#44 RPS optimizations, manual trip, RPS handles all reactor state control
This commit is contained in:
Mikayla Fischler
@@ -13,7 +13,7 @@ local println_ts = util.println_ts
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local psleep = util.psleep
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local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
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local RPS_SLEEP = 500 -- (500ms, 10 ticks)
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local RPS_SLEEP = 250 -- (250ms, 5 ticks)
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local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
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local SP_CTRL_SLEEP = 250 -- (250ms, 5 ticks)
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@@ -207,7 +207,7 @@ threads.thread__rps = function (smem)
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if plc_state.init_ok then
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-- SCRAM if no open connection
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if networked and not plc_comms.is_linked() then
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plc_state.scram = true
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rps.scram()
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if was_linked then
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was_linked = false
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rps.trip_timeout()
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@@ -219,21 +219,17 @@ threads.thread__rps = function (smem)
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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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if not plc_state.no_reactor and rps.is_tripped() and reactor.getStatus() then
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rps.scram()
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end
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-- if we are in standalone mode, continuously reset RPS
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-- RPS 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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rps.reset()
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end
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if not networked then rps.reset() end
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-- check safety (SCRAM occurs if tripped)
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if not plc_state.no_reactor then
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local rps_tripped, rps_status_string, rps_first = rps.check()
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plc_state.scram = plc_state.scram or rps_tripped
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if rps_first then
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println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
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@@ -250,26 +246,19 @@ threads.thread__rps = function (smem)
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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__RPS_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__RPS_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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else
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println_ts("failed reactor SCRAM")
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log.error("failed reactor SCRAM")
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if plc_state.init_ok then
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if msg.message == MQ__RPS_CMD.SCRAM then
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-- SCRAM
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rps.scram()
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elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
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-- lost peripheral(s)
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rps.trip_degraded()
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elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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rps.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.message == MQ__RPS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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plc_state.scram = true
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rps.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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@@ -286,9 +275,7 @@ threads.thread__rps = function (smem)
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-- safe exit
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log.info("rps 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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reactor.scram()
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if reactor.__p_is_ok() then
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if rps.scram() then
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println_ts("reactor disabled")
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log.info("rps thread reactor SCRAM OK")
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else
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@@ -368,6 +355,8 @@ threads.thread__comms_rx = function (smem)
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-- load in from shared memory
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local plc_state = smem.plc_state
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local setpoints = smem.setpoints
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local plc_dev = smem.plc_dev
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local rps = smem.plc_sys.rps
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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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@@ -388,7 +377,7 @@ threads.thread__comms_rx = function (smem)
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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 (setpoints passed to update burn rate setpoint)
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-- (plc_state passed to allow clearing SCRAM flag and check if degraded)
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-- (plc_state passed to check if degraded)
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-- (conn_watchdog passed to allow feeding the watchdog)
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plc_comms.handle_packet(msg.message, setpoints, plc_state, conn_watchdog)
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end
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@@ -421,6 +410,7 @@ threads.thread__setpoint_control = function (smem)
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local plc_state = smem.plc_state
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local setpoints = smem.setpoints
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local plc_dev = smem.plc_dev
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local rps = smem.plc_sys.rps
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local last_update = util.time()
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local running = false
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@@ -433,7 +423,7 @@ threads.thread__setpoint_control = function (smem)
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-- check if we should start ramping
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if setpoints.burn_rate ~= last_sp_burn then
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if not plc_state.scram then
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if rps.is_active() then
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if math.abs(setpoints.burn_rate - last_sp_burn) <= 5 then
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-- update without ramp if <= 5 mB/t change
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log.debug("setting burn rate directly to " .. setpoints.burn_rate .. "mB/t")
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@@ -459,7 +449,7 @@ threads.thread__setpoint_control = function (smem)
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running = false
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-- adjust burn rate (setpoints.burn_rate)
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if not plc_state.scram then
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if rps.is_active() then
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local current_burn_rate = reactor.getBurnRate()
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if (current_burn_rate ~= ppm.ACCESS_FAULT) and (current_burn_rate ~= setpoints.burn_rate) then
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-- calculate new burn rate
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