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#85 handle loss of supervisor conn or comms modem

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This commit is contained in:
Mikayla Fischler
2022-09-03 11:51:27 -04:00
parent c3f7407689
commit 5a8bba5108
4 changed files with 55 additions and 30 deletions
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70
coordinator/startup.lua
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@@ -108,39 +108,52 @@ log_comms("comms initialized")
local MAIN_CLOCK = 0.5
local loop_clock = util.new_clock(MAIN_CLOCK)
local tick_waiting, task_done = log_comms_connecting("attempting to connect to configured supervisor on channel " .. config.SCADA_SV_PORT)
-- attempt to connect to the supervisor or exit
local function init_connect_sv()
local tick_waiting, task_done = log_comms_connecting("attempting to connect to configured supervisor on channel " .. config.SCADA_SV_PORT)
-- attempt to establish a connection with the supervisory computer
if not coord_comms.sv_connect(60, tick_waiting, task_done) then
log_comms("supervisor connection failed")
println("boot> failed to connect to supervisor")
log.fatal("failed to connect to supervisor")
log_sys("system shutdown")
return
-- attempt to establish a connection with the supervisory computer
if not coord_comms.sv_connect(60, tick_waiting, task_done) then
log_comms("supervisor connection failed")
println("boot> failed to connect to supervisor")
log.fatal("failed to connect to supervisor")
log_sys("system shutdown")
return
end
end
init_connect_sv()
----------------------------------------
-- start the UI
----------------------------------------
log_graphics("starting UI...")
-- util.psleep(3)
-- start up the UI
---@return boolean ui_ok started ok
local function init_start_ui()
log_graphics("starting UI...")
-- util.psleep(3)
local draw_start = util.time_ms()
local draw_start = util.time_ms()
local ui_ok, message = pcall(renderer.start_ui)
if not ui_ok then
renderer.close_ui(config.RECOLOR)
log_graphics(util.c("UI crashed: ", message))
println_ts("UI crashed")
log.fatal(util.c("ui crashed with error ", message))
else
log_graphics("first UI draw took " .. (util.time_ms() - draw_start) .. "ms")
local ui_ok, message = pcall(renderer.start_ui)
if not ui_ok then
renderer.close_ui(config.RECOLOR)
log_graphics(util.c("UI crashed: ", message))
println_ts("UI crashed")
log.fatal(util.c("ui crashed with error ", message))
else
log_graphics("first UI draw took " .. (util.time_ms() - draw_start) .. "ms")
-- start clock
loop_clock.start()
-- start clock
loop_clock.start()
end
return ui_ok
end
local ui_ok = init_start_ui()
----------------------------------------
-- main event loop
----------------------------------------
@@ -165,6 +178,9 @@ while ui_ok do
log_sys("comms modem disconnected")
println_ts("wireless modem disconnected!")
log.error("comms modem disconnected!")
-- close out UI
renderer.close_ui()
else
log_sys("non-comms modem disconnected")
log.warning("non-comms modem disconnected")
@@ -185,6 +201,10 @@ while ui_ok do
log_sys("comms modem reconnected")
println_ts("wireless modem reconnected.")
-- re-init system
init_connect_sv()
ui_ok = init_start_ui()
else
log_sys("wired modem reconnected")
end
@@ -206,6 +226,14 @@ while ui_ok do
log_comms(msg)
println_ts(msg)
log.warning(msg)
-- close connection and UI
coord_comms.close()
renderer.close_ui()
-- try to re-connect to the supervisor
init_connect_sv()
ui_ok = init_start_ui()
else
-- a non-clock/main watchdog timer event