#640 reworked PLC initialization
This commit is contained in:
Mikayla
@@ -31,8 +31,7 @@ local MQ__COMM_CMD = {
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-- main thread
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---@nodiscard
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---@param smem plc_shared_memory
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---@param init function
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function threads.thread__main(smem, init)
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function threads.thread__main(smem)
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-- print a log message to the terminal as long as the UI isn't running
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local function println_ts(message) if not smem.plc_state.fp_ok then util.println_ts(message) end end
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@@ -42,7 +41,7 @@ function threads.thread__main(smem, init)
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-- execute thread
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function public.exec()
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databus.tx_rt_status("main", true)
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log.debug("main thread init, clock inactive")
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log.debug("main thread start")
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-- send status updates at 2Hz (every 10 server ticks) (every loop tick)
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-- send link requests at 0.5Hz (every 40 server ticks) (every 8 loop ticks)
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@@ -55,6 +54,9 @@ function threads.thread__main(smem, init)
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local plc_state = smem.plc_state
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local plc_dev = smem.plc_dev
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-- start clock
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loop_clock.start()
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-- event loop
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while true do
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-- get plc_sys fields (may have been set late due to degraded boot)
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@@ -67,7 +69,6 @@ function threads.thread__main(smem, init)
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-- handle event
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if event == "timer" and loop_clock.is_clock(param1) then
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-- note: loop clock is only running if init_ok = true
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-- blink heartbeat indicator
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databus.heartbeat()
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@@ -118,14 +119,14 @@ function threads.thread__main(smem, init)
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-- update indicators
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databus.tx_hw_status(plc_state)
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elseif event == "modem_message" and networked and plc_state.init_ok and nic.is_connected() then
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elseif event == "modem_message" and networked and nic.is_connected() then
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-- got a packet
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local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
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if packet ~= nil then
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-- pass the packet onto the comms message queue
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smem.q.mq_comms_rx.push_packet(packet)
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end
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elseif event == "timer" and networked and plc_state.init_ok and conn_watchdog.is_timer(param1) then
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elseif event == "timer" and networked and conn_watchdog.is_timer(param1) then
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-- haven't heard from server recently? close connection and shutdown reactor
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plc_comms.close()
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smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
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@@ -146,8 +147,7 @@ function threads.thread__main(smem, init)
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elseif networked and type == "modem" then
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---@cast device Modem
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-- we only care if this is our wireless modem
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-- note, check init_ok first since nic will be nil if it is false
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if plc_state.init_ok and nic.is_modem(device) then
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if nic.is_modem(device) then
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nic.disconnect()
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println_ts("comms modem disconnected!")
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@@ -161,10 +161,8 @@ function threads.thread__main(smem, init)
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plc_state.no_modem = true
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plc_state.degraded = true
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if plc_state.init_ok then
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-- try to scram reactor if it is still connected
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smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
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end
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-- try to scram reactor if it is still connected
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smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
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end
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else
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log.warning("a modem was disconnected")
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@@ -196,29 +194,27 @@ function threads.thread__main(smem, init)
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plc_state.degraded = false
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end
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if plc_state.init_ok then
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smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
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smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
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rps.reconnect_reactor(plc_dev.reactor)
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if networked then
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plc_comms.reconnect_reactor(plc_dev.reactor)
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end
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-- partial reset of RPS, specific to becoming formed/reconnected
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-- without this, auto control can't resume on chunk load
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rps.reset_formed()
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rps.reconnect_reactor(plc_dev.reactor)
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if networked then
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plc_comms.reconnect_reactor(plc_dev.reactor)
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end
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-- partial reset of RPS, specific to becoming formed/reconnected
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-- without this, auto control can't resume on chunk load
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rps.reset_formed()
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elseif networked and type == "modem" then
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---@cast device Modem
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-- note, check init_ok first since nic will be nil if it is false
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if device.isWireless() and not (plc_state.init_ok and nic.is_connected()) then
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if device.isWireless() and not nic.is_connected() then
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-- reconnected modem
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plc_dev.modem = device
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plc_state.no_modem = false
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if plc_state.init_ok then nic.connect(device) end
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nic.connect(device)
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println_ts("wireless modem reconnected.")
