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#7 initial PLC session supervisor code

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This commit is contained in:
Mikayla Fischler
2022-04-23 12:12:33 -04:00
parent 3285f829f6
commit 852161317d
4 changed files with 258 additions and 102 deletions
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295
supervisor/session/plc.lua
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@@ -3,6 +3,7 @@
-- #REQUIRES log.lua
-- #REQUIRES util.lua
local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
PLC_S_COMMANDS = {
@@ -11,6 +12,10 @@ PLC_S_COMMANDS = {
ISS_CLEAR = 2
}
local PERIODICS = {
KEEP_ALIVE = 1.0
}
-- PLC supervisor session
function new_session(id, for_reactor, in_queue, out_queue)
local log_header = "plc_session(" .. id .. "): "
@@ -23,16 +28,22 @@ function new_session(id, for_reactor, in_queue, out_queue)
commanded_state = false,
-- connection properties
seq_num = 0,
r_seq_num = nil,
connected = true,
received_struct = false,
plc_conn_watchdog = util.new_watchdog(3)
plc_conn_watchdog = util.new_watchdog(3),
last_rtt = 0,
-- when to next retry one of these requests
periodics = {
last_update = 0
keep_alive = 0
},
retry_times = {
struct_req = 0,
scram_req = 0,
enable_req = 0
},
-- session PLC status database
-- session database
sDB = {
control_state = false,
overridden = false,
@@ -140,12 +151,167 @@ function new_session(id, for_reactor, in_queue, out_queue)
end
end
local _handle_packet = function (message)
local checks_ok = true
-- handle an incoming packet from the PLC
rplc_pkt = message.get()
-- check sequence number
if self.r_seq_num == nil then
self.r_seq_num = rplc_pkt.scada_frame.seq_num()
elseif self.r_seq_num >= rplc_pkt.scada_frame.seq_num() then
log._warning(log_header .. "sequence out-of-order: last = " .. self.r_seq_num .. ", new = " .. rplc_pkt.scada_frame.seq_num())
checks_ok = false
else
self.r_seq_num = rplc_pkt.scada_frame.seq_num()
end
-- check reactor ID
if rplc_pkt.id ~= for_reactor then
log._warning(log_header .. "RPLC packet with ID not matching reactor ID: reactor " .. self.for_reactor .. " != " .. rplc_pkt.id)
checks_ok = false
end
-- process packet
if checks_ok then
-- feed watchdog
self.plc_conn_watchdog.feed()
-- handle packet by type
if rplc_pkt.type == RPLC_TYPES.KEEP_ALIVE then
-- keep alive reply
if rplc_pkt.length == 2 then
local srv_start = rplc_pkt.data[1]
local plc_send = rplc_pkt.data[2]
local srv_now = os.epoch()
self.last_rtt = srv_now - srv_start
if self.last_rtt < 0 then
log._warning(log_header .. "PLC KEEP_ALIVE round trip time less than 0 (" .. trip_time .. ")")
elseif trip_time > 1 then
log._warning(log_header .. "PLC KEEP_ALIVE round trip time > 1s (" .. trip_time .. ")")
end
log._debug(log_header .. "RPLC RTT = ".. trip_time)
else
log._debug(log_header .. "RPLC keep alive packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.STATUS then
-- status packet received, update data
if rplc_pkt.length >= 5 then
-- @todo [1] is timestamp, determine how this will be used (if at all)
self.sDB.control_state = rplc_pkt.data[2]
self.sDB.overridden = rplc_pkt.data[3]
self.sDB.degraded = rplc_pkt.data[4]
self.sDB.mek_status.heating_rate = rplc_pkt.data[5]
-- attempt to read mek_data table
if rplc_pkt.data[6] ~= nil then
local status = pcall(_copy_status, rplc_pkt.data[6])
if status then
-- copied in status data OK
else
-- error copying status data
log._error(log_header .. "failed to parse status packet data")
end
end
else
log._debug(log_header .. "RPLC status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_STRUCT then
-- received reactor structure, record it
if rplc_pkt.length == 8 then
local status = pcall(_copy_struct, rplc_pkt.data)
if status then
-- copied in structure data OK
else
-- error copying structure data
log._error(log_header .. "failed to parse struct packet data")
end
else
log._debug(log_header .. "RPLC struct packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_SCRAM then
-- SCRAM acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.sDB.control_state = false
elseif ack == false then
log._warning(log_header .. "SCRAM failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_ENABLE then
-- enable acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.sDB.control_state = true
elseif ack == false then
log._warning(log_header .. "enable failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_BURN_RATE then
-- burn rate acknowledgement
if _get_ack(rplc_pkt) == false then
log._warning(log_header .. "burn rate update failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_STATUS then
-- ISS status packet received, copy data
if rplc_pkt.length == 7 then
local status = pcall(_copy_iss_status, rplc_pkt.data)
if status then
-- copied in ISS status data OK
else
-- error copying ISS status data
log._error(log_header .. "failed to parse ISS status packet data")
end
else
log._debug(log_header .. "RPLC ISS status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_ALARM then
-- ISS alarm
self.sDB.overridden = true
if rplc_pkt.length == 7 then
