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#136 send rps trip cause with status, moved rps is_tripped to rps status from main status, increased plc status send rate to 2 Hz

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Mikayla Fischler
2022-12-07 12:59:21 -05:00
parent 52603e3579
commit 2a99d1d385
5 changed files with 33 additions and 31 deletions
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8
reactor-plc/threads.lua
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@@ -10,7 +10,7 @@ local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
local RPS_SLEEP = 250 -- (250ms, 5 ticks)
local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
local SP_CTRL_SLEEP = 250 -- (250ms, 5 ticks)
@@ -37,9 +37,9 @@ function threads.thread__main(smem, init)
function public.exec()
log.debug("main thread init, clock inactive")
-- send status updates at 1Hz (every 20 server ticks) (every loop tick)
-- send link requests at 0.5Hz (every 40 server ticks) (every 4 loop ticks)
local LINK_TICKS = 4
-- send status updates at 2Hz (every 10 server ticks) (every loop tick)
-- send link requests at 0.5Hz (every 40 server ticks) (every 8 loop ticks)
local LINK_TICKS = 8
local ticks_to_update = 0
local loop_clock = util.new_clock(MAIN_CLOCK)