#57 updates per safety pass, fixed plc_sys fields staying nil on degraded start, fixed repeated SCRAM messages when unlinked
This commit is contained in:
Mikayla Fischler
@@ -47,12 +47,14 @@ threads.thread__main = function (smem, init)
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local networked = smem.networked
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local plc_state = smem.plc_state
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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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-- event loop
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while true do
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-- get plc_sys fields (may have been set late due to degraded boot)
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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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---@diagnostic disable-next-line: undefined-field
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local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
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@@ -77,14 +79,14 @@ threads.thread__main = function (smem, init)
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end
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end
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end
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elseif event == "modem_message" and networked and not plc_state.no_modem then
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elseif event == "modem_message" and networked and plc_state.init_ok and not plc_state.no_modem then
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-- got a packet
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local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
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if packet ~= nil then
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-- pass the packet onto the comms message queue
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smem.q.mq_comms_rx.push_packet(packet)
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end
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elseif event == "timer" and networked and conn_watchdog.is_timer(param1) then
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elseif event == "timer" and networked and plc_state.init_ok and conn_watchdog.is_timer(param1) then
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-- haven't heard from server recently? shutdown reactor
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plc_comms.unlink()
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smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
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@@ -128,7 +130,7 @@ threads.thread__main = function (smem, init)
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smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
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println_ts("reactor reconnected.")
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log.info("reactor reconnected.")
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log.info("reactor reconnected")
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plc_state.no_reactor = false
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if plc_state.init_ok then
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@@ -139,7 +141,7 @@ threads.thread__main = function (smem, init)
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end
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-- determine if we are still in a degraded state
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if not networked or ppm.get_device("modem") ~= nil then
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if not networked or not plc_state.no_modem then
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plc_state.degraded = false
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end
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elseif networked and type == "modem" then
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@@ -152,19 +154,20 @@ threads.thread__main = function (smem, init)
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end
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println_ts("wireless modem reconnected.")
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log.info("comms modem reconnected.")
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log.info("comms modem reconnected")
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plc_state.no_modem = false
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-- determine if we are still in a degraded state
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if ppm.get_device("fissionReactor") ~= nil then
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if not plc_state.no_reactor then
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plc_state.degraded = false
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end
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else
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log.info("wired modem reconnected.")
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log.info("wired modem reconnected")
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end
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end
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end
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-- if not init'd and no longer degraded, proceed to init
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if not plc_state.init_ok and not plc_state.degraded then
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plc_state.init_ok = true
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init()
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@@ -223,8 +226,6 @@ threads.thread__rps = function (smem)
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local networked = smem.networked
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local plc_state = smem.plc_state
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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 rps_queue = smem.q.mq_rps
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@@ -233,13 +234,16 @@ threads.thread__rps = function (smem)
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-- thread loop
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while true do
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local reactor = plc_dev.reactor
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-- get plc_sys fields (may have been set late due to degraded boot)
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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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-- get reactor, may have changed do to disconnect/reconnect
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local reactor = plc_dev.reactor
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-- RPS checks
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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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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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@@ -264,7 +268,7 @@ threads.thread__rps = function (smem)
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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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if rps_first then
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if rps_tripped and rps_first then
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println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
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if networked and not plc_state.no_modem then
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plc_comms.send_rps_alarm(rps_status_string)
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@@ -330,7 +334,6 @@ threads.thread__rps = function (smem)
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-- execute the thread in a protected mode, retrying it on return if not shutting down
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public.p_exec = function ()
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local plc_state = smem.plc_state
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local rps = smem.plc_sys.rps
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while not plc_state.shutdown do
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local status, result = pcall(public.exec)
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@@ -339,7 +342,7 @@ threads.thread__rps = function (smem)
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end
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if not plc_state.shutdown then
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if plc_state.init_ok then rps.scram() end
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if plc_state.init_ok then smem.plc_sys.rps.scram() end
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log.info("rps thread restarting in 5 seconds...")
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util.psleep(5)
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end
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@@ -360,19 +363,20 @@ threads.thread__comms_tx = 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 plc_comms = smem.plc_sys.plc_comms
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local comms_queue = smem.q.mq_comms_tx
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local last_update = util.time()
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-- thread loop
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while true do
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-- get plc_sys fields (may have been set late due to degraded boot)
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local plc_comms = smem.plc_sys.plc_comms
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-- check for messages in the message queue
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while comms_queue.ready() and not plc_state.shutdown do
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local msg = comms_queue.pop()
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if msg ~= nil then
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if msg ~= nil and plc_state.init_ok then
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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__COMM_CMD.SEND_STATUS then
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@@ -434,7 +438,6 @@ 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_comms = smem.plc_sys.plc_comms
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local comms_queue = smem.q.mq_comms_rx
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@@ -442,11 +445,14 @@ threads.thread__comms_rx = function (smem)
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-- thread loop
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while true do
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-- get plc_sys fields (may have been set late due to degraded boot)
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local plc_comms = smem.plc_sys.plc_comms
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-- check for messages in the message queue
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while comms_queue.ready() and not plc_state.shutdown do
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local msg = comms_queue.pop()
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if msg ~= nil then
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if msg ~= nil and plc_state.init_ok then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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elseif msg.qtype == mqueue.TYPE.DATA then
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@@ -507,7 +513,6 @@ 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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@@ -520,6 +525,9 @@ threads.thread__setpoint_control = function (smem)
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-- thread loop
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while true do
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-- get plc_sys fields (may have been set late due to degraded boot)
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local rps = smem.plc_sys.rps
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-- get reactor, may have changed do to disconnect/reconnect
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local reactor = plc_dev.reactor
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if plc_state.init_ok and not plc_state.no_reactor then
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