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#7 work on PLC session comms, bugfixes with comms, general supervisor bugfixes

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This commit is contained in:
Mikayla Fischler
2022-04-25 21:00:50 -04:00
parent 19a4b3c0ef
commit f7f723829c
9 changed files with 158 additions and 134 deletions
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157
reactor-plc/plc.lua
View File

@@ -6,6 +6,11 @@ local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
local RPLC_LINKING = comms.RPLC_LINKING
local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
-- Internal Safety System
-- identifies dangerous states and SCRAMs reactor if warranted
-- autonomous from main SCADA supervisor/coordinator control
@@ -167,6 +172,10 @@ function iss_init(reactor)
return self.tripped, status, first_trip
end
-- get the ISS status
local status = function () return self.cache end
local is_tripped = function () return self.tripped end
-- reset the ISS
local reset = function ()
self.timed_out = false
@@ -174,17 +183,13 @@ function iss_init(reactor)
self.trip_cause = ""
end
-- get the ISS status
local status = function ()
return self.cache
end
return {
reconnect_reactor = reconnect_reactor,
trip_timeout = trip_timeout,
check = check,
reset = reset,
status = status
status = status,
is_tripped = is_tripped,
reset = reset
}
end
@@ -225,7 +230,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- variable reactor status information, excluding heating rate
local _reactor_status = function ()
ppm.clear_fault()
return {
self.reactor.getStatus(),
self.reactor.getBurnRate(),
@@ -249,20 +253,24 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.reactor.getHeatedCoolant()['amount'],
self.reactor.getHeatedCoolantNeeded(),
self.reactor.getHeatedCoolantFilledPercentage()
}, ppm.faulted()
}, self.reactor.__p_is_faulted()
end
local _update_status_cache = function ()
local status, faulted = _reactor_status()
local changed = false
if not faulted then
for i = 1, #status do
if status[i] ~= self.status_cache[i] then
changed = true
break
if self.status_cache ~= nil then
if not faulted then
for i = 1, #status do
if status[i] ~= self.status_cache[i] then
changed = true
break
end
end
end
else
changed = true
end
if changed then
@@ -285,8 +293,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- send structure properties (these should not change)
-- (server will cache these)
local _send_struct = function ()
ppm.clear_fault()
local mek_data = {
self.reactor.getHeatCapacity(),
self.reactor.getFuelAssemblies(),
@@ -298,7 +304,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.reactor.getMaxBurnRate()
}
if not ppm.is_faulted() then
if not self.reactor.__p_is_faulted() then
_send(RPLC_TYPES.MEK_STRUCT, mek_data)
else
log._error("failed to send structure: PPM fault")
@@ -323,10 +329,48 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
_update_status_cache()
end
-- attempt to establish link with supervisor
local send_link_req = function ()
_send(RPLC_TYPES.LINK_REQ, { self.id })
end
-- send live status information
local send_status = function (degraded)
local mek_data = nil
if _update_status_cache() then
mek_data = self.status_cache
end
local sys_status = {
util.time(),
(not self.scrammed),
iss.is_tripped(),
degraded,
self.reactor.getHeatingRate(),
mek_data
}
_send(RPLC_TYPES.STATUS, sys_status)
end
local send_iss_status = function ()
_send(RPLC_TYPES.ISS_STATUS, iss.status())
end
local send_iss_alarm = function (cause)
local iss_alarm = {
cause,
iss.status()
}
_send(RPLC_TYPES.ISS_ALARM, iss_alarm)
end
-- parse an RPLC packet
local parse_packet = function(side, sender, reply_to, message, distance)
local pkt = nil
local s_pkt = scada_packet()
local s_pkt = comms.scada_packet()
-- parse packet as generic SCADA packet
s_pkt.receive(side, sender, reply_to, message, distance)
@@ -358,7 +402,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- check sequence number
if self.r_seq_num == nil then
self.r_seq_num = packet.scada_frame.seq_num()
elseif self.r_seq_num >= packet.scada_frame.seq_num() then
elseif self.linked and self.r_seq_num >= packet.scada_frame.seq_num() then
log._warning("sequence out-of-order: last = " .. self.r_seq_num .. ", new = " .. packet.scada_frame.seq_num())
return
else
@@ -388,19 +432,19 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
if link_ack == RPLC_LINKING.ALLOW then
_send_struct()
send_status()
send_status(plc_state.degraded)
log._debug("re-sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
-- @todo: make sure this doesn't become a MITM security risk
print_ts("received unsolicited link denial, unlinking\n")
log._debug("unsolicited rplc link request denied")
println_ts("received unsolicited link denial, unlinking")
log._debug("unsolicited RPLC link request denied")
elseif link_ack == RPLC_LINKING.COLLISION then
-- @todo: make sure this doesn't become a MITM security risk
print_ts("received unsolicited link collision, unlinking\n")
log._warning("unsolicited rplc link request collision")
println_ts("received unsolicited link collision, unlinking")
log._warning("unsolicited RPLC link request collision")
else
print_ts("invalid unsolicited link response\n")
log._error("unsolicited unknown rplc link request response")
println_ts("invalid unsolicited link response")
log._error("unsolicited unknown RPLC link request response")
end
self.linked = link_ack == RPLC_LINKING.ALLOW
@@ -452,22 +496,25 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
local link_ack = packet.data[1]
if link_ack == RPLC_LINKING.ALLOW then
print_ts("...linked!\n")
log._debug("rplc link request approved")
println_ts("linked!")
log._debug("RPLC link request approved")
-- reset remote sequence number
self.r_seq_num = nil
_send_struct()
send_status()
send_status(plc_state.degraded)
log._debug("sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
print_ts("...denied, retrying...\n")
log._debug("rplc link request denied")
println_ts("link request denied, retrying...")
log._debug("RPLC link request denied")
elseif link_ack == RPLC_LINKING.COLLISION then
print_ts("reactor PLC ID collision (check config), retrying...\n")
log._warning("rplc link request collision")
println_ts("reactor PLC ID collision (check config), retrying...")
log._warning("RPLC link request collision")
else
print_ts("invalid link response, bad channel? retrying...\n")
log._error("unknown rplc link request response")
println_ts("invalid link response, bad channel? retrying...")
log._error("unknown RPLC link request response")
end
self.linked = link_ack == RPLC_LINKING.ALLOW
@@ -480,46 +527,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
end
end
-- attempt to establish link with supervisor
local send_link_req = function ()
_send(RPLC_TYPES.LINK_REQ, {})
end
-- send live status information
-- overridden : if ISS force disabled reactor
-- degraded : if PLC status is degraded
local send_status = function (overridden, degraded)
local mek_data = nil
if _update_status_cache() then
mek_data = self.status_cache
end
local sys_status = {
util.time(),
(not self.scrammed),
overridden,
degraded,
self.reactor.getHeatingRate(),
mek_data
}
_send(RPLC_TYPES.STATUS, sys_status)
end
local send_iss_status = function ()
_send(RPLC_TYPES.ISS_STATUS, iss.status())
end
local send_iss_alarm = function (cause)
local iss_alarm = {
cause,
iss.status()
}
_send(RPLC_TYPES.ISS_ALARM, iss_alarm)
end
local is_scrammed = function () return self.scrammed end
local is_linked = function () return self.linked end
local unlink = function () self.linked = false end