local status = pcall(_copy_iss_status, rplc_pkt.data)
if status then
-- copied in ISS status data OK
else
-- error copying ISS status data
log._error(log_header .. "failed to parse ISS status packet data")
end
else
log._debug(log_header .. "RPLC ISS alarm packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_CLEAR then
-- ISS clear acknowledgement
if _get_ack(rplc_pkt) == false then
log._warning(log_header .. "ISS clear failed")
end
else
log._debug(log_header .. "handler received unsupported RPLC packet type " .. rplc_pkt.type)
end
end
end
local _send = function (msg_type, msg)
local s_pkt = comms.scada_packet()
local r_pkt = comms.rplc_packet()
r_pkt.make(self.id, msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable())
self.out_q.push_packet(s_pkt)
self.seq_num = self.seq_num + 1
end
-- PUBLIC FUNCTIONS --
local get_id = function () return self.id end
local get_db = function () return self.sDB end
local close = function () self.connected = false end
local check_wd = function (timer)
return timer == plc_conn_watchdog
return timer == self.plc_conn_watchdog.get_timer()
end
local get_struct = function ()
@@ -158,103 +324,37 @@ function new_session(id, for_reactor, in_queue, out_queue)
end
local iterate = function ()
if self.connected and ~self.in_q.empty() then
-- get a new message to process
local message = self.in_q.pop()
if self.connected then
------------------
-- handle queue --
------------------
if message.qtype == mqueue.TYPE.PACKET then
-- handle an incoming packet from the PLC
rplc_pkt = message.message.get()
if ~self.in_q.empty() then
-- get a new message to process
local message = self.in_q.pop()
if message.qtype == mqueue.TYPE.PACKET then
_handle_packet(message.message)
elseif message.qtype == mqueue.TYPE.COMMAND then
-- handle instruction
if rplc_pkt.id == for_reactor then
if rplc_pkt.type == RPLC_TYPES.KEEP_ALIVE then
-- keep alive reply
elseif rplc_pkt.type == RPLC_TYPES.STATUS then
-- status packet received, update data
if rplc_pkt.length >= 5 then
-- @todo [1] is timestamp, determine how this will be used (if at all)
self.sDB.control_state = rplc_pkt.data[2]
self.sDB.overridden = rplc_pkt.data[3]
self.sDB.degraded = rplc_pkt.data[4]
self.sDB.mek_status.heating_rate = rplc_pkt.data[5]
-- attempt to read mek_data table
if rplc_pkt.data[6] ~= nil then
local status = pcall(_copy_status, rplc_pkt.data[6])
if status then
-- copied in status data OK
else
-- error copying status data
log._error(log_header .. "failed to parse status packet data")
end
end
else
log._warning(log_header .. "RPLC status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_STRUCT then
-- received reactor structure, record it
if rplc_pkt.length == 8 then
local status = pcall(_copy_struct, rplc_pkt.data)
if status then
-- copied in structure data OK
else
-- error copying structure data
log._error(log_header .. "failed to parse struct packet data")
end
else
log._warning(log_header .. "RPLC struct packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_SCRAM then
-- SCRAM acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.sDB.control_state = false
elseif ack == false then
log._warning(log_header .. "SCRAM failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_ENABLE then
-- enable acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.sDB.control_state = true
elseif ack == false then
log._warning(log_header .. "enable failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_BURN_RATE then
-- burn rate acknowledgement
if _get_ack(rplc_pkt) == false then
log._warning(log_header .. "burn rate update failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_STATUS then
-- ISS status packet received, copy data
if rplc_pkt.length == 7 then
local status = pcall(_copy_iss_status, rplc_pkt.data)
if status then
-- copied in ISS status data OK
else
-- error copying ISS status data
log._error(log_header .. "failed to parse ISS status packet data")
end
else
log._warning(log_header .. "RPLC ISS status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_ALARM then
-- ISS alarm
self.sDB.overridden = true
-- @todo
elseif rplc_pkt.type == RPLC_TYPES.ISS_CLEAR then
-- ISS clear acknowledgement
-- @todo
else
log._warning(log_header .. "handler received unsupported RPLC packet type " .. rplc_pkt.type)
end
else
log._warning(log_header .. "RPLC packet with ID not matching reactor ID: reactor " .. self.for_reactor .. " != " .. rplc_pkt.id)
end
elseif message.qtype == mqueue.TYPE.COMMAND then
-- handle instruction
end
----------------------
-- update periodics --
----------------------
local elapsed = os.clock() - self.periodics.last_update
self.periodics.keep_alive += elapsed
if self.periodics.keep_alive >= PERIODICS.KEEP_ALIVE then
_send(RPLC_TYPES.KEEP_ALIVE, { os.epoch() })
self.periodics.keep_alive = 0
end
self.periodics.last_update = os.clock()
end
return self.connected
@@ -262,9 +362,10 @@ function new_session(id, for_reactor, in_queue, out_queue)
return {
get_id = get_id,
get_db = get_db,
close = close,
check_wd = check_wd,
get_struct = get_struct,
close = close,
iterate = iterate
}
end