#143 #103 #101 #102 work in progress auto control, added coordinator controls, save/auto load configuration, auto enable/disable on reactor PLC for auto control (untested)
This commit is contained in:
Mikayla Fischler
@@ -13,6 +13,7 @@ local DEVICE_TYPES = comms.DEVICE_TYPES
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local ESTABLISH_ACK = comms.ESTABLISH_ACK
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local RPLC_TYPES = comms.RPLC_TYPES
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local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
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local AUTO_ACK = comms.PLC_AUTO_ACK
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local print = util.print
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local println = util.println
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@@ -24,6 +25,8 @@ local println_ts = util.println_ts
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local PCALL_SCRAM_MSG = "pcall: Scram requires the reactor to be active."
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local PCALL_START_MSG = "pcall: Reactor is already active."
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local AUTO_TOGGLE_DELAY_MS = 5000
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-- RPS SAFETY CONSTANTS
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local MAX_DAMAGE_PERCENT = 90
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@@ -61,6 +64,7 @@ function plc.rps_init(reactor, is_formed)
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reactor = reactor,
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state = { false, false, false, false, false, false, false, false, false, false, false, false },
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reactor_enabled = false,
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enabled_at = 0,
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formed = is_formed,
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force_disabled = false,
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tripped = false,
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@@ -215,7 +219,7 @@ function plc.rps_init(reactor, is_formed)
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self.state[state_keys.sys_fail] = true
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end
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-- SCRAM the reactor now
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-- SCRAM the reactor now (blocks waiting for server tick)
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---@return boolean success
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function public.scram()
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log.info("RPS: reactor SCRAM")
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@@ -226,11 +230,12 @@ function plc.rps_init(reactor, is_formed)
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return false
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else
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self.reactor_enabled = false
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self.last_runtime = util.time_ms() - self.enabled_at
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return true
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end
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end
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-- start the reactor
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-- start the reactor now (blocks waiting for server tick)
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---@return boolean success
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function public.activate()
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if not self.tripped then
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@@ -241,6 +246,7 @@ function plc.rps_init(reactor, is_formed)
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log.error("RPS: failed reactor start")
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else
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self.reactor_enabled = true
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self.enabled_at = util.time_ms()
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return true
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end
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else
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@@ -250,6 +256,21 @@ function plc.rps_init(reactor, is_formed)
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return false
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end
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-- automatic control activate/re-activate
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---@return boolean success
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function public.auto_activate()
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-- clear automatic SCRAM if it was the cause
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if self.tripped and self.trip_cause == "automatic" then
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self.state[state_keys.automatic] = true
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self.trip_cause = rps_status_t.ok
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self.tripped = false
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log.debug("RPS: cleared automatic SCRAM for re-activation")
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end
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return public.activate()
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end
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-- check all safety conditions
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---@return boolean tripped, rps_status_t trip_status, boolean first_trip
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function public.check()
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@@ -324,7 +345,8 @@ function plc.rps_init(reactor, is_formed)
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self.tripped = true
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self.trip_cause = status
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-- in the case that the reactor is detected to be active, it will be scrammed shortly after this in the main RPS loop if we don't here
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-- in the case that the reactor is detected to be active,
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-- it will be scrammed shortly after this in the main RPS loop if we don't here
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if self.formed then
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if not self.force_disabled then
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public.scram()
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@@ -348,6 +370,10 @@ function plc.rps_init(reactor, is_formed)
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function public.is_formed() return self.formed end
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function public.is_force_disabled() return self.force_disabled end
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-- get the runtime of the reactor if active, or the last runtime if disabled
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---@return integer runtime time since last enable
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function public.get_runtime() return util.trinary(self.reactor_enabled, util.time_ms() - self.enabled_at, self.last_runtime) end
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-- reset the RPS
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---@param quiet? boolean true to suppress the info log message
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function public.reset(quiet)
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@@ -383,8 +409,8 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
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reactor = reactor,
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scrammed = false,
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linked = false,
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status_cache = nil,
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resend_build = false,
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status_cache = nil,
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max_burn_rate = nil
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}
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@@ -532,9 +558,9 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
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-- general ack
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---@param msg_type RPLC_TYPES
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---@param succeeded boolean
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local function _send_ack(msg_type, succeeded)
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_send(msg_type, { succeeded })
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---@param status boolean|integer
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local function _send_ack(msg_type, status)
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_send(msg_type, { status })
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end
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-- send structure properties (these should not change, server will cache these)
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@@ -587,6 +613,7 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
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self.reactor = reactor
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self.status_cache = nil
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self.resend_build = true
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self.max_burn_rate = nil
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end
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-- unlink from the server
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@@ -731,7 +758,7 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
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log.debug("sent out structure again, did supervisor miss it?")
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elseif packet.type == RPLC_TYPES.MEK_BURN_RATE then
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-- set the burn rate
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if packet.length == 2 then
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if (packet.length == 2) and (type(packet.data[1]) == "number") then
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local success = false
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local burn_rate = math.floor(packet.data[1] * 10) / 10
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local ramp = packet.data[2]
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@@ -759,7 +786,7 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
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_send_ack(packet.type, success)
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else
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log.debug("RPLC set burn rate packet length mismatch")
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log.debug("RPLC set burn rate packet length mismatch or non-numeric burn rate")
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end
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elseif packet.type == RPLC_TYPES.RPS_ENABLE then
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-- enable the reactor
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@@ -779,6 +806,63 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
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-- reset the RPS status
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rps.reset()
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_send_ack(packet.type, true)
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elseif packet.type == RPLC_TYPES.AUTO_BURN_RATE then
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-- automatic control requested a new burn rate
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if (packet.length == 2) and (type(packet.data[1]) == "number") then
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local ack = AUTO_ACK.FAIL
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local burn_rate = math.floor(packet.data[1] * 10) / 10
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local ramp = packet.data[2]
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-- if no known max burn rate, check again
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if self.max_burn_rate == nil then
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self.max_burn_rate = self.reactor.getMaxBurnRate()
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end
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-- if we know our max burn rate, update current burn rate setpoint if in range
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if self.max_burn_rate ~= ppm.ACCESS_FAULT then
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if burn_rate < 0.1 then
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if rps.is_active() then
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if rps.get_runtime() > AUTO_TOGGLE_DELAY_MS then
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-- auto scram to disable
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if rps.scram() then
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ack = AUTO_ACK.ZERO_DIS_OK
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self.auto_last_disable = util.time_ms()
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end
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else
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-- too soon to disable
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ack = AUTO_ACK.ZERO_DIS_WAIT
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end
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else
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ack = AUTO_ACK.ZERO_DIS_OK
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end
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elseif burn_rate <= self.max_burn_rate then
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if not rps.is_active() then
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-- activate the reactor
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if not rps.auto_activate() then
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log.debug("automatic reactor activation failed")
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end
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end
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-- if active, set/ramp burn rate
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if rps.is_active() then
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if ramp then
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setpoints.burn_rate_en = true
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setpoints.burn_rate = burn_rate
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ack = AUTO_ACK.RAMP_SET_OK
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else
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self.reactor.setBurnRate(burn_rate)
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ack = util.trinary(self.reactor.__p_is_faulted(), AUTO_ACK.FAIL, AUTO_ACK.DIRECT_SET_OK)
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end
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end
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else
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log.debug(burn_rate .. " rate outside of 0 < x <= " .. self.max_burn_rate)
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end
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end
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_send_ack(packet.type, ack)
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else
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log.debug("RPLC set automatic burn rate packet length mismatch or non-numeric burn rate")
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end
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else
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log.warning("received unknown RPLC packet type " .. packet.type)
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end
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