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#225 work in progress comms changes

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This commit is contained in:
Mikayla
2023-06-05 05:13:22 +00:00
parent 50c0a4a3eb
commit 337fca7e7c
19 changed files with 373 additions and 293 deletions
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14
supervisor/config.lua
View File

@@ -1,9 +1,15 @@
local config = {}
-- scada network listen for PLC's and RTU's
config.SCADA_DEV_LISTEN = 16000
-- listen port for SCADA supervisor access
config.SCADA_SV_CTL_LISTEN = 16100
-- supervisor comms channel
config.SVR_CHANNEL = 16240
-- PLC comms channel
config.PLC_CHANNEL = 16241
-- RTU/MODBUS comms channel
config.RTU_CHANNEL = 16242
-- coordinator comms channel
config.CRD_CHANNEL = 16243
-- pocket comms channel
config.PKT_CHANNEL = 16244
-- max trusted modem message distance (0 to disable check)
config.TRUSTED_RANGE = 0
-- time in seconds (>= 2) before assuming a remote device is no longer active

29
supervisor/session/svsessions.lua
View File

@@ -231,32 +231,25 @@ function svsessions.find_plc_session(remote_port)
return session
end
-- find a PLC/RTU session by the remote port
-- find a coordinator session by the remote port
---@nodiscard
---@param remote_port integer
---@return plc_session_struct|rtu_session_struct|nil
function svsessions.find_device_session(remote_port)
-- check RTU sessions
local session = _find_session(self.sessions.rtu, remote_port)
-- check PLC sessions
if session == nil then session = _find_session(self.sessions.plc, remote_port) end
---@cast session plc_session_struct|rtu_session_struct|nil
---@return coord_session_struct|nil
function svsessions.find_coord_session(remote_port)
-- check coordinator sessions
local session = _find_session(self.sessions.coord, remote_port)
---@cast session coord_session_struct|nil
return session
end
-- find a coordinator or diagnostic access session by the remote port
-- find a pocket diagnostics session by the remote port
---@nodiscard
---@param remote_port integer
---@return coord_session_struct|diag_session_struct|nil
function svsessions.find_svctl_session(remote_port)
-- check coordinator sessions
local session = _find_session(self.sessions.coord, remote_port)
---@return diag_session_struct|nil
function svsessions.find_pdg_session(remote_port)
-- check diagnostic sessions
if session == nil then session = _find_session(self.sessions.diag, remote_port) end
---@cast session coord_session_struct|diag_session_struct|nil
local session = _find_session(self.sessions.diag, remote_port)
---@cast session diag_session_struct|nil
return session
end

23
supervisor/startup.lua
View File

@@ -14,7 +14,7 @@ local supervisor = require("supervisor.supervisor")
local svsessions = require("supervisor.session.svsessions")
local SUPERVISOR_VERSION = "v0.15.7"
local SUPERVISOR_VERSION = "v0.16.0"
local println = util.println
local println_ts = util.println_ts
@@ -25,8 +25,11 @@ local println_ts = util.println_ts
local cfv = util.new_validator()
cfv.assert_port(config.SCADA_DEV_LISTEN)
cfv.assert_port(config.SCADA_SV_CTL_LISTEN)
cfv.assert_channel(config.SVR_CHANNEL)
cfv.assert_channel(config.PLC_CHANNEL)
cfv.assert_channel(config.RTU_CHANNEL)
cfv.assert_channel(config.CRD_CHANNEL)
cfv.assert_channel(config.PKT_CHANNEL)
cfv.assert_type_int(config.TRUSTED_RANGE)
cfv.assert_type_num(config.PLC_TIMEOUT)
cfv.assert_min(config.PLC_TIMEOUT, 2)
@@ -90,9 +93,17 @@ local function main()
return
end
-- start comms, open all channels
local superv_comms = supervisor.comms(SUPERVISOR_VERSION, config.NUM_REACTORS, config.REACTOR_COOLING, modem,
config.SCADA_DEV_LISTEN, config.SCADA_SV_CTL_LISTEN, config.TRUSTED_RANGE)
-- start comms
---@class sv_channel_list
local channels = {
SVR = config.SVR_CHANNEL,
PLC = config.PLC_CHANNEL,
RTU = config.RTU_CHANNEL,
CRD = config.CRD_CHANNEL,
PKT = config.PKT_CHANNEL
}
local superv_comms = supervisor.comms(SUPERVISOR_VERSION, config.NUM_REACTORS, config.REACTOR_COOLING, modem,
channels, config.TRUSTED_RANGE)
-- base loop clock (6.67Hz, 3 ticks)
