#124 debug stack trace on error
This commit is contained in:
Mikayla Fischler
@@ -4,6 +4,7 @@
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require("/initenv").init_env()
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local crash = require("scada-common.crash")
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local log = require("scada-common.log")
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local mqueue = require("scada-common.mqueue")
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local ppm = require("scada-common.ppm")
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@@ -13,7 +14,7 @@ local config = require("reactor-plc.config")
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local plc = require("reactor-plc.plc")
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local threads = require("reactor-plc.threads")
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local R_PLC_VERSION = "beta-v0.9.6"
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local R_PLC_VERSION = "beta-v0.9.7"
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local print = util.print
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local println = util.println
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@@ -45,166 +46,176 @@ log.info("BOOTING reactor-plc.startup " .. R_PLC_VERSION)
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log.info("========================================")
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println(">> Reactor PLC " .. R_PLC_VERSION .. " <<")
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crash.set_env("plc", R_PLC_VERSION)
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----------------------------------------
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-- startup
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-- main application
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----------------------------------------
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-- mount connected devices
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ppm.mount_all()
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local function main()
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----------------------------------------
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-- startup
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----------------------------------------
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-- shared memory across threads
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---@class plc_shared_memory
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local __shared_memory = {
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-- networked setting
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networked = config.NETWORKED, ---@type boolean
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-- mount connected devices
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ppm.mount_all()
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-- PLC system state flags
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---@class plc_state
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plc_state = {
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init_ok = true,
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shutdown = false,
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degraded = false,
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reactor_formed = true,
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no_reactor = false,
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no_modem = false
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},
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-- shared memory across threads
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---@class plc_shared_memory
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local __shared_memory = {
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-- networked setting
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networked = config.NETWORKED, ---@type boolean
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-- control setpoints
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---@class setpoints
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setpoints = {
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burn_rate_en = false,
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burn_rate = 0.0
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},
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-- PLC system state flags
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---@class plc_state
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plc_state = {
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init_ok = true,
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shutdown = false,
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degraded = false,
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reactor_formed = true,
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no_reactor = false,
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no_modem = false
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},
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-- core PLC devices
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plc_dev = {
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reactor = ppm.get_fission_reactor(),
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modem = ppm.get_wireless_modem()
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},
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-- control setpoints
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---@class setpoints
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setpoints = {
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burn_rate_en = false,
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burn_rate = 0.0
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},
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-- system objects
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plc_sys = {
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rps = nil, ---@type rps
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plc_comms = nil, ---@type plc_comms
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conn_watchdog = nil ---@type watchdog
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},
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-- core PLC devices
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plc_dev = {
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reactor = ppm.get_fission_reactor(),
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modem = ppm.get_wireless_modem()
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},
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-- message queues
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q = {
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mq_rps = mqueue.new(),
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mq_comms_tx = mqueue.new(),
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mq_comms_rx = mqueue.new()
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-- system objects
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plc_sys = {
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rps = nil, ---@type rps
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plc_comms = nil, ---@type plc_comms
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conn_watchdog = nil ---@type watchdog
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},
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-- message queues
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q = {
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mq_rps = mqueue.new(),
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mq_comms_tx = mqueue.new(),
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mq_comms_rx = mqueue.new()
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}
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}
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}
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local smem_dev = __shared_memory.plc_dev
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local smem_sys = __shared_memory.plc_sys
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local smem_dev = __shared_memory.plc_dev
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local smem_sys = __shared_memory.plc_sys
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local plc_state = __shared_memory.plc_state
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local plc_state = __shared_memory.plc_state
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-- we need a reactor, can at least do some things even if it isn't formed though
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if smem_dev.reactor == nil then
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println("boot> fission reactor not found");
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log.warning("no reactor on startup")
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-- we need a reactor, can at least do some things even if it isn't formed though
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if smem_dev.reactor == nil then
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println("boot> fission reactor not found");
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log.warning("no reactor on startup")
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plc_state.init_ok = false
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plc_state.degraded = true
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plc_state.no_reactor = true
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elseif not smem_dev.reactor.isFormed() then
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println("boot> fission reactor not formed");
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log.warning("reactor logic adapter present, but reactor is not formed")
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plc_state.init_ok = false
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plc_state.degraded = true
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plc_state.no_reactor = true
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elseif not smem_dev.reactor.isFormed() then
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println("boot> fission reactor not formed");
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log.warning("reactor logic adapter present, but reactor is not formed")
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plc_state.degraded = true
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plc_state.reactor_formed = false
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end
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-- modem is required if networked
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if __shared_memory.networked and smem_dev.modem == nil then
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println("boot> wireless modem not found")
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log.warning("no wireless modem on startup")
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-- scram reactor if present and enabled
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if (smem_dev.reactor ~= nil) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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smem_dev.reactor.scram()
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plc_state.degraded = true
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plc_state.reactor_formed = false
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end
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plc_state.init_ok = false
