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watchdog cleanup and loop clock object

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This commit is contained in:
Mikayla Fischler
2022-05-10 13:06:13 -04:00
parent 168341db39
commit 6e1ece8183
5 changed files with 72 additions and 37 deletions
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12
reactor-plc/threads.lua
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@@ -39,7 +39,7 @@ threads.thread__main = function (smem, init)
-- send link requests at 0.5Hz (every 40 server ticks) (every 4 loop ticks)
local LINK_TICKS = 4
local ticks_to_update = 0
local loop_clock = nil
local loop_clock = util.new_clock(MAIN_CLOCK)
-- load in from shared memory
local networked = smem.networked
@@ -47,7 +47,7 @@ threads.thread__main = function (smem, init)
local plc_dev = smem.plc_dev
local rps = smem.plc_sys.rps
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog
local conn_watchdog = smem.plc_sys.conn_watchdog ---@type watchdog
-- event loop
while true do
@@ -55,11 +55,11 @@ threads.thread__main = function (smem, init)
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
-- handle event
if event == "timer" and param1 == loop_clock then
if event == "timer" and loop_clock.is_clock(param1) then
-- core clock tick
if networked then
-- start next clock timer
loop_clock = os.startTimer(MAIN_CLOCK)
loop_clock.start()
-- send updated data
if not plc_state.no_modem then
@@ -82,7 +82,7 @@ threads.thread__main = function (smem, init)
-- 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
elseif event == "timer" and networked and conn_watchdog.is_timer(param1) then
-- haven't heard from server recently? shutdown reactor
plc_comms.unlink()
smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
@@ -165,7 +165,7 @@ threads.thread__main = function (smem, init)
end
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(MAIN_CLOCK)
loop_clock.start()
log.debug("main thread clock started")
end