local MAIN_CLOCK = 0.15

268
supervisor/supervisor.lua
View File

@@ -19,11 +19,16 @@ local println = util.println
---@param num_reactors integer number of reactors
---@param cooling_conf table cooling configuration table
---@param modem table modem device
---@param dev_listen integer listening port for PLC/RTU devices
---@param svctl_listen integer listening port for supervisor access
---@param channels sv_channel_list network channels
---@param range integer trusted device connection range
---@diagnostic disable-next-line: unused-local
function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_listen, svctl_listen, range)
function supervisor.comms(_version, num_reactors, cooling_conf, modem, channels, range)
local svr_channel = channels.SVR
local plc_channel = channels.PLC
local rtu_channel = channels.RTU
local crd_channel = channels.CRD
local pkt_channel = channels.PKT
local self = {
last_est_acks = {}
}
@@ -35,8 +40,7 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
-- configure modem channels
local function _conf_channels()
modem.closeAll()
modem.open(dev_listen)
modem.open(svctl_listen)
modem.open(svr_channel)
end
_conf_channels()
@@ -44,31 +48,19 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
-- link modem to svsessions
svsessions.init(modem, num_reactors, cooling_conf)
-- send an establish request response to a PLC/RTU
---@param dest integer
---@param msg table
local function _send_dev_establish(seq_id, dest, msg)
-- send an establish request response
---@param packet scada_packet
---@param ack ESTABLISH_ACK
---@param data? any optional data
local function _send_establish(packet, ack, data)
local s_pkt = comms.scada_packet()
local m_pkt = comms.mgmt_packet()
m_pkt.make(SCADA_MGMT_TYPE.ESTABLISH, msg)
s_pkt.make(seq_id, PROTOCOL.SCADA_MGMT, m_pkt.raw_sendable())
m_pkt.make(SCADA_MGMT_TYPE.ESTABLISH, { ack, data })
s_pkt.make(packet.src_addr(), packet.seq_num() + 1, PROTOCOL.SCADA_MGMT, m_pkt.raw_sendable())
modem.transmit(dest, dev_listen, s_pkt.raw_sendable())
end
-- send supervisor control access connection establish response
---@param seq_id integer
---@param dest integer
---@param msg table
local function _send_svctl_establish(seq_id, dest, msg)
local s_pkt = comms.scada_packet()
local c_pkt = comms.mgmt_packet()
c_pkt.make(SCADA_MGMT_TYPE.ESTABLISH, msg)
s_pkt.make(seq_id, PROTOCOL.SCADA_MGMT, c_pkt.raw_sendable())
modem.transmit(dest, svctl_listen, s_pkt.raw_sendable())
modem.transmit(packet.remote_channel(), svr_channel, s_pkt.raw_sendable())
self.last_est_acks[packet.src_addr()] = ack
end
-- PUBLIC FUNCTIONS --
@@ -136,17 +128,95 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
---@param packet modbus_frame|rplc_frame|mgmt_frame|crdn_frame|nil
function public.handle_packet(packet)
if packet ~= nil then
local l_port = packet.scada_frame.local_port()
local r_port = packet.scada_frame.remote_port()
local l_chan = packet.scada_frame.local_channel()
local r_chan = packet.scada_frame.remote_channel()
local s_addr = packet.scada_frame.src_addr()
local protocol = packet.scada_frame.protocol()
-- device (RTU/PLC) listening channel
if l_port == dev_listen then
if l_chan ~= svr_channel then
log.debug("received packet on unconfigured channel " .. l_chan, true)
return
end
if r_chan == plc_channel then
-- look for an associated session
local session = svsessions.find_plc_session(s_addr)
if protocol == PROTOCOL.RPLC then
---@cast packet rplc_frame
-- reactor PLC packet
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
else
-- unknown session, force a re-link
log.debug("PLC_ESTABLISH: no session but not an establish, forcing relink")
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
elseif protocol == PROTOCOL.SCADA_MGMT then
---@cast packet mgmt_frame
-- SCADA management packet
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
elseif packet.type == SCADA_MGMT_TYPE.ESTABLISH then
-- establish a new session
local last_ack = self.last_est_acks[s_addr]
-- validate packet and continue
if packet.length >= 3 and type(packet.data[1]) == "string" and type(packet.data[2]) == "string" then
