#366 idling and charge level PD gain changes

supervisor/unit.lua

@@ -8,9 +8,6 @@ local logic = require("supervisor.unitlogic")
 local plc   = require("supervisor.session.plc")
 local rsctl = require("supervisor.session.rsctl")
 
----@class reactor_control_unit
-local unit = {}
-
 local WASTE_MODE    = types.WASTE_MODE
 local WASTE         = types.WASTE_PRODUCT
 local ALARM         = types.ALARM
@@ -55,6 +52,14 @@ local AISTATE = {
 ---@field id ALARM alarm ID
 ---@field tier integer alarm urgency tier (0 = highest)
 
+-- burn rate to idle at
+local IDLE_RATE = 0.01
+-- time (ms) to idle
+local IDLE_TIME = 15000
+
+---@class reactor_control_unit
+local unit = {}
+
 -- create a new reactor unit
 ---@nodiscard
 ---@param reactor_id integer reactor unit number
@@ -83,6 +88,9 @@ function unit.new(reactor_id, num_boilers, num_turbines)
         emcool_opened = false,
         -- auto control
         auto_engaged = false,
+        auto_idle = false,
+        auto_idling = false,
+        auto_idle_start = 0,
         auto_was_alarmed = false,
         ramp_target_br100 = 0,
         -- state tracking
@@ -578,6 +586,23 @@ function unit.new(reactor_id, num_boilers, num_turbines)
         end
     end
 
+    -- set automatic control idling mode to change behavior when given a burn rate command of zero<br>
+    -- - enabling will hold the reactor at 0.01 mB/t for a period before disabling when commanded zero
+    -- - disabling will stop the reactor when commanded zero
+    ---@param idle boolean true to enable, false to disable and stop right away
+    function public.auto_set_idle(idle)
+        if not (idle and self.auto_idle) then
+            self.auto_idling = false
+            self.auto_idle_start = 0
+        end
+
+        if idle ~= self.auto_idle then
+            log.debug(util.c("UNIT ", self.r_id, ": idling mode changed to ", idle))
+        end
+
+        self.auto_idle = idle
+    end
+
     -- get the actual limit of this unit<br>
     -- if it is degraded or not ready, the limit will be 0
     ---@nodiscard
@@ -597,7 +622,35 @@ function unit.new(reactor_id, num_boilers, num_turbines)
         if self.auto_engaged then
             if self.plc_i ~= nil then
                 log.debug(util.c("UNIT ", self.r_id, ": commit br100 of ", self.db.control.br100, " with ramp set to ", ramp))
-                self.plc_i.auto_set_burn(self.db.control.br100 / 100, ramp)
+
+                local rate = self.db.control.br100 / 100
+
+                if self.auto_idle then
+                    if rate <= IDLE_RATE then
+                        if self.auto_idle_start == 0 then
+                            self.auto_idling = true
+                            self.auto_idle_start = util.time_ms()
+                            log.info(util.c("UNIT ", self.r_id, ": started idling at ", IDLE_RATE, " mB/t"))
+
+                            rate = IDLE_RATE
+                        elseif (util.time_ms() - self.auto_idle_start) > IDLE_TIME then
+                            if self.auto_idling then
+                                self.auto_idling = false
+                                log.info(util.c("UNIT ", self.r_id, ": completed idling period"))
+                            end
+                        else
+                            log.debug(util.c("UNIT ", self.r_id, ": continuing idle at ", IDLE_RATE, " mB/t"))
+
+                            rate = IDLE_RATE
+                        end
+                    else
+                        self.auto_idling = false
+                        self.auto_idle_start = 0
+                    end
+                end
+
+                self.plc_i.auto_set_burn(rate, ramp)
+
                 if ramp then self.ramp_target_br100 = self.db.control.br100 end
             end
         end