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PLC bugfixes and #37 optimized status packets and structure packets

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This commit is contained in:
Mikayla Fischler 2022-05-02 17:40:00 -04:00
parent e3e370d3ab
commit 574b85e177
3 changed files with 139 additions and 117 deletions
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235
reactor-plc/plc.lua
View File

@ -5,6 +5,7 @@
local PROTOCOLS = comms.PROTOCOLS local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES local RPLC_TYPES = comms.RPLC_TYPES
local RPLC_LINKING = comms.RPLC_LINKING local RPLC_LINKING = comms.RPLC_LINKING
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local print = util.print local print = util.print
local println = util.println local println = util.println
@ -197,7 +198,6 @@ end
function comms_init(id, modem, local_port, server_port, reactor, iss) function comms_init(id, modem, local_port, server_port, reactor, iss)
local self = { local self = {
id = id, id = id,
open = false,
seq_num = 0, seq_num = 0,
r_seq_num = nil, r_seq_num = nil,
modem = modem, modem = modem,
@ -219,71 +219,83 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- PRIVATE FUNCTIONS -- -- PRIVATE FUNCTIONS --
local _send = function (msg_type, msg) local _send = function (msg_type, msg)
if self.open then local s_pkt = comms.scada_packet()
local s_pkt = comms.scada_packet() local r_pkt = comms.rplc_packet()
local r_pkt = comms.rplc_packet()
r_pkt.make(self.id, msg_type, msg) r_pkt.make(self.id, msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable()) s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable())
self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable()) self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
self.seq_num = self.seq_num + 1 self.seq_num = self.seq_num + 1
end
end end
local _send_mgmt = function (msg_type, msg) local _send_mgmt = function (msg_type, msg)
if self.open then local s_pkt = comms.scada_packet()
local s_pkt = comms.scada_packet() local m_pkt = comms.mgmt_packet()
local m_pkt = comms.mgmt_packet()
m_pkt.make(msg_type, msg) m_pkt.make(msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.RPLC, m_pkt.raw_sendable()) s_pkt.make(self.seq_num, PROTOCOLS.SCADA_MGMT, m_pkt.raw_sendable())
self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable()) self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
self.seq_num = self.seq_num + 1 self.seq_num = self.seq_num + 1
end
end end
-- variable reactor status information, excluding heating rate -- variable reactor status information, excluding heating rate
local _reactor_status = function () local _reactor_status = function ()
local coolant = self.reactor.getCoolant() local coolant = nil
local coolant_name = "" local hcoolant = nil
local coolant_amnt = 0
local hcoolant = self.reactor.getHeatedCoolant() local data_table = {
local hcoolant_name = "" false, -- getStatus
local hcoolant_amnt = 0 0, -- getBurnRate
0, -- getActualBurnRate
0, -- getTemperature
0, -- getDamagePercent
0, -- getBoilEfficiency
0, -- getEnvironmentalLoss
0, -- getFuel
0, -- getFuelFilledPercentage
0, -- getWaste
0, -- getWasteFilledPercentage
"", -- coolant_name
0, -- coolant_amnt
0, -- getCoolantFilledPercentage
"", -- hcoolant_name
0, -- hcoolant_amnt
0 -- getHeatedCoolantFilledPercentage
}
local tasks = {
function () data_table[1] = self.reactor.getStatus() end,
function () data_table[2] = self.reactor.getBurnRate() end,
function () data_table[3] = self.reactor.getActualBurnRate() end,
function () data_table[4] = self.reactor.getTemperature() end,
function () data_table[5] = self.reactor.getDamagePercent() end,