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println_ts("comms modem reconnected")
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log.info("comms modem reconnected")
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-- determine if we are still in a degraded state
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@@ -226,29 +222,19 @@ function threads.thread__main(smem, init)
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plc_state.degraded = false
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end
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elseif device.isWireless() then
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log.info("unused wireless modem reconnected")
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log.info("unused wireless modem connected")
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else
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log.info("wired modem reconnected")
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log.info("wired modem connected")
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end
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end
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end
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-- if not init'd and no longer degraded, proceed to init
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if not plc_state.init_ok and not plc_state.degraded then
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plc_state.init_ok = true
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init()
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end
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-- update indicators
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databus.tx_hw_status(plc_state)
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elseif event == "mouse_click" or event == "mouse_up" or event == "mouse_drag" or event == "mouse_scroll" or
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event == "double_click" then
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-- handle a mouse event
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renderer.handle_mouse(core.events.new_mouse_event(event, param1, param2, param3))
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elseif event == "clock_start" then
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-- start loop clock
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loop_clock.start()
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log.debug("main thread clock started")
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end
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-- check for termination request
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@@ -278,7 +264,6 @@ function threads.thread__main(smem, init)
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-- this thread cannot be slept because it will miss events (namely "terminate" otherwise)
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if not plc_state.shutdown then
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log.info("main thread restarting now...")
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util.push_event("clock_start")
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end
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end
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end
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@@ -316,47 +301,39 @@ function threads.thread__rps(smem)
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-- get plc_sys fields (may have been set late due to degraded boot)
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local rps = smem.plc_sys.rps
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local plc_comms = smem.plc_sys.plc_comms
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-- get reactor, may have changed do to disconnect/reconnect
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-- get reactor, it may have changed do to disconnect/reconnect
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local reactor = plc_dev.reactor
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-- RPS checks
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if plc_state.init_ok then
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-- SCRAM if no open connection
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if networked and not plc_comms.is_linked() then
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if was_linked then
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was_linked = false
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rps.trip_timeout()
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end
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else
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was_linked = true
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-- SCRAM if no open connection
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if networked and not plc_comms.is_linked() then
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if was_linked then
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was_linked = false
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rps.trip_timeout()
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end
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else was_linked = true end
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if (not plc_state.no_reactor) and rps.is_formed() then
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-- check reactor status
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---@diagnostic disable-next-line: need-check-nil
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local reactor_status = reactor.getStatus()
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databus.tx_reactor_state(reactor_status)
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-- check reactor status
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if (not plc_state.no_reactor) and rps.is_formed() then
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local reactor_status = reactor.getStatus()
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databus.tx_reactor_state(reactor_status)
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-- if we tried to SCRAM but failed, keep trying
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-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
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if rps.is_tripped() and reactor_status then
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rps.scram()
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end
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end
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-- if we tried to SCRAM but failed, keep trying
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-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
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if rps.is_tripped() and reactor_status then rps.scram() end
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end
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-- if we are in standalone mode and the front panel isn't working, continuously reset RPS
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-- RPS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
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if not (networked or smem.plc_state.fp_ok) then rps.reset(true) end
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-- if we are in standalone mode and the front panel isn't working, continuously reset RPS
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-- RPS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
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if not (networked or smem.plc_state.fp_ok) then rps.reset(true) end
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-- check safety (SCRAM occurs if tripped)
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if not plc_state.no_reactor then
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local rps_tripped, rps_status_string, rps_first = rps.check()
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-- check safety (SCRAM occurs if tripped)
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if not plc_state.no_reactor then
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local rps_tripped, rps_status_string, rps_first = rps.check()
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if rps_tripped and rps_first then
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println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
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if networked and not plc_state.no_modem then
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plc_comms.send_rps_alarm(rps_status_string)
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end
