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catch nil cases, supervisor use loop clock

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This commit is contained in:
Mikayla Fischler
2022-05-10 17:08:38 -04:00
parent 3c688bfafa
commit e3a4ed5363
3 changed files with 136 additions and 123 deletions
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110
reactor-plc/threads.lua
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@@ -88,74 +88,78 @@ threads.thread__main = function (smem, init)
smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
elseif event == "peripheral_detach" then
-- peripheral disconnect
local device = ppm.handle_unmount(param1)
if device.type == "fissionReactor" then
println_ts("reactor disconnected!")
log.error("reactor disconnected!")
plc_state.no_reactor = true
plc_state.degraded = true
elseif networked and device.type == "modem" then
-- we only care if this is our wireless modem
if device.dev == plc_dev.modem then
println_ts("wireless modem disconnected!")
log.error("comms modem disconnected!")
plc_state.no_modem = true
if plc_state.init_ok then
-- try to scram reactor if it is still connected
smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
end
local type, device = ppm.handle_unmount(param1)
if type ~= nil and device ~= nil then
if type == "fissionReactor" then
println_ts("reactor disconnected!")
log.error("reactor disconnected!")
plc_state.no_reactor = true
plc_state.degraded = true
else
log.warning("non-comms modem disconnected")
elseif networked and type == "modem" then
-- we only care if this is our wireless modem
if device == plc_dev.modem then
println_ts("wireless modem disconnected!")
log.error("comms modem disconnected!")
plc_state.no_modem = true
if plc_state.init_ok then
-- try to scram reactor if it is still connected
smem.q.mq_rps.push_command(MQ__RPS_CMD.DEGRADED_SCRAM)
end
plc_state.degraded = true
else
log.warning("non-comms modem disconnected")
end
end
end
elseif event == "peripheral" then
-- peripheral connect
local type, device = ppm.mount(param1)
if type == "fissionReactor" then
-- reconnected reactor
plc_dev.reactor = device
if type ~= nil and device ~= nil then
if type == "fissionReactor" then
-- reconnected reactor
plc_dev.reactor = device
smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
println_ts("reactor reconnected.")
log.info("reactor reconnected.")
plc_state.no_reactor = false
if plc_state.init_ok then
rps.reconnect_reactor(plc_dev.reactor)
if networked then
plc_comms.reconnect_reactor(plc_dev.reactor)
end
end
-- determine if we are still in a degraded state
if not networked or ppm.get_device("modem") ~= nil then
plc_state.degraded = false
end
elseif networked and type == "modem" then
if device.isWireless() then
-- reconnected modem
plc_dev.modem = device
println_ts("reactor reconnected.")
log.info("reactor reconnected.")
plc_state.no_reactor = false
if plc_state.init_ok then
plc_comms.reconnect_modem(plc_dev.modem)
rps.reconnect_reactor(plc_dev.reactor)
if networked then
plc_comms.reconnect_reactor(plc_dev.reactor)
end
end
println_ts("wireless modem reconnected.")
log.info("comms modem reconnected.")
plc_state.no_modem = false
-- determine if we are still in a degraded state
if ppm.get_device("fissionReactor") ~= nil then
if not networked or ppm.get_device("modem") ~= nil then
plc_state.degraded = false
end
else
log.info("wired modem reconnected.")
elseif networked and type == "modem" then
if device.isWireless() then
-- reconnected modem
plc_dev.modem = device
if plc_state.init_ok then
plc_comms.reconnect_modem(plc_dev.modem)
end
println_ts("wireless modem reconnected.")
log.info("comms modem reconnected.")
plc_state.no_modem = false
-- determine if we are still in a degraded state
if ppm.get_device("fissionReactor") ~= nil then
plc_state.degraded = false
end
else
log.info("wired modem reconnected.")
end
end
end
@@ -203,7 +207,7 @@ threads.thread__rps = function (smem)
-- thread loop
while true do
local reactor = plc_dev.reactor
-- RPS checks
if plc_state.init_ok then
-- SCRAM if no open connection
@@ -240,7 +244,7 @@ threads.thread__rps = function (smem)
end
end
end
-- check for messages in the message queue
while rps_queue.ready() and not plc_state.shutdown do
local msg = rps_queue.pop()