connected then
local tx_packet = packet ---@type authd_packet|scada_packet
- if c_eng.hmac ~= nil then
+ if self.use_hash then
-- local start = util.time_ms()
tx_packet = comms.authd_packet()
@@ -175,7 +193,10 @@ function network.nic(modem)
-- log.debug("network.modem.transmit: data processing took " .. (util.time_ms() - start) .. "ms")
end
+---@diagnostic disable-next-line: need-check-nil
modem.transmit(dest_channel, local_channel, tx_packet.raw_sendable())
+ else
+ log.debug("network.transmit tx dropped, link is down")
end
end
@@ -190,10 +211,10 @@ function network.nic(modem)
function public.receive(side, sender, reply_to, message, distance)
local packet = nil
- if self.connected then
+ if self.connected and side == self.iface then
local s_packet = comms.scada_packet()
- if c_eng.hmac ~= nil then
+ if self.use_hash then
-- parse packet as an authenticated SCADA packet
local a_packet = comms.authd_packet()
a_packet.receive(side, sender, reply_to, message, distance)
diff --git a/scada-common/util.lua b/scada-common/util.lua
index 031eaa0..c889037 100644
--- a/scada-common/util.lua
+++ b/scada-common/util.lua
@@ -24,7 +24,7 @@ local t_pack = table.pack
local util = {}
-- scada-common version
-util.version = "1.5.4"
+util.version = "1.5.5"
util.TICK_TIME_S = 0.05
util.TICK_TIME_MS = 50