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if rps_tripped and rps_first then
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println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
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if networked and not plc_state.no_modem then
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plc_comms.send_rps_alarm(rps_status_string)
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end
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end
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end
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@@ -368,19 +345,17 @@ function threads.thread__rps(smem)
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if msg ~= nil then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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if plc_state.init_ok then
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if msg.message == MQ__RPS_CMD.SCRAM then
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-- SCRAM
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rps.scram()
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elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
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-- lost peripheral(s)
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rps.trip_fault()
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elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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rps.trip_timeout()
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println_ts("server timeout")
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log.warning("server timeout")
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end
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if msg.message == MQ__RPS_CMD.SCRAM then
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-- SCRAM
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rps.scram()
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elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
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-- lost peripheral(s)
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rps.trip_fault()
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elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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rps.trip_timeout()
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println_ts("supervisor timeout")
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log.warning("supervisor timeout")
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end
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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@@ -397,15 +372,15 @@ function threads.thread__rps(smem)
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if plc_state.shutdown then
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-- safe exit
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log.info("rps thread shutdown initiated")
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if plc_state.init_ok then
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if rps.scram() then
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println_ts("reactor disabled")
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log.info("rps thread reactor SCRAM OK")
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else
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println_ts("exiting, reactor failed to disable")
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log.error("rps thread failed to SCRAM reactor on exit")
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end
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if rps.scram() then
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println_ts("exiting, reactor disabled")
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log.info("rps thread reactor SCRAM OK")
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else
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println_ts("exiting, reactor failed to disable")
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log.error("rps thread failed to SCRAM reactor on exit")
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end
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log.info("rps thread exiting")
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break
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end
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@@ -428,7 +403,7 @@ function threads.thread__rps(smem)
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databus.tx_rt_status("rps", false)
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if not plc_state.shutdown then
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if plc_state.init_ok then smem.plc_sys.rps.scram() end
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smem.plc_sys.rps.scram()
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log.info("rps thread restarting in 5 seconds...")
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util.psleep(5)
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end
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@@ -465,7 +440,7 @@ function threads.thread__comms_tx(smem)
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while comms_queue.ready() and not plc_state.shutdown do
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local msg = comms_queue.pop()
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if msg ~= nil and plc_state.init_ok then
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if msg ~= nil then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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if msg.message == MQ__COMM_CMD.SEND_STATUS then
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@@ -521,6 +496,9 @@ end
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---@nodiscard
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---@param smem plc_shared_memory
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function threads.thread__comms_rx(smem)
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-- print a log message to the terminal as long as the UI isn't running
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local function println_ts(message) if not smem.plc_state.fp_ok then util.println_ts(message) end end
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---@class parallel_thread
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local public = {}
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@@ -546,7 +524,7 @@ function threads.thread__comms_rx(smem)
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while comms_queue.ready() and not plc_state.shutdown do
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local msg = comms_queue.pop()
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if msg ~= nil and plc_state.init_ok then
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if msg ~= nil then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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elseif msg.qtype == mqueue.TYPE.DATA then
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@@ -555,7 +533,7 @@ function threads.thread__comms_rx(smem)
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-- received a packet
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-- handle the packet (setpoints passed to update burn rate setpoint)
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-- (plc_state passed to check if degraded)
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plc_comms.handle_packet(msg.message, plc_state, setpoints)
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plc_comms.handle_packet(msg.message, plc_state, setpoints, println_ts)
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end
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end
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@@ -629,9 +607,7 @@ function threads.thread__setpoint_control(smem)
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-- get reactor, may have changed do to disconnect/reconnect
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local reactor = plc_dev.reactor
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if plc_state.init_ok and (not plc_state.no_reactor) then
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---@cast reactor table won't be nil
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if not plc_state.no_reactor then
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-- check if we should start ramping
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if setpoints.burn_rate_en and (setpoints.burn_rate ~= last_burn_sp) then
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local cur_burn_rate = reactor.getBurnRate()
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