function () data_table[6] = self.reactor.getBoilEfficiency() end,
function () data_table[7] = self.reactor.getEnvironmentalLoss() end,
function () data_table[8] = self.reactor.getFuel() end,
function () data_table[9] = self.reactor.getFuelFilledPercentage() end,
function () data_table[10] = self.reactor.getWaste() end,
function () data_table[11] = self.reactor.getWasteFilledPercentage() end,
function () coolant = self.reactor.getCoolant() end,
function () data_table[14] = self.reactor.getCoolantFilledPercentage() end,
function () hcoolant = self.reactor.getHeatedCoolant() end,
function () data_table[17] = self.reactor.getHeatedCoolantFilledPercentage() end
}
parallel.waitForAll(table.unpack(tasks))
if coolant ~= nil then if coolant ~= nil then
coolant_name = coolant.name data_table[12] = coolant.name
coolant_amnt = coolant.amount data_table[13] = coolant.amount
end end
if hcoolant ~= nil then if hcoolant ~= nil then
hcoolant_name = hcoolant.name data_table[15] = hcoolant.name
hcoolant_amnt = hcoolant.amount data_table[16] = hcoolant.amount
end end
return { return data_table, self.reactor.__p_is_faulted()
self.reactor.getStatus(),
self.reactor.getBurnRate(),
self.reactor.getActualBurnRate(),
self.reactor.getTemperature(),
self.reactor.getDamagePercent(),
self.reactor.getBoilEfficiency(),
self.reactor.getEnvironmentalLoss(),
self.reactor.getFuel(),
self.reactor.getFuelFilledPercentage(),
self.reactor.getWaste(),
self.reactor.getWasteFilledPercentage(),
coolant_name,
coolant_amnt,
self.reactor.getCoolantFilledPercentage(),
hcoolant_name,
hcoolant_amnt,
self.reactor.getHeatedCoolantFilledPercentage()
}, self.reactor.__p_is_faulted()
end end
local _update_status_cache = function () local _update_status_cache = function ()
@ -320,20 +332,23 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
_send(msg_type, { succeeded }) _send(msg_type, { succeeded })
end end
-- send structure properties (these should not change) -- send structure properties (these should not change, server will cache these)
-- (server will cache these)
local _send_struct = function () local _send_struct = function ()
local mek_data = { local mek_data = { 0, 0, 0, 0, 0, 0, 0, 0 }
self.reactor.getHeatCapacity(),
self.reactor.getFuelAssemblies(), local tasks = {
self.reactor.getFuelSurfaceArea(), function () mek_data[1] = self.reactor.getHeatCapacity() end,
self.reactor.getFuelCapacity(), function () mek_data[2] = self.reactor.getFuelAssemblies() end,
self.reactor.getWasteCapacity(), function () mek_data[3] = self.reactor.getFuelSurfaceArea() end,
self.reactor.getCoolantCapacity(), function () mek_data[4] = self.reactor.getFuelCapacity() end,
self.reactor.getHeatedCoolantCapacity(), function () mek_data[5] = self.reactor.getWasteCapacity() end,
self.reactor.getMaxBurnRate() function () mek_data[6] = self.reactor.getCoolantCapacity() end,
function () mek_data[7] = self.reactor.getHeatedCoolantCapacity() end,
function () mek_data[8] = self.reactor.getMaxBurnRate() end
} }
parallel.waitForAll(table.unpack(tasks))
if not self.reactor.__p_is_faulted() then if not self.reactor.__p_is_faulted() then
_send(RPLC_TYPES.MEK_STRUCT, mek_data) _send(RPLC_TYPES.MEK_STRUCT, mek_data)
else else
@ -359,6 +374,19 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
_update_status_cache() _update_status_cache()
end end
-- unlink from the server
local unlink = function ()
self.linked = false
self.r_seq_num = nil
end
-- close the connection to the server
local close = function (conn_watchdog)
conn_watchdog.cancel()
unlink()
_send_mgmt(SCADA_MGMT_TYPES.CLOSE, {})
end
-- attempt to establish link with supervisor -- attempt to establish link with supervisor
