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rx and tx threads for PLC comms to maintain quick comms and #36 only feed watchdog on valid sequence numbers

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This commit is contained in:
Mikayla Fischler
2022-04-28 22:36:45 -04:00
parent aff166e27d
commit 67ec8fbd91
3 changed files with 71 additions and 22 deletions
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67
reactor-plc/threads.lua
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@@ -58,7 +58,7 @@ function thread__main(smem, init)
-- send updated data
if not plc_state.no_modem then
if plc_comms.is_linked() then
smem.q.mq_comms.push_command(MQ__COMM_CMD.SEND_STATUS)
smem.q.mq_comms_tx.push_command(MQ__COMM_CMD.SEND_STATUS)
else
if ticks_to_update == 0 then
plc_comms.send_link_req()
@@ -71,13 +71,10 @@ function thread__main(smem, init)
end
elseif event == "modem_message" and networked and not plc_state.no_modem then
-- got a packet
-- feed the watchdog first so it doesn't uhh...eat our packets
conn_watchdog.feed()
-- handle the packet
local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
if packet ~= nil then
smem.q.mq_comms.push_packet(packet)
-- pass the packet onto the comms message queue
smem.q.mq_comms_rx.push_packet(packet)
end
elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
-- haven't heard from server recently? shutdown reactor
@@ -296,16 +293,16 @@ function thread__iss(smem)
end
-- communications handler thread
function thread__comms(smem)
function thread__comms_tx(smem)
-- execute thread
local exec = function ()
log._debug("comms thread start")
log._debug("comms tx thread start")
-- load in from shared memory
local plc_state = smem.plc_state
local plc_comms = smem.plc_sys.plc_comms
local comms_queue = smem.q.mq_comms
local comms_queue = smem.q.mq_comms_tx
local last_update = util.time()
@@ -326,8 +323,6 @@ function thread__comms(smem)
-- received data
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
plc_comms.handle_packet(msg.message, plc_state)
end
-- quick yield
@@ -336,7 +331,55 @@ function thread__comms(smem)
-- check for termination request
if plc_state.shutdown then
log._warning("comms thread exiting")
log._warning("comms tx thread exiting")
break
end
-- delay before next check
last_update = util.adaptive_delay(COMMS_SLEEP, last_update)
end
end
return { exec = exec }
end
function thread__comms_rx(smem)
-- execute thread
local exec = function ()
log._debug("comms rx thread start")
-- load in from shared memory
local plc_state = smem.plc_state
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog
local comms_queue = smem.q.mq_comms_rx
local last_update = util.time()
-- thread loop
while true do
-- check for messages in the message queue
while comms_queue.ready() and not plc_state.shutdown do
local msg = comms_queue.pop()
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
elseif msg.qtype == mqueue.TYPE.DATA then
-- received data
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
plc_comms.handle_packet(msg.message, plc_state, conn_watchdog)
end
-- quick yield
util.nop()
end
-- check for termination request
if plc_state.shutdown then
log._warning("comms rx thread exiting")
break
end