#32 new threaded PLC code
This commit is contained in:
Mikayla Fischler
@@ -8,36 +8,37 @@ local println = util.println
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local print_ts = util.print_ts
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local println_ts = util.println_ts
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local async_wait = util.async_wait
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local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
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local ISS_CLOCK = 0.5 -- (2Hz, 10 ticks)
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local COMMS_CLOCK = 0.25 -- (4Hz, 5 ticks)
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local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
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local ISS_CLOCK = 0.25 -- (4Hz, 5 ticks) however this is AFTER all the ISS checks, so it is a pause between calls, not start-to-start
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local ISS_EVENT = {
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local MQ__ISS_CMD = {
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SCRAM = 1,
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DEGRADED_SCRAM = 2,
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TRIP_TIMEOUT = 3
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}
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local MQ__COMM_CMD = {
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SEND_STATUS = 1
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}
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-- main thread
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function thread__main(shared_memory, init)
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function thread__main(smem, init)
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-- execute thread
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local exec = function ()
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-- send status updates at 2Hz (every 10 server ticks) (every loop tick)
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-- send link requests at 0.5Hz (every 40 server ticks) (every 4 loop ticks)
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local LINK_TICKS = 4
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local loop_clock = nil
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local ticks_to_update = 0
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local loop_clock = nil
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-- load in from shared memory
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local networked = shared_memory.networked
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local plc_state = shared_memory.plc_state
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local plc_devices = shared_memory.plc_devices
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local iss = shared_memory.system.iss
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local plc_comms = shared_memory.system.plc_comms
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local conn_watchdog = shared_memory.system.conn_watchdog
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local networked = smem.networked
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local plc_state = smem.plc_state
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local plc_dev = smem.plc_dev
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local iss = smem.plc_sys.iss
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local plc_comms = smem.plc_sys.plc_comms
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local conn_watchdog = smem.plc_sys.conn_watchdog
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-- debug
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local last_update = util.time()
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@@ -56,10 +57,7 @@ function thread__main(shared_memory, init)
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-- send updated data
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if not plc_state.no_modem then
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if plc_comms.is_linked() then
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async_wait(function ()
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plc_comms.send_status(iss_tripped, plc_state.degraded)
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plc_comms.send_iss_status()
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end)
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smem.q.mq_comms.push_command(MQ__COMM_CMD.SEND_STATUS)
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else
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if ticks_to_update == 0 then
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plc_comms.send_link_req()
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@@ -80,15 +78,15 @@ function thread__main(shared_memory, init)
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-- feed the watchdog first so it doesn't uhh...eat our packets
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conn_watchdog.feed()
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-- handle the packet (plc_state passed to allow clearing SCRAM flag)
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async_wait(function ()
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local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
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plc_comms.handle_packet(packet, plc_state)
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end)
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-- handle the packet
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local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
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if packet ~= nil then
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smem.q.mq_comms.puch_packet(packet)
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end
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elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
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-- haven't heard from server recently? shutdown reactor
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plc_comms.unlink()
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os.queueEvent("iss_command", ISS_EVENT.TRIP_TIMEOUT)
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smem.q.mq_iss.push_command(MQ__ISS_CMD.TRIP_TIMEOUT)
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elseif event == "peripheral_detach" then
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-- peripheral disconnect
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local device = ppm.handle_unmount(param1)
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@@ -108,7 +106,7 @@ function thread__main(shared_memory, init)
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if plc_state.init_ok then
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-- try to scram reactor if it is still connected
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os.queueEvent("iss_command", ISS_EVENT.DEGRADED_SCRAM)
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smem.q.mq_iss.push_command(MQ__ISS_CMD.DEGRADED_SCRAM)
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end
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plc_state.degraded = true
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@@ -122,18 +120,18 @@ function thread__main(shared_memory, init)
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if type == "fissionReactor" then
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-- reconnected reactor
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plc_devices.reactor = device
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plc_dev.reactor = device
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os.queueEvent("iss_command", ISS_EVENT.SCRAM)
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smem.q.mq_iss.push_command(MQ__ISS_CMD.SCRAM)
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println_ts("reactor reconnected.")
