#118 RTU/PLC code cleanup
This commit is contained in:
Mikayla Fischler
67
rtu/rtu.lua
67
rtu/rtu.lua
@@ -19,7 +19,8 @@ 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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-- create a new RTU
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-- create a new RTU unit
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---@nodiscard
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function rtu.init_unit()
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local self = {
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discrete_inputs = {},
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@@ -153,14 +154,13 @@ function rtu.init_unit()
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-- public RTU device access
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-- get the public interface to this RTU
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function protected.interface()
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return public
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end
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function protected.interface() return public end
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return protected
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end
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-- RTU Communications
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---@nodiscard
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---@param version string RTU version
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---@param modem table modem device
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---@param local_port integer local listening port
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@@ -169,20 +169,12 @@ end
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---@param conn_watchdog watchdog watchdog reference
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function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog)
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local self = {
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version = version,
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seq_num = 0,
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r_seq_num = nil,
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txn_id = 0,
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modem = modem,
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s_port = server_port,
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l_port = local_port,
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conn_watchdog = conn_watchdog,
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last_est_ack = ESTABLISH_ACK.ALLOW
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}
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---@class rtu_comms
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local public = {}
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local insert = table.insert
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comms.set_trusted_range(range)
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@@ -191,8 +183,8 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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-- configure modem channels
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local function _conf_channels()
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self.modem.closeAll()
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self.modem.open(self.l_port)
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modem.closeAll()
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modem.open(local_port)
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end
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_conf_channels()
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@@ -207,7 +199,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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m_pkt.make(msg_type, msg)
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s_pkt.make(self.seq_num, PROTOCOL.SCADA_MGMT, m_pkt.raw_sendable())
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self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
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modem.transmit(server_port, local_port, s_pkt.raw_sendable())
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self.seq_num = self.seq_num + 1
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end
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@@ -218,6 +210,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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end
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-- generate device advertisement table
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---@nodiscard
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---@param units table
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---@return table advertisement
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local function _generate_advertisement(units)
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@@ -227,11 +220,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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local unit = units[i] ---@type rtu_unit_registry_entry
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if type ~= nil then
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local advert = {
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unit.type,
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unit.index,
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unit.reactor
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}
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local advert = { unit.type, unit.index, unit.reactor }
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if type == RTU_UNIT_TYPE.REDSTONE then
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insert(advert, unit.device)
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@@ -246,20 +235,22 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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-- PUBLIC FUNCTIONS --
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---@class rtu_comms
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local public = {}
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-- send a MODBUS TCP packet
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---@param m_pkt modbus_packet
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function public.send_modbus(m_pkt)
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local s_pkt = comms.scada_packet()
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s_pkt.make(self.seq_num, PROTOCOL.MODBUS_TCP, m_pkt.raw_sendable())
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self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
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modem.transmit(server_port, local_port, s_pkt.raw_sendable())
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self.seq_num = self.seq_num + 1
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end
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-- reconnect a newly connected modem
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---@param modem table
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---@diagnostic disable-next-line: redefined-local
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function public.reconnect_modem(modem)
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self.modem = modem
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---@param new_modem table
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function public.reconnect_modem(new_modem)
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modem = new_modem
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_conf_channels()
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end
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@@ -273,7 +264,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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-- close the connection to the server
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---@param rtu_state rtu_state
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function public.close(rtu_state)
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self.conn_watchdog.cancel()
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conn_watchdog.cancel()
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public.unlink(rtu_state)
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_send(SCADA_MGMT_TYPE.CLOSE, {})
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end
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@@ -281,7 +272,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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-- send establish request (includes advertisement)
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---@param units table
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function public.send_establish(units)
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_send(SCADA_MGMT_TYPE.ESTABLISH, { comms.version, self.version, DEVICE_TYPE.RTU, _generate_advertisement(units) })