local comms_v = packet.data[1]
local firmware_v = packet.data[2]
local dev_type = packet.data[3]
if comms_v ~= comms.version then
if last_ack ~= ESTABLISH_ACK.BAD_VERSION then
log.info(util.c("dropping PLC establish packet with incorrect comms version v", comms_v, " (expected v", comms.version, ")"))
end
_send_establish(packet.scada_frame, ESTABLISH_ACK.BAD_VERSION)
elseif dev_type == DEVICE_TYPE.PLC then
-- PLC linking request
if packet.length == 4 and type(packet.data[4]) == "number" then
local reactor_id = packet.data[4]
local plc_id = svsessions.establish_plc_session(l_chan, r_chan, reactor_id, firmware_v)
if plc_id == false then
-- reactor already has a PLC assigned
if last_ack ~= ESTABLISH_ACK.COLLISION then
log.warning(util.c("PLC_ESTABLISH: assignment collision with reactor ", reactor_id))
end
_send_establish(packet.scada_frame, ESTABLISH_ACK.COLLISION)
else
-- got an ID; assigned to a reactor successfully
println(util.c("PLC (", firmware_v, ") [:", r_chan, "] \xbb reactor ", reactor_id, " connected"))
log.info(util.c("PLC_ESTABLISH: PLC (", firmware_v, ") [:", r_chan, "] reactor unit ", reactor_id, " PLC connected with session ID ", plc_id))
_send_establish(packet.scada_frame, ESTABLISH_ACK.ALLOW)
end
else
log.debug("PLC_ESTABLISH: packet length mismatch/bad parameter type")
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
log.debug(util.c("illegal establish packet for device ", dev_type, " on PLC listening channel"))
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
log.debug("invalid establish packet (on PLC listening channel)")
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
-- any other packet should be session related, discard it
log.debug(util.c(r_chan, " -> ", l_chan, ": discarding SCADA_MGMT packet without a known session"))
end
end
elseif r_chan == rtu_channel then
-- look for an associated session
local session = svsessions.find_rtu_session(s_addr)
if protocol == PROTOCOL.MODBUS_TCP then
---@cast packet modbus_frame
-- look for an associated session
local session = svsessions.find_rtu_session(r_port)
-- MODBUS response
if session ~= nil then
-- pass the packet onto the session handler
@@ -155,105 +225,59 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
-- any other packet should be session related, discard it
log.debug("discarding MODBUS_TCP packet without a known session")
end
elseif protocol == PROTOCOL.RPLC then
---@cast packet rplc_frame
-- look for an associated session
local session = svsessions.find_plc_session(r_port)
-- reactor PLC packet
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
else
-- unknown session, force a re-link
log.debug("PLC_ESTABLISH: no session but not an establish, forcing relink")
_send_dev_establish(packet.scada_frame.seq_num() + 1, r_port, { ESTABLISH_ACK.DENY })
end
elseif protocol == PROTOCOL.SCADA_MGMT then
---@cast packet mgmt_frame
-- look for an associated session
local session = svsessions.find_device_session(r_port)
-- SCADA management packet
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
elseif packet.type == SCADA_MGMT_TYPE.ESTABLISH then
-- establish a new session
local next_seq_id = packet.scada_frame.seq_num() + 1
local last_ack = self.last_est_acks[s_addr]
-- validate packet and continue
if packet.length >= 3 and type(packet.data[1]) == "string" and type(packet.data[2]) == "string" then
local comms_v = packet.data[1]
local comms_v = packet.data[1]
local firmware_v = packet.data[2]
local dev_type = packet.data[3]
local dev_type = packet.data[3]
if comms_v ~= comms.version then
if self.last_est_acks[r_port] ~= ESTABLISH_ACK.BAD_VERSION then
log.info(util.c("dropping device establish packet with incorrect comms version v", comms_v, " (expected v", comms.version, ")"))
self.last_est_acks[r_port] = ESTABLISH_ACK.BAD_VERSION
if last_ack ~= ESTABLISH_ACK.BAD_VERSION then
log.info(util.c("dropping RTU establish packet with incorrect comms version v", comms_v, " (expected v", comms.version, ")"))
end
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.BAD_VERSION })
