reactor control and safety system attempting server connection

2022-01-01 19:45:33 -05:00
parent 0dac25d9e7
commit 26cce3a46a
7 changed files with 407 additions and 0 deletions
--- a/rcass/rcass.lua
+++ b/rcass/rcass.lua
@@ -0,0 +1,122 @@
+--
+-- RCaSS: Reactor Controller and Safety Subsystem
+--
+
+os.loadAPI("common/util.lua")
+os.loadAPI("common/comms.lua")
+os.loadAPI("rcass/config.lua")
+os.loadAPI("rcass/safety.lua")
+
+local RCASS_VERSION = "alpha-v0.1"
+
+local print_ts = util.print_ts
+
+local reactor = peripheral.find("fissionReactor")
+local modem = peripheral.find("modem")
+
+print(">> RCaSS " .. RCASS_VERSION .. " <<")
+
+-- we need a reactor and a modem
+if reactor == nil then
+    print("Fission reactor not found, exiting...");
+    return
+elseif modem == nil then
+    print("No modem found, disabling reactor and exiting...")
+    reactor.scram()
+    return
+end
+
+-- just booting up, no fission allowed (neutrons stay put thanks)
+reactor.scram()
+
+-- init internal safety system
+local iss = safety.iss_init(reactor)
+local iss_status = "ok"
+local iss_tripped = false
+
+-- read config
+
+-- start comms
+if not modem.isOpen(config.LISTEN_PORT) then
+    modem.open(config.LISTEN_PORT)
+end
+
+local comms = comms.rcass_comms(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor)
+
+-- attempt server connection
+local linked = false
+local link_timeout = os.startTimer(5)
+comms.send_link_req()
+print_ts("sent link request")
+repeat
+    local event, param1, param2, param3, param4, param5 = os.pullEvent()
+   
+    -- handle event
+    if event == "timer" and param1 == link_timeout then
+        -- no response yet
+        print("...no response");
+        comms.send_link_req()
+        print_ts("sent link request")
+        link_timeout = os.startTimer(5)
+    elseif event == "modem_message" then
+        -- server response? cancel timeout
+        if link_timeout ~= nil then
+            os.cancelTimer(link_timeout)
+        end
+
+        local packet = {
+            side = param1,
+            sender = param2,
+            reply_to = param3,
+            message = param4,
+            distance = param5
+        }
+
+        -- handle response
+        response = comms.handle_link(packet)
+        if response == "wrong_type" then
+            print_ts("invalid link response, bad channel?\n")
+            return
+        elseif response == true then
+            print_ts("...linked!\n")
+            linked = true
+        else
+            print_ts("...denied, exiting\n")
+            return
+        end
+    end
+until linked
+
+-- comms watchdog, 3 second timeout
+local conn_watchdog = watchdog.new_watchdog(3)
+
+-- loop clock (10Hz, 2 ticks)
+-- send status updates at 4Hz (every 5 ticks)
+local loop_tick = os.startTimer(0.05)
+local ticks_to_update = 5
+
+-- event loop
+while true do
+    local event, param1, param2, param3, param4, param5 = os.pullEvent()
+
+    -- check safety (SCRAM occurs if tripped)
+    iss_status, iss_tripped = iss.check()
+
+    -- handle event
+    if event == "timer" and param1 == loop_tick then
+        -- basic event tick, send updated data if it is time
+        ticks_to_update = ticks_to_update - 1
+        if ticks_to_update == 0 then
+            ticks_to_update = 5
+        end
+    elseif event == "modem_message" then
+        -- got a packet
+        -- feed the watchdog first so it doesn't eat our packets
+        conn_watchdog.feed()
+
+    elseif event == "timer" and param1 == conn_watchdog.get_timer() then
+        -- haven't heard from server recently? shutdown
+        reactor.scram()
+        print_ts("[alert] server timeout, reactor disabled\n")
+    end
+end