local send_link_req = function () local send_link_req = function ()
_send(RPLC_TYPES.LINK_REQ, { self.id }) _send(RPLC_TYPES.LINK_REQ, { self.id })
@ -366,37 +394,47 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- send live status information -- send live status information
local send_status = function (degraded) local send_status = function (degraded)
local mek_data = nil if self.linked then
local mek_data = nil
if _update_status_cache() then if _update_status_cache() then
mek_data = self.status_cache mek_data = self.status_cache
end
local sys_status = {
util.time(), -- timestamp
(not self.scrammed), -- enabled
iss.is_tripped(), -- overridden
degraded, -- degraded
self.reactor.getHeatingRate(), -- heating rate
mek_data -- mekanism status data
}
if not self.reactor.__p_is_faulted() then
_send(RPLC_TYPES.STATUS, sys_status)
else
log._error("failed to send status: PPM fault")
end
end end
local sys_status = {
util.time(), -- timestamp
(not self.scrammed), -- enabled
iss.is_tripped(), -- overridden
degraded, -- degraded
self.reactor.getHeatingRate(), -- heating rate
mek_data -- mekanism status data
}
_send(RPLC_TYPES.STATUS, sys_status)
end end
-- send safety system status -- send safety system status
local send_iss_status = function () local send_iss_status = function ()
_send(RPLC_TYPES.ISS_STATUS, iss.status()) if self.linked then
_send(RPLC_TYPES.ISS_STATUS, iss.status())
end
end end
-- send safety system alarm -- send safety system alarm
local send_iss_alarm = function (cause) local send_iss_alarm = function (cause)
local iss_alarm = { if self.linked then
cause, local iss_alarm = {
table.unpack(iss.status()) cause,
} table.unpack(iss.status())
}
_send(RPLC_TYPES.ISS_ALARM, iss_alarm) _send(RPLC_TYPES.ISS_ALARM, iss_alarm)
end
end end
-- parse an RPLC packet -- parse an RPLC packet
@ -418,7 +456,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
elseif s_pkt.protocol() == PROTOCOLS.SCADA_MGMT then elseif s_pkt.protocol() == PROTOCOLS.SCADA_MGMT then
local mgmt_pkt = comms.mgmt_packet() local mgmt_pkt = comms.mgmt_packet()
if mgmt_pkt.decode(s_pkt) then if mgmt_pkt.decode(s_pkt) then
pkt = mgmt_packet.get() pkt = mgmt_pkt.get()
end end
else else
log._error("illegal packet type " .. s_pkt.protocol(), true) log._error("illegal packet type " .. s_pkt.protocol(), true)
@ -441,9 +479,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.r_seq_num = packet.scada_frame.seq_num() self.r_seq_num = packet.scada_frame.seq_num()
end end
-- mark connection as open
self.open = true
-- feed the watchdog first so it doesn't uhh...eat our packets -- feed the watchdog first so it doesn't uhh...eat our packets
conn_watchdog.feed() conn_watchdog.feed()
@ -464,7 +499,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
_send_keep_alive_ack(timestamp) _send_keep_alive_ack(timestamp)
else else
log._debug(log_header .. "RPLC keep alive packet length mismatch") log._debug("RPLC keep alive packet length mismatch")
end end
elseif packet.type == RPLC_TYPES.LINK_REQ then elseif packet.type == RPLC_TYPES.LINK_REQ then
-- link request confirmation -- link request confirmation
@ -490,11 +525,12 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.linked = link_ack == RPLC_LINKING.ALLOW self.linked = link_ack == RPLC_LINKING.ALLOW
else else
log._debug(log_header .. "RPLC link req packet length mismatch") log._debug("RPLC link req packet length mismatch")
end end
elseif packet.type == RPLC_TYPES.MEK_STRUCT then elseif packet.type == RPLC_TYPES.MEK_STRUCT then
-- request for physical structure -- request for physical structure
_send_struct() _send_struct()
log._debug("sent out structure again, did supervisor miss it?")
