#580 work on reactor PLC wired comms
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 comms 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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@@ -184,7 +184,7 @@ function threads.thread__main(smem, init)
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plc_dev.reactor = device
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plc_state.no_reactor = false
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println_ts("reactor reconnected.")
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println_ts("reactor reconnected")
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log.info("reactor reconnected")
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-- we need to assume formed here as we cannot check in this main loop
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@@ -220,7 +220,7 @@ function threads.thread__main(smem, init)
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if plc_state.init_ok then nic.connect(device) end
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println_ts("comms 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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@@ -235,22 +235,12 @@ function threads.thread__main(smem, init)
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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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@@ -280,7 +270,6 @@ 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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@@ -399,15 +388,15 @@ 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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@@ -430,7 +419,7 @@ 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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