#43 rename ISS to RPS
This commit is contained in:
Mikayla Fischler
@@ -13,13 +13,13 @@ 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 ISS_SLEEP = 500 -- (500ms, 10 ticks)
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local RPS_SLEEP = 500 -- (500ms, 10 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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local BURN_RATE_RAMP_mB_s = 5.0
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local MQ__ISS_CMD = {
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local MQ__RPS_CMD = {
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SCRAM = 1,
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DEGRADED_SCRAM = 2,
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TRIP_TIMEOUT = 3
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@@ -45,7 +45,7 @@ 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 iss = smem.plc_sys.iss
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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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@@ -84,7 +84,7 @@ threads.thread__main = function (smem, init)
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elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() 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_iss.push_command(MQ__ISS_CMD.TRIP_TIMEOUT)
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smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
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elseif event == "peripheral_detach" then
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-- peripheral disconnect
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local device = ppm.handle_unmount(param1)
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@@ -103,7 +103,7 @@ threads.thread__main = function (smem, init)
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if plc_state.init_ok then
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-- try to scram reactor if it is still connected
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smem.q.mq_iss.push_command(MQ__ISS_CMD.DEGRADED_SCRAM)
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smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
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end
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plc_state.degraded = true
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@@ -119,14 +119,14 @@ threads.thread__main = function (smem, init)
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-- reconnected reactor
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plc_dev.reactor = device
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smem.q.mq_iss.push_command(MQ__ISS_CMD.SCRAM)
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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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plc_state.no_reactor = false
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if plc_state.init_ok then
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iss.reconnect_reactor(plc_dev.reactor)
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rps.reconnect_reactor(plc_dev.reactor)
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if networked then
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plc_comms.reconnect_reactor(plc_dev.reactor)
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end
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@@ -171,7 +171,7 @@ threads.thread__main = function (smem, init)
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-- check for termination request
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if event == "terminate" or ppm.should_terminate() then
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log.info("terminate requested, main thread exiting")
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-- iss handles reactor shutdown
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-- rps handles reactor shutdown
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plc_state.shutdown = true
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break
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end
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@@ -181,20 +181,20 @@ threads.thread__main = function (smem, init)
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return { exec = exec }
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end
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-- ISS monitor thread
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threads.thread__iss = function (smem)
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-- RPS operation thread
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threads.thread__rps = function (smem)
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-- execute thread
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local exec = function ()
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log.debug("iss thread start")
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log.debug("rps thread start")
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-- load in from shared memory
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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 iss = smem.plc_sys.iss
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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 iss_queue = smem.q.mq_iss
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local rps_queue = smem.q.mq_rps
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local was_linked = false
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local last_update = util.time()
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@@ -203,14 +203,14 @@ threads.thread__iss = function (smem)
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while true do
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local reactor = plc_dev.reactor
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-- ISS checks
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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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plc_state.scram = true
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if was_linked then
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was_linked = false
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iss.trip_timeout()
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rps.trip_timeout()
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end
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else
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-- would do elseif not networked but there is no reason to do that extra operation
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@@ -223,38 +223,38 @@ threads.thread__iss = function (smem)
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reactor.scram()
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end
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-- if we are in standalone mode, continuously reset ISS
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-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
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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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iss.reset()
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rps.reset()
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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 iss_tripped, iss_status_string, iss_first = iss.check()
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plc_state.scram = plc_state.scram or iss_tripped
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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 iss_first then
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println_ts("[ISS] SCRAM! safety trip: " .. iss_status_string)
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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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if networked and not plc_state.no_modem then
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plc_comms.send_iss_alarm(iss_status_string)
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plc_comms.send_rps_alarm(rps_status_string)
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end
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end
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end
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end
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-- check for messages in the message queue
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while iss_queue.ready() and not plc_state.shutdown do
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local msg = iss_queue.pop()
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while rps_queue.ready() and not plc_state.shutdown do
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local msg = rps_queue.pop()
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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__ISS_CMD.SCRAM then
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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__ISS_CMD.DEGRADED_SCRAM then
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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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@@ -264,10 +264,10 @@ threads.thread__iss = function (smem)
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println_ts("failed reactor SCRAM")
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log.error("failed reactor SCRAM")
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end
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elseif msg.message == MQ__ISS_CMD.TRIP_TIMEOUT then
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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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iss.trip_timeout()
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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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@@ -284,24 +284,24 @@ threads.thread__iss = function (smem)
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-- check for termination request
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if plc_state.shutdown then
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-- safe exit
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log.info("iss thread shutdown initiated")
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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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println_ts("reactor disabled")
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log.info("iss thread reactor SCRAM OK")
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log.info("rps thread reactor SCRAM OK")
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else
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println_ts("exiting, reactor failed to disable")
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log.error("iss thread failed to SCRAM reactor on exit")
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log.error("rps thread failed to SCRAM reactor on exit")
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end
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end
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log.info("iss thread exiting")
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log.info("rps thread exiting")
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break
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end
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-- delay before next check
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last_update = util.adaptive_delay(ISS_SLEEP, last_update)
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last_update = util.adaptive_delay(RPS_SLEEP, last_update)
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end
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end
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@@ -331,9 +331,9 @@ threads.thread__comms_tx = 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__COMM_CMD.SEND_STATUS then
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-- send PLC/ISS status
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-- send PLC/RPS status
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plc_comms.send_status(plc_state.degraded)
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plc_comms.send_iss_status()
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plc_comms.send_rps_status()
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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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