elseif dev_type == DEVICE_TYPE.PLC then
-- PLC linking request
if packet.length == 4 and type(packet.data[4]) == "number" then
local reactor_id = packet.data[4]
local plc_id = svsessions.establish_plc_session(l_port, r_port, reactor_id, firmware_v)
if plc_id == false then
-- reactor already has a PLC assigned
if self.last_est_acks[r_port] ~= ESTABLISH_ACK.COLLISION then
log.warning(util.c("PLC_ESTABLISH: assignment collision with reactor ", reactor_id))
self.last_est_acks[r_port] = ESTABLISH_ACK.COLLISION
end
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.COLLISION })
else
-- got an ID; assigned to a reactor successfully
println(util.c("PLC (", firmware_v, ") [:", r_port, "] \xbb reactor ", reactor_id, " connected"))
log.info(util.c("PLC_ESTABLISH: PLC (", firmware_v, ") [:", r_port, "] reactor unit ", reactor_id, " PLC connected with session ID ", plc_id))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW })
self.last_est_acks[r_port] = ESTABLISH_ACK.ALLOW
end
else
log.debug("PLC_ESTABLISH: packet length mismatch/bad parameter type")
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
end
_send_establish(packet.scada_frame, ESTABLISH_ACK.BAD_VERSION)
elseif dev_type == DEVICE_TYPE.RTU then
if packet.length == 4 then
-- this is an RTU advertisement for a new session
local rtu_advert = packet.data[4]
local s_id = svsessions.establish_rtu_session(l_port, r_port, rtu_advert, firmware_v)
local s_id = svsessions.establish_rtu_session(l_chan, r_chan, rtu_advert, firmware_v)
println(util.c("RTU (", firmware_v, ") [:", r_port, "] \xbb connected"))
log.info(util.c("RTU_ESTABLISH: RTU (",firmware_v, ") [:", r_port, "] connected with session ID ", s_id))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW })
println(util.c("RTU (", firmware_v, ") [:", r_chan, "] \xbb connected"))
log.info(util.c("RTU_ESTABLISH: RTU (",firmware_v, ") [:", r_chan, "] connected with session ID ", s_id))
_send_establish(packet.scada_frame, ESTABLISH_ACK.ALLOW)
else
log.debug("RTU_ESTABLISH: packet length mismatch")
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
log.debug(util.c("illegal establish packet for device ", dev_type, " on PLC/RTU listening channel"))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
log.debug(util.c("illegal establish packet for device ", dev_type, " on RTU listening channel"))
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
log.debug("invalid establish packet (on PLC/RTU listening channel)")
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
log.debug("invalid establish packet (on RTU listening channel)")
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
-- any other packet should be session related, discard it
log.debug(util.c(r_port, "->", l_port, ": discarding SCADA_MGMT packet without a known session"))
log.debug(util.c(r_chan, " -> ", l_chan, ": discarding SCADA_MGMT packet without a known session"))
end
else
log.debug("illegal packet type " .. protocol .. " on device listening channel")
log.debug("illegal packet type " .. protocol .. " on RTU listening channel")
end
-- coordinator listening channel
elseif l_port == svctl_listen then
elseif r_chan == crd_channel then
-- look for an associated session
local session = svsessions.find_svctl_session(r_port)
local session = svsessions.find_svctl_session(s_addr)
if protocol == PROTOCOL.SCADA_MGMT then
---@cast packet mgmt_frame
@@ -263,24 +287,23 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
session.in_queue.push_packet(packet)
elseif packet.type == SCADA_MGMT_TYPE.ESTABLISH then
-- establish a new session
local next_seq_id = packet.scada_frame.seq_num() + 1
local last_ack = self.last_est_acks[s_addr]
-- validate packet and continue
if packet.length >= 3 and type(packet.data[1]) == "string" and type(packet.data[2]) == "string" then
local comms_v = packet.data[1]
local comms_v = packet.data[1]
local firmware_v = packet.data[2]
local dev_type = packet.data[3]
local dev_type = packet.data[3]
if comms_v ~= comms.version then
if self.last_est_acks[r_port] ~= ESTABLISH_ACK.BAD_VERSION then
