#4 PLC peripheral disconnect handling and small bugfixes/cleanup
This commit is contained in:
Mikayla Fischler
@@ -22,35 +22,50 @@ ppm.mount_all()
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local reactor = ppm.get_device("fissionReactor")
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local modem = ppm.get_device("modem")
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local init_ok = true
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local control_degraded = { degraded = false, no_reactor = false, no_modem = false }
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-- we need a reactor and a modem
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if reactor == nil then
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print("Fission reactor not found, exiting...");
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return
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elseif modem == nil then
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print("No modem found, disabling reactor and exiting...")
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print_ts("Fission reactor not found. Running in a degraded state...\n");
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log._warning("no reactor on startup")
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init_ok = false
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control_degraded.degraded = true
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control_degraded.no_reactor = true
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end
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if modem == nil then
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print_ts("No modem found. Disabling reactor and running in a degraded state...\n")
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log._warning("no modem on startup")
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reactor.scram()
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return
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init_ok = false
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control_degraded.degraded = true
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control_degraded.no_modem = true
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end
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-- just booting up, no fission allowed (neutrons stay put thanks)
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reactor.scram()
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::init::
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if init_ok then
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-- just booting up, no fission allowed (neutrons stay put thanks)
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reactor.scram()
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-- init internal safety system
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local iss = plc.iss_init(reactor)
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-- init internal safety system
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local iss = plc.iss_init(reactor)
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log._debug("iss init")
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-- start comms
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if not modem.isOpen(config.LISTEN_PORT) then
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modem.open(config.LISTEN_PORT)
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-- start comms
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local plc_comms = plc.comms_init(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor, iss)
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log._debug("comms init")
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-- comms watchdog, 3 second timeout
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local conn_watchdog = watchdog.new_watchdog(3)
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log._debug("conn watchdog started")
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-- loop clock (10Hz, 2 ticks)
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local loop_tick = os.startTimer(0.05)
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log._debug("loop clock started")
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else
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log._warning("booted in a degraded state, awaiting peripheral connections...")
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end
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local plc_comms = plc.rplc_comms(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor, iss)
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-- comms watchdog, 3 second timeout
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local conn_watchdog = watchdog.new_watchdog(3)
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-- loop clock (10Hz, 2 ticks)
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local loop_tick = os.startTimer(0.05)
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-- send status updates at ~3.33Hz (every 6 server ticks) (every 3 loop ticks)
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-- send link requests at 0.5Hz (every 40 server ticks) (every 20 loop ticks)
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local UPDATE_TICKS = 3
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@@ -67,51 +82,112 @@ local reactor_scram = true -- treated as latching e-stop
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while true do
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local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
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-- if we tried to SCRAM but failed, keep trying
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-- if it disconnected, isPowered will return nil (and error logs will get spammed at 10Hz, so disable reporting)
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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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ppm.disable_reporting()
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if reactor_scram and reactor.isPowered() then
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reactor.scram()
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if init_ok then
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-- if we tried to SCRAM but failed, keep trying
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-- if it disconnected, isPowered will return nil (and error logs will get spammed at 10Hz, so disable reporting)
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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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ppm.disable_reporting()
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if reactor_scram and reactor.isPowered() then
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reactor.scram()
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end
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ppm.enable_reporting()
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end
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ppm.enable_reporting()
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-- check for peripheral changes before ISS checks
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if event == "peripheral_detach" then
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ppm.handle_unmount(param1)
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local device = ppm.handle_unmount(param1)
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-- try to scram reactor if it is still connected
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reactor_scram = true
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if reactor.scram() then
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print_ts("[fatal] PLC lost a peripheral: successful SCRAM\n")
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else
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print_ts("[fatal] PLC lost a peripheral: failed SCRAM\n")
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if device.type == "fissionReactor" then
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print_ts("reactor disconnected!\n")
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log._error("reactor disconnected!")
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control_degraded.no_reactor = true
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-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ?