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plc_state.degraded = true
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plc_state.no_modem = true
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end
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-- modem is required if networked
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if __shared_memory.networked and smem_dev.modem == nil then
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println("boot> wireless modem not found")
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log.warning("no wireless modem on startup")
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-- PLC init
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---
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--- EVENT_CONSUMER: this function consumes events
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local function init()
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if plc_state.init_ok then
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-- just booting up, no fission allowed (neutrons stay put thanks)
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if plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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-- scram reactor if present and enabled
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if (smem_dev.reactor ~= nil) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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smem_dev.reactor.scram()
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end
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-- init reactor protection system
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smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
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log.debug("init> rps init")
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plc_state.init_ok = false
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plc_state.degraded = true
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plc_state.no_modem = true
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end
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if __shared_memory.networked then
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-- comms watchdog, 3 second timeout
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smem_sys.conn_watchdog = util.new_watchdog(3)
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log.debug("init> conn watchdog started")
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-- PLC init
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---
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--- EVENT_CONSUMER: this function consumes events
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local function init()
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if plc_state.init_ok then
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-- just booting up, no fission allowed (neutrons stay put thanks)
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if plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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smem_dev.reactor.scram()
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end
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-- start comms
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smem_sys.plc_comms = plc.comms(config.REACTOR_ID, R_PLC_VERSION, smem_dev.modem, config.LISTEN_PORT, config.SERVER_PORT,
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smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
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log.debug("init> comms init")
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-- init reactor protection system
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smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
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log.debug("init> rps init")
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if __shared_memory.networked then
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-- comms watchdog, 3 second timeout
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smem_sys.conn_watchdog = util.new_watchdog(3)
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log.debug("init> conn watchdog started")
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-- start comms
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smem_sys.plc_comms = plc.comms(config.REACTOR_ID, R_PLC_VERSION, smem_dev.modem, config.LISTEN_PORT, config.SERVER_PORT,
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smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
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log.debug("init> comms init")
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else
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println("boot> starting in offline mode")
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log.debug("init> running without networking")
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end
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util.push_event("clock_start")
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println("boot> completed")
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log.debug("init> boot completed")
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else
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println("boot> starting in offline mode")
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log.debug("init> running without networking")
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println("boot> system in degraded state, awaiting devices...")
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log.warning("init> booted in a degraded state, awaiting peripheral connections...")
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end
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end
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util.push_event("clock_start")
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----------------------------------------
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-- start system
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----------------------------------------
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println("boot> completed")
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log.debug("init> boot completed")
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-- initialize PLC
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init()
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-- init threads
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local main_thread = threads.thread__main(__shared_memory, init)
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local rps_thread = threads.thread__rps(__shared_memory)
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if __shared_memory.networked then
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-- init comms threads
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local comms_thread_tx = threads.thread__comms_tx(__shared_memory)
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local comms_thread_rx = threads.thread__comms_rx(__shared_memory)
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-- setpoint control only needed when networked
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local sp_ctrl_thread = threads.thread__setpoint_control(__shared_memory)
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-- run threads
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parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec, comms_thread_tx.p_exec, comms_thread_rx.p_exec, sp_ctrl_thread.p_exec)
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if plc_state.init_ok then
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-- send status one last time after RPS shutdown
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smem_sys.plc_comms.send_status(plc_state.no_reactor, plc_state.reactor_formed)
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smem_sys.plc_comms.send_rps_status()
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-- close connection
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smem_sys.plc_comms.close()
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end
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else
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println("boot> system in degraded state, awaiting devices...")
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log.warning("init> booted in a degraded state, awaiting peripheral connections...")
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-- run threads, excluding comms
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parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec)
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end
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println_ts("exited")
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log.info("exited")
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end
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----------------------------------------
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-- start system
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----------------------------------------
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-- initialize PLC
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init()
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-- init threads
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local main_thread = threads.thread__main(__shared_memory, init)
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local rps_thread = threads.thread__rps(__shared_memory)
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if __shared_memory.networked then
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-- init comms threads
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local comms_thread_tx = threads.thread__comms_tx(__shared_memory)
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local comms_thread_rx = threads.thread__comms_rx(__shared_memory)
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-- setpoint control only needed when networked
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local sp_ctrl_thread = threads.thread__setpoint_control(__shared_memory)
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-- run threads
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parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec, comms_thread_tx.p_exec, comms_thread_rx.p_exec, sp_ctrl_thread.p_exec)
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if plc_state.init_ok then
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-- send status one last time after RPS shutdown
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smem_sys.plc_comms.send_status(plc_state.no_reactor, plc_state.reactor_formed)
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smem_sys.plc_comms.send_rps_status()
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-- close connection
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smem_sys.plc_comms.close()
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end
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else
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-- run threads, excluding comms
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parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec)
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end
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println_ts("exited")
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log.info("exited")
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if not xpcall(main, crash.handler) then crash.exit() end
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