if last_ack ~= ESTABLISH_ACK.BAD_VERSION then
log.info(util.c("dropping coordinator establish packet with incorrect comms version v", comms_v, " (expected v", comms.version, ")"))
self.last_est_acks[r_port] = ESTABLISH_ACK.BAD_VERSION
end
_send_svctl_establish(next_seq_id, r_port, { ESTABLISH_ACK.BAD_VERSION })
_send_establish(packet.scada_frame, ESTABLISH_ACK.BAD_VERSION)
elseif dev_type == DEVICE_TYPE.CRDN then
-- this is an attempt to establish a new coordinator session
local s_id = svsessions.establish_coord_session(l_port, r_port, firmware_v)
local s_id = svsessions.establish_coord_session(l_chan, r_chan, firmware_v)
if s_id ~= false then
local config = { num_reactors }
@@ -289,39 +312,36 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
table.insert(config, cooling_conf[i].TURBINES)
end
println(util.c("CRD (", firmware_v, ") [:", r_port, "] \xbb connected"))
log.info(util.c("SVCTL_ESTABLISH: coordinator (", firmware_v, ") [:", r_port, "] connected with session ID ", s_id))
println(util.c("CRD (", firmware_v, ") [@", s_addr, "] \xbb connected"))
log.info(util.c("ESTABLISH: coordinator (", firmware_v, ") [@", s_addr, "] connected with session ID ", s_id))
_send_svctl_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW, config })
self.last_est_acks[r_port] = ESTABLISH_ACK.ALLOW
_send_establish(packet.scada_frame, ESTABLISH_ACK.ALLOW, config)
else
if self.last_est_acks[r_port] ~= ESTABLISH_ACK.COLLISION then
log.info("SVCTL_ESTABLISH: denied new coordinator due to already being connected to another coordinator")
self.last_est_acks[r_port] = ESTABLISH_ACK.COLLISION
if last_ack ~= ESTABLISH_ACK.COLLISION then
log.info("ESTABLISH: denied new coordinator [@" .. s_addr .. "] due to already being connected to another coordinator")
end
_send_svctl_establish(next_seq_id, r_port, { ESTABLISH_ACK.COLLISION })
_send_establish(packet.scada_frame, ESTABLISH_ACK.COLLISION)
end
elseif dev_type == DEVICE_TYPE.PKT then
-- this is an attempt to establish a new pocket diagnostic session
local s_id = svsessions.establish_diag_session(l_port, r_port, firmware_v)
local s_id = svsessions.establish_diag_session(l_chan, r_chan, firmware_v)
println(util.c("PKT (", firmware_v, ") [:", r_port, "] \xbb connected"))
log.info(util.c("SVCTL_ESTABLISH: pocket (", firmware_v, ") [:", r_port, "] connected with session ID ", s_id))
println(util.c("PKT (", firmware_v, ") [:", r_chan, "] \xbb connected"))
log.info(util.c("SVCTL_ESTABLISH: pocket (", firmware_v, ") [:", r_chan, "] connected with session ID ", s_id))
_send_svctl_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW })
self.last_est_acks[r_port] = ESTABLISH_ACK.ALLOW
_send_establish(packet.scada_frame, ESTABLISH_ACK.ALLOW)
else
log.debug(util.c("illegal establish packet for device ", dev_type, " on SVCTL listening channel"))
_send_svctl_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
log.debug("SVCTL_ESTABLISH: establish packet length mismatch")
_send_svctl_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
_send_establish(packet.scada_frame, ESTABLISH_ACK.DENY)
end
else
-- any other packet should be session related, discard it
log.debug(r_port .. "->" .. l_port .. ": discarding SCADA_MGMT packet without a known session")
log.debug(r_chan .. " -> " .. l_chan .. ": discarding SCADA_MGMT packet without a known session")
end
elseif protocol == PROTOCOL.SCADA_CRDN then
---@cast packet crdn_frame
@@ -331,13 +351,15 @@ function supervisor.comms(_version, num_reactors, cooling_conf, modem, dev_liste
session.in_queue.push_packet(packet)
else
-- any other packet should be session related, discard it
log.debug(r_port .. "->" .. l_port .. ": discarding SCADA_CRDN packet without a known session")
log.debug(r_chan .. "->" .. l_chan .. ": discarding SCADA_CRDN packet without a known session")
end
else
log.debug("illegal packet type " .. protocol .. " on coordinator listening channel")
end
elseif r_chan == pkt_channel then
else
log.debug("received packet on unconfigured channel " .. l_port, true)
log.debug("received packet for unknown channel " .. r_chan, true)
end
end
end