#47 reactor plc docs and bugfixes
This commit is contained in:
Mikayla Fischler
@@ -10,8 +10,6 @@ local println = util.println
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local print_ts = util.print_ts
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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 RPS_SLEEP = 250 -- (250ms, 5 ticks)
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local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
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@@ -30,6 +28,8 @@ local MQ__COMM_CMD = {
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}
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-- main thread
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---@param smem plc_shared_memory
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---@param init function
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threads.thread__main = function (smem, init)
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-- execute thread
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local exec = function ()
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@@ -47,7 +47,7 @@ threads.thread__main = function (smem, init)
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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 ---@type watchdog
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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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@@ -187,6 +187,7 @@ threads.thread__main = function (smem, init)
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end
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-- RPS operation thread
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---@param smem plc_shared_memory
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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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@@ -224,6 +225,7 @@ threads.thread__rps = function (smem)
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-- if we tried to SCRAM but failed, keep trying
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-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
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---@diagnostic disable-next-line: need-check-nil
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if not plc_state.no_reactor and rps.is_tripped() and reactor.getStatus() then
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rps.scram()
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end
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@@ -249,26 +251,28 @@ threads.thread__rps = function (smem)
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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 plc_state.init_ok then
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if msg.message == MQ__RPS_CMD.SCRAM then
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-- SCRAM
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rps.scram()
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elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
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-- lost peripheral(s)
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rps.trip_degraded()
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elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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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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if msg ~= nil then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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if plc_state.init_ok then
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if msg.message == MQ__RPS_CMD.SCRAM then
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-- SCRAM
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rps.scram()
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elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
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-- lost peripheral(s)
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rps.trip_fault()
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elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
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-- watchdog tripped
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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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end
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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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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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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end
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-- quick yield
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@@ -301,6 +305,7 @@ threads.thread__rps = function (smem)
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end
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-- communications sender thread
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---@param smem plc_shared_memory
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threads.thread__comms_tx = function (smem)
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-- execute thread
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local exec = function ()
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@@ -320,17 +325,19 @@ threads.thread__comms_tx = function (smem)
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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.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/RPS status
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plc_comms.send_status(plc_state.degraded)
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plc_comms.send_rps_status()
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if msg ~= nil 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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-- send PLC/RPS status
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plc_comms.send_status(plc_state.degraded)
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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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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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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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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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end
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-- quick yield
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@@ -352,22 +359,20 @@ threads.thread__comms_tx = function (smem)
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end
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-- communications handler thread
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---@param smem plc_shared_memory
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threads.thread__comms_rx = function (smem)
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-- execute thread
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local exec = function ()
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log.debug("comms rx thread start")
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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_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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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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local comms_queue = smem.q.mq_comms_rx
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local last_update = util.time()
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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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@@ -375,16 +380,17 @@ threads.thread__comms_rx = function (smem)
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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.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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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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-- handle the packet (setpoints passed to update burn rate setpoint)
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-- (plc_state passed to check if degraded)
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-- (conn_watchdog passed to allow feeding the watchdog)
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plc_comms.handle_packet(msg.message, setpoints, plc_state, conn_watchdog)
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if msg ~= nil 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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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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-- handle the packet (setpoints passed to update burn rate setpoint)
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-- (plc_state passed to check if degraded)
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plc_comms.handle_packet(msg.message, setpoints, plc_state)
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end
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end
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-- quick yield
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@@ -406,84 +412,90 @@ threads.thread__comms_rx = function (smem)
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end
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-- apply setpoints
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---@param smem plc_shared_memory
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threads.thread__setpoint_control = function (smem)
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-- execute thread
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local exec = function ()