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_send(SCADA_MGMT_TYPE.ESTABLISH, { comms.version, version, DEVICE_TYPE.RTU, _generate_advertisement(units) })
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end
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-- send capability advertisement
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@@ -297,6 +288,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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end
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-- parse a MODBUS/SCADA packet
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---@nodiscard
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---@param side string
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---@param sender integer
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---@param reply_to integer
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@@ -333,10 +325,10 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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-- handle a MODBUS/SCADA packet
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---@param packet modbus_frame|mgmt_frame
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---@param units table
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---@param units table RTU units
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---@param rtu_state rtu_state
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function public.handle_packet(packet, units, rtu_state)
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if packet ~= nil and packet.scada_frame.local_port() == self.l_port then
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if packet.scada_frame.local_port() == local_port then
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-- check sequence number
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if self.r_seq_num == nil then
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self.r_seq_num = packet.scada_frame.seq_num()
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@@ -348,14 +340,14 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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end
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-- feed watchdog on valid sequence number
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self.conn_watchdog.feed()
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conn_watchdog.feed()
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local protocol = packet.scada_frame.protocol()
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if protocol == PROTOCOL.MODBUS_TCP then
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---@cast packet modbus_frame
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if rtu_state.linked then
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local return_code = false
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---@diagnostic disable-next-line: param-type-mismatch
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local reply = modbus.reply__neg_ack(packet)
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-- handle MODBUS instruction
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@@ -365,20 +357,17 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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if unit.name == "redstone_io" then
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-- immediately execute redstone RTU requests
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---@diagnostic disable-next-line: param-type-mismatch
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return_code, reply = unit.modbus_io.handle_packet(packet)
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if not return_code then
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log.warning("requested MODBUS operation failed" .. unit_dbg_tag)
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end
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else
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-- check validity then pass off to unit comms thread
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---@diagnostic disable-next-line: param-type-mismatch
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return_code, reply = unit.modbus_io.check_request(packet)
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if return_code then
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-- check if there are more than 3 active transactions
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-- still queue the packet, but this may indicate a problem
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if unit.pkt_queue.length() > 3 then
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---@diagnostic disable-next-line: param-type-mismatch
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reply = modbus.reply__srv_device_busy(packet)
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log.debug("queueing new request with " .. unit.pkt_queue.length() ..
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" transactions already in the queue" .. unit_dbg_tag)
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@@ -392,7 +381,6 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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end
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else
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-- unit ID out of range?
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---@diagnostic disable-next-line: param-type-mismatch
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reply = modbus.reply__gw_unavailable(packet)
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log.error("received MODBUS packet for non-existent unit")
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end
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@@ -402,6 +390,7 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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log.debug("discarding MODBUS packet before linked")
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end
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elseif protocol == PROTOCOL.SCADA_MGMT then
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---@cast packet mgmt_frame
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-- SCADA management packet
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if packet.type == SCADA_MGMT_TYPE.ESTABLISH then
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if packet.length == 1 then
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@@ -419,10 +408,10 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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if est_ack == ESTABLISH_ACK.BAD_VERSION then
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-- version mismatch
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println_ts("supervisor comms version mismatch (try updating), retrying...")
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log.warning("supervisor connection denied due to comms version mismatch")
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log.warning("supervisor connection denied due to comms version mismatch, retrying")
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else
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println_ts("supervisor connection denied, retrying...")
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log.warning("supervisor connection denied")
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log.warning("supervisor connection denied, retrying")
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end
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end
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@@ -452,13 +441,13 @@ function rtu.comms(version, modem, local_port, server_port, range, conn_watchdog
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end
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elseif packet.type == SCADA_MGMT_TYPE.CLOSE then
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-- close connection
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self.conn_watchdog.cancel()
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conn_watchdog.cancel()
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public.unlink(rtu_state)
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println_ts("server connection closed by remote host")
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log.warning("server connection closed by remote host")
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elseif packet.type == SCADA_MGMT_TYPE.RTU_ADVERT then
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-- request for capabilities again
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public.send_advertisement(units)
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public.send_advertisement(units)
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else
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-- not supported
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log.warning("received unsupported SCADA_MGMT message type " .. packet.type)
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