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log._info("reactor reconnected.")
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plc_state.no_reactor = false
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if plc_state.init_ok then
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iss.reconnect_reactor(plc_devices.reactor)
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iss.reconnect_reactor(plc_dev.reactor)
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if networked then
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plc_comms.reconnect_reactor(plc_devices.reactor)
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plc_comms.reconnect_reactor(plc_dev.reactor)
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end
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end
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@@ -144,10 +142,10 @@ function thread__main(shared_memory, init)
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elseif networked and type == "modem" then
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if device.isWireless() then
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-- reconnected modem
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plc_devices.modem = device
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plc_dev.modem = device
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if plc_state.init_ok then
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plc_comms.reconnect_modem(plc_devices.modem)
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plc_comms.reconnect_modem(plc_dev.modem)
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end
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println_ts("wireless modem reconnected.")
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@@ -176,6 +174,7 @@ function thread__main(shared_memory, init)
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-- check for termination request
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if event == "terminate" or ppm.should_terminate() then
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-- iss handles reactor shutdown
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plc_state.shutdown = true
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log._warning("terminate requested, main thread exiting")
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break
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end
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@@ -186,80 +185,66 @@ function thread__main(shared_memory, init)
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end
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-- ISS monitor thread
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function thread__iss(shared_memory)
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function thread__iss(smem)
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-- execute thread
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local exec = function ()
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local loop_clock = nil
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-- load in from shared memory
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local networked = shared_memory.networked
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local plc_state = shared_memory.plc_state
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local plc_devices = shared_memory.plc_devices
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local networked = smem.networked
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local plc_state = smem.plc_state
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local plc_dev = smem.plc_dev
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local iss = smem.plc_sys.iss
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local plc_comms = smem.plc_sys.plc_comms
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local iss = shared_memory.system.iss
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local plc_comms = shared_memory.system.plc_comms
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local iss_queue = smem.q.mq_iss
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-- debug
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-- local last_update = util.time()
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local last_update = util.time()
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-- event loop
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-- thread loop
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while true do
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local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
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local reactor = smem.plc_dev.reactor
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local reactor = shared_memory.plc_devices.reactor
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if event == "timer" and param1 == loop_clock then
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-- ISS checks
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if plc_state.init_ok then
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-- if we tried to SCRAM but failed, keep trying
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-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
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async_wait(function ()
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if not plc_state.no_reactor and plc_state.scram and reactor.getStatus() then
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reactor.scram()
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end
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end)
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-- if we are in standalone mode, continuously reset ISS
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-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
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if not networked then
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plc_state.scram = false
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iss.reset()
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end
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-- check safety (SCRAM occurs if tripped)
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async_wait(function ()
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if not plc_state.degraded then
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local iss_tripped, iss_status_string, iss_first = iss.check()
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plc_state.scram = plc_state.scram or iss_tripped
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if iss_first then
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println_ts("[ISS] SCRAM! safety trip: " .. iss_status_string)
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if networked then
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plc_comms.send_iss_alarm(iss_status_string)
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end
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end
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end
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end)
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-- ISS checks
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if plc_state.init_ok then
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-- if we tried to SCRAM but failed, keep trying
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-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
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if not plc_state.no_reactor and plc_state.scram and reactor.getStatus() then
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reactor.scram()
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end
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-- start next clock timer after all the long operations
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-- otherwise we will never get around to other events
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loop_clock = os.startTimer(ISS_CLOCK)
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-- if we are in standalone mode, continuously reset ISS
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-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
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if not networked then
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plc_state.scram = false
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iss.reset()
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end
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-- debug
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-- print(util.time() - last_update)
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-- println("ms")
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-- last_update = util.time()
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elseif event == "iss_command" then
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-- handle ISS commands
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if param1 == ISS_EVENT.SCRAM then
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-- basic SCRAM
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plc_state.scram = true
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async_wait(reactor.scram)
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elseif param1 == ISS_EVENT.DEGRADED_SCRAM then
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-- SCRAM with print
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plc_state.scram = true
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async_wait(function ()
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-- check safety (SCRAM occurs if tripped)
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if not plc_state.degraded then