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log.debug("setpoint control thread start")
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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_dev = smem.plc_dev
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local rps = smem.plc_sys.rps
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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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local last_update = util.time()
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local running = false
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local last_sp_burn = 0
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local last_sp_burn = 0.0
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-- do not use the actual elapsed time, it could spike
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-- we do not want to have big jumps as that is what we are trying to avoid in the first place
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local min_elapsed_s = SP_CTRL_SLEEP / 1000.0
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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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-- check if we should start ramping
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if setpoints.burn_rate_en and setpoints.burn_rate ~= last_sp_burn then
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if rps.is_active() then
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if math.abs(setpoints.burn_rate - last_sp_burn) <= 5 then
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-- update without ramp if <= 5 mB/t change
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log.debug("setting burn rate directly to " .. setpoints.burn_rate .. "mB/t")
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reactor.setBurnRate(setpoints.burn_rate)
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else
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log.debug("starting burn rate ramp from " .. last_sp_burn .. "mB/t to " .. setpoints.burn_rate .. "mB/t")
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running = true
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end
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last_sp_burn = setpoints.burn_rate
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else
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last_sp_burn = 0
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end
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end
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-- only check I/O if active to save on processing time
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if running then
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-- do not use the actual elapsed time, it could spike
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-- we do not want to have big jumps as that is what we are trying to avoid in the first place
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local min_elapsed_s = SP_CTRL_SLEEP / 1000.0
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-- clear so we can later evaluate if we should keep running
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running = false
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-- adjust burn rate (setpoints.burn_rate)
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if setpoints.burn_rate_en then
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if plc_state.init_ok and not plc_state.no_reactor then
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-- check if we should start ramping
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if setpoints.burn_rate_en and setpoints.burn_rate ~= last_sp_burn then
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if rps.is_active() then
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local current_burn_rate = reactor.getBurnRate()
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-- we yielded, check enable again
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if setpoints.burn_rate_en and (current_burn_rate ~= ppm.ACCESS_FAULT) and (current_burn_rate ~= setpoints.burn_rate) then
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-- calculate new burn rate
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local new_burn_rate = current_burn_rate
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if setpoints.burn_rate > current_burn_rate then
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-- need to ramp up
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local new_burn_rate = current_burn_rate + (BURN_RATE_RAMP_mB_s * min_elapsed_s)
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if new_burn_rate > setpoints.burn_rate then
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new_burn_rate = setpoints.burn_rate
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end
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else
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-- need to ramp down
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local new_burn_rate = current_burn_rate - (BURN_RATE_RAMP_mB_s * min_elapsed_s)
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if new_burn_rate < setpoints.burn_rate then
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new_burn_rate = setpoints.burn_rate
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end
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end
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-- set the burn rate
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reactor.setBurnRate(new_burn_rate)
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running = running or (new_burn_rate ~= setpoints.burn_rate)
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if math.abs(setpoints.burn_rate - last_sp_burn) <= 5 then
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-- update without ramp if <= 5 mB/t change
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log.debug("setting burn rate directly to " .. setpoints.burn_rate .. "mB/t")
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---@diagnostic disable-next-line: need-check-nil
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reactor.setBurnRate(setpoints.burn_rate)
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else
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log.debug("starting burn rate ramp from " .. last_sp_burn .. "mB/t to " .. setpoints.burn_rate .. "mB/t")
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running = true
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end
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last_sp_burn = setpoints.burn_rate
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else
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last_sp_burn = 0
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last_sp_burn = 0.0
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end
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end
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-- only check I/O if active to save on processing time
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if running then
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-- clear so we can later evaluate if we should keep running
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running = false
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-- adjust burn rate (setpoints.burn_rate)
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if setpoints.burn_rate_en then
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if rps.is_active() then
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---@diagnostic disable-next-line: need-check-nil
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local current_burn_rate = reactor.getBurnRate()
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-- we yielded, check enable again
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if setpoints.burn_rate_en and (current_burn_rate ~= ppm.ACCESS_FAULT) and (current_burn_rate ~= setpoints.burn_rate) then
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-- calculate new burn rate
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local new_burn_rate = current_burn_rate
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if setpoints.burn_rate > current_burn_rate then
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-- need to ramp up
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local new_burn_rate = current_burn_rate + (BURN_RATE_RAMP_mB_s * min_elapsed_s)
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if new_burn_rate > setpoints.burn_rate then
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new_burn_rate = setpoints.burn_rate
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end
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else
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-- need to ramp down
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local new_burn_rate = current_burn_rate - (BURN_RATE_RAMP_mB_s * min_elapsed_s)
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if new_burn_rate < setpoints.burn_rate then
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new_burn_rate = setpoints.burn_rate
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end
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end
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-- set the burn rate
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---@diagnostic disable-next-line: need-check-nil
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reactor.setBurnRate(new_burn_rate)
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running = running or (new_burn_rate ~= setpoints.burn_rate)
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end
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else
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last_sp_burn = 0.0
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end
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end
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end
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end
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