2
reactor-plc/startup.lua
View File

@@ -11,7 +11,7 @@ os.loadAPI("config.lua")
os.loadAPI("plc.lua")
os.loadAPI("threads.lua")
local R_PLC_VERSION = "alpha-v0.3.1"
local R_PLC_VERSION = "alpha-v0.3.3"
local print = util.print
local println = util.println

42
reactor-plc/threads.lua
View File

@@ -10,8 +10,8 @@ local println_ts = util.println_ts
local async_wait = util.async_wait
local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
local ISS_CLOCK = 0.5 -- (2Hz, 10 ticks)
local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
local ISS_CLOCK = 0.25 -- (4Hz, 5 ticks) however this is AFTER all the ISS checks, so it is a pause between calls, not start-to-start
local ISS_EVENT = {
SCRAM = 1,
@@ -28,7 +28,7 @@ function thread__main(shared_memory, init)
local LINK_TICKS = 4
local loop_clock = nil
local ticks_to_update = LINK_TICKS -- start by linking
local ticks_to_update = 0
-- load in from shared memory
local networked = shared_memory.networked
@@ -40,7 +40,7 @@ function thread__main(shared_memory, init)
local conn_watchdog = shared_memory.system.conn_watchdog
-- debug
-- local last_update = util.time()
local last_update = util.time()
-- event loop
while true do
@@ -55,26 +55,25 @@ function thread__main(shared_memory, init)
-- send updated data
if not plc_state.no_modem then
if plc_comms.is_linked() then
async_wait(function ()
plc_comms.send_status(iss_tripped, plc_state.degraded)
plc_comms.send_iss_status()
end)
else
ticks_to_update = ticks_to_update - 1
if ticks_to_update <= 0 then
if ticks_to_update == 0 then
plc_comms.send_link_req()
ticks_to_update = LINK_TICKS
else
ticks_to_update = ticks_to_update - 1
end
end
end
-- debug
-- print(util.time() - last_update)
-- println("ms")
-- last_update = util.time()
print(util.time() - last_update)
println("ms")
last_update = util.time()
end
elseif event == "modem_message" and networked and not plc_state.no_modem then
-- got a packet
@@ -82,8 +81,10 @@ function thread__main(shared_memory, init)
conn_watchdog.feed()
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5)
async_wait(function () plc_comms.handle_packet(packet, plc_state) end)
async_wait(function ()
local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
plc_comms.handle_packet(packet, plc_state)
end)
elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
-- haven't heard from server recently? shutdown reactor
plc_comms.unlink()
@@ -169,7 +170,7 @@ function thread__main(shared_memory, init)
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(MAIN_CLOCK)
log._debug("loop clock started")
log._debug("main thread started")
end
-- check for termination request
@@ -208,9 +209,6 @@ function thread__iss(shared_memory)
local reactor = shared_memory.plc_devices.reactor
if event == "timer" and param1 == loop_clock then
-- start next clock timer
loop_clock = os.startTimer(ISS_CLOCK)
-- ISS checks
if plc_state.init_ok then
-- if we tried to SCRAM but failed, keep trying
@@ -244,6 +242,10 @@ function thread__iss(shared_memory)
end)
end
-- start next clock timer after all the long operations
-- otherwise we will never get around to other events
loop_clock = os.startTimer(ISS_CLOCK)
-- debug
-- print(util.time() - last_update)
-- println("ms")
@@ -270,13 +272,13 @@ function thread__iss(shared_memory)
-- watchdog tripped
plc_state.scram = true
iss.trip_timeout()
println_ts("server timeout, reactor disabled")
log._warning("server timeout, reactor disabled")
println_ts("server timeout")
log._warning("server timeout")
end
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(ISS_CLOCK)
log._debug("loop clock started")
log._debug("iss thread started")
end
-- check for termination request