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elseif device.type == "modem" then
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print_ts("modem disconnected!\n")
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log._error("modem disconnected!")
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control_degraded.no_modem = true
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if init_ok then
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-- try to scram reactor if it is still connected
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reactor_scram = true
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if reactor.scram() then
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print_ts("successful reactor SCRAM\n")
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else
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print_ts("failed reactor SCRAM\n")
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end
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end
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control_degraded.degraded = true
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end
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elseif event == "peripheral" then
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local device = ppm.mount(param1)
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if device.type == "fissionReactor" then
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-- reconnected reactor
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reactor_scram = true
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device.scram()
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print_ts("reactor reconnected.\n")
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log._info("reactor reconnected.")
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control_degraded.no_reactor = false
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if init_ok then
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iss.reconnect_reactor(device)
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plc_comms.reconnect_reactor(device)
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end
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-- determine if we are still in a degraded state
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if get_device("modem") not nil then
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control_degraded.degraded = false
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end
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elseif device.type == "modem" then
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-- reconnected modem
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if init_ok then
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plc_comms.reconnect_modem(device)
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end
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print_ts("modem reconnected.\n")
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log._info("modem reconnected.")
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control_degraded.no_modem = false
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-- determine if we are still in a degraded state
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if ppm.get_device("fissionReactor") not nil then
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control_degraded.degraded = false
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end
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end
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-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ?
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if not init_ok and not control_degraded.degraded then
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init_ok = false
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goto init
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end
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end
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-- check safety (SCRAM occurs if tripped)
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local iss_tripped, iss_status, iss_first = iss.check()
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reactor_scram = reactor_scram or iss_tripped
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if iss_first then
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plc_comms.send_iss_alarm(iss_status)
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if not control_degraded.degraded then
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local iss_tripped, iss_status, iss_first = iss.check()
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reactor_scram = reactor_scram or iss_tripped
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if iss_first then
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plc_comms.send_iss_alarm(iss_status)
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end
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end
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-- handle event
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if event == "timer" and param1 == loop_tick then
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-- basic event tick, send updated data if it is time (~3.33Hz)
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-- iss was already checked (main reason for this tick rate)
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ticks_to_update = ticks_to_update - 1
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if not control_degraded.no_modem then
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-- basic event tick, send updated data if it is time (~3.33Hz)
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-- iss was already checked (main reason for this tick rate)
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ticks_to_update = ticks_to_update - 1
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if plc_comms.is_linked() then
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if ticks_to_update <= 0 then
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plc_comms.send_status(control_state, iss_tripped)
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ticks_to_update = UPDATE_TICKS
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end
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else
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if ticks_to_update <= 0 then
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plc_comms.send_link_req()
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ticks_to_update = LINK_TICKS
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if plc_comms.is_linked() then
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if ticks_to_update <= 0 then
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plc_comms.send_status(control_state, iss_tripped)
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ticks_to_update = UPDATE_TICKS
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end
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else
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if ticks_to_update <= 0 then
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plc_comms.send_link_req()
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ticks_to_update = LINK_TICKS
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end
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end
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end
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elseif event == "modem_message" then
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@@ -130,14 +206,17 @@ while true do
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print_ts("[alert] server timeout, reactor disabled\n")
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elseif event == "terminate" then
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-- safe exit
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reactor_scram = true
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if reactor.scram() then
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print_ts("[alert] exiting, reactor disabled\n")
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else
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-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_LOST_CONTROL) ?
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print_ts("[alert] exiting, reactor failed to disable\n")
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if init_ok then
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reactor_scram = true
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if reactor.scram() then
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print_ts("[alert] exiting, reactor disabled\n")
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else
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-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_LOST_CONTROL) ?
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print_ts("[alert] exiting, reactor failed to disable\n")
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end
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end
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-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_SHUTDOWN) ?
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print_ts("[alert] exited")
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return
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end
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end
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