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local iss_tripped, iss_status_string, iss_first = iss.check()
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plc_state.scram = plc_state.scram or iss_tripped
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if iss_first then
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println_ts("[ISS] SCRAM! safety trip: " .. iss_status_string)
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if networked then
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plc_comms.send_iss_alarm(iss_status_string)
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end
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end
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end
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end
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-- check for messages in the message queue
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while comms_queue.ready() do
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local msg = comms_queue.pop()
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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if msg.message == MQ__ISS_CMD.SCRAM then
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-- basic SCRAM
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plc_state.scram = true
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reactor.scram()
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elseif msg.message == MQ__ISS_CMD.DEGRADED_SCRAM then
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-- SCRAM with print
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plc_state.scram = true
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if reactor.scram() then
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println_ts("successful reactor SCRAM")
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log._error("successful reactor SCRAM")
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@@ -267,38 +252,106 @@ function thread__iss(shared_memory)
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println_ts("failed reactor SCRAM")
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log._error("failed reactor SCRAM")
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end
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end)
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elseif param1 == ISS_EVENT.TRIP_TIMEOUT then
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-- watchdog tripped
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plc_state.scram = true
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iss.trip_timeout()
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println_ts("server timeout")
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log._warning("server timeout")
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elseif msg.message == MQ__ISS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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plc_state.scram = true
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iss.trip_timeout()
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println_ts("server timeout")
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log._warning("server timeout")
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end
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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end
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elseif event == "clock_start" then
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-- start loop clock
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loop_clock = os.startTimer(ISS_CLOCK)
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log._debug("iss thread started")
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-- quick yield
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if iss_queue.ready() then util.nop() end
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end
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-- check for termination request
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if event == "terminate" or ppm.should_terminate() then
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if plc_state.shutdown then
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-- safe exit
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log._warning("terminate requested, iss thread shutdown")
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log._warning("iss thread shutdown initiated")
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if plc_state.init_ok then
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plc_state.scram = true
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async_wait(reactor.scram)
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reactor.scram()
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if reactor.__p_is_ok() then
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println_ts("reactor disabled")
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log._info("iss thread reactor SCRAM OK")
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else
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-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_LOST_CONTROL) ?
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println_ts("exiting, reactor failed to disable")
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log._error("iss thread failed to SCRAM reactor on exit")
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end
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end
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break
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log._warning("iss thread exiting")
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return
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end
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-- debug
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-- print(util.time() - last_update)
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-- println("ms")
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-- last_update = util.time()
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-- delay before next check
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local sleep_for = ISS_CLOCK - (util.time() - last_update)
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if sleep_for > 0.05 then
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sleep(sleep_for)
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end
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end
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end
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return { exec = exec }
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end
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function thread__comms(smem)
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-- execute thread
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local exec = function ()
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-- load in from shared memory
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local plc_state = smem.plc_state
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local plc_comms = smem.plc_sys.plc_comms
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local comms_queue = smem.q.mq_comms
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-- thread loop
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while true do
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local last_update = util.time()
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-- check for messages in the message queue
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while comms_queue.ready() do
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local msg = comms_queue.pop()
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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if msg.message == MQ__COMM_CMD.SEND_STATUS then
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-- send PLC/ISS status
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plc_comms.send_status(plc_state.degraded)
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plc_comms.send_iss_status()
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end
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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-- handle the packet (plc_state passed to allow clearing SCRAM flag)
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plc_comms.handle_packet(msg.message, plc_state)
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end
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-- quick yield
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if comms_queue.ready() then util.nop() end
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end
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-- check for termination request
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if plc_state.shutdown then
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log._warning("comms thread exiting")
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return
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end
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-- delay before next check
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local sleep_for = COMMS_CLOCK - (util.time() - last_update)
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if sleep_for > 0.05 then
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sleep(sleep_for)
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end
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end
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end
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end
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Reference in New Issue
Block a user