elseif packet.type == RPLC_TYPES.MEK_SCRAM then elseif packet.type == RPLC_TYPES.MEK_SCRAM then
-- disable the reactor -- disable the reactor
self.scrammed = true self.scrammed = true
@ -530,7 +566,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
_send_ack(packet.type, success) _send_ack(packet.type, success)
else else
log._debug(log_header .. "RPLC set burn rate packet length mismatch") log._debug("RPLC set burn rate packet length mismatch")
end end
elseif packet.type == RPLC_TYPES.ISS_CLEAR then elseif packet.type == RPLC_TYPES.ISS_CLEAR then
-- clear the ISS status -- clear the ISS status
@ -568,7 +604,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.linked = link_ack == RPLC_LINKING.ALLOW self.linked = link_ack == RPLC_LINKING.ALLOW
else else
log._debug(log_header .. "RPLC link req packet length mismatch") log._debug("RPLC link req packet length mismatch")
end end
else else
log._debug("discarding non-link packet before linked") log._debug("discarding non-link packet before linked")
@ -576,9 +612,10 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
elseif packet.scada_frame.protocol() == PROTOCOLS.SCADA_MGMT then elseif packet.scada_frame.protocol() == PROTOCOLS.SCADA_MGMT then
-- handle session close -- handle session close
if packet.type == SCADA_MGMT_TYPES.CLOSE then if packet.type == SCADA_MGMT_TYPES.CLOSE then
self.open = false
conn_watchdog.cancel() conn_watchdog.cancel()
unlink() unlink()
println_ts("server connection closed by remote host")
log._warning("server connection closed by remote host")
else else
log._warning("received unknown SCADA_MGMT packet type " .. packet.type) log._warning("received unknown SCADA_MGMT packet type " .. packet.type)
end end
@ -588,33 +625,19 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
local is_scrammed = function () return self.scrammed end local is_scrammed = function () return self.scrammed end
local is_linked = function () return self.linked end local is_linked = function () return self.linked end
local is_closed = function () return not self.open end
local unlink = function ()
self.linked = false
self.r_seq_num = nil
end
local close = function ()
self.open = false
conn_watchdog.cancel()
unlink()
_send_mgmt(SCADA_MGMT_TYPES.CLOSE, {})
end
return { return {
reconnect_modem = reconnect_modem, reconnect_modem = reconnect_modem,
reconnect_reactor = reconnect_reactor, reconnect_reactor = reconnect_reactor,
parse_packet = parse_packet, unlink = unlink,
handle_packet = handle_packet, close = close,
send_link_req = send_link_req, send_link_req = send_link_req,
send_status = send_status, send_status = send_status,
send_iss_status = send_iss_status, send_iss_status = send_iss_status,
send_iss_alarm = send_iss_alarm, send_iss_alarm = send_iss_alarm,
parse_packet = parse_packet,
handle_packet = handle_packet,
is_scrammed = is_scrammed, is_scrammed = is_scrammed,
is_linked = is_linked, is_linked = is_linked
is_closed = is_closed,
unlink = unlink,
close = close
} }
end end

2
reactor-plc/startup.lua
View File

@ -12,7 +12,7 @@ os.loadAPI("config.lua")
os.loadAPI("plc.lua") os.loadAPI("plc.lua")
os.loadAPI("threads.lua") os.loadAPI("threads.lua")
local R_PLC_VERSION = "alpha-v0.4.14" local R_PLC_VERSION = "alpha-v0.5.0"
local print = util.print local print = util.print
local println = util.println local println = util.println

19
reactor-plc/threads.lua
View File

@ -170,10 +170,10 @@ function thread__main(smem, init)
-- check for termination request -- check for termination request
if event == "terminate" or ppm.should_terminate() then if event == "terminate" or ppm.should_terminate() then
log._info("terminate requested, main thread exiting") log._info("terminate requested, main thread exiting")
-- close connection
plc_comms.close(conn_watchdog)
-- iss handles reactor shutdown -- iss handles reactor shutdown
plc_state.shutdown = true plc_state.shutdown = true
-- close connection
plc_comms.close()
break break
end end
end end
@ -197,7 +197,7 @@ function thread__iss(smem)
local iss_queue = smem.q.mq_iss local iss_queue = smem.q.mq_iss
local was_closed = true local was_linked = false
local last_update = util.time() local last_update = util.time()
-- thread loop -- thread loop
@ -207,16 +207,15 @@ function thread__iss(smem)
-- ISS checks -- ISS checks
if plc_state.init_ok then if plc_state.init_ok then
-- SCRAM if no open connection -- SCRAM if no open connection
if networked and plc_comms.is_closed() then if networked and not plc_comms.is_linked() then
plc_state.scram = true plc_state.scram = true
if not was_closed then if was_linked then
was_closed = true was_linked = false
iss.trip_timeout() iss.trip_timeout()
println_ts("server connection closed by remote host")
log._warning("server connection closed by remote host")
end end
else else
was_closed = false -- would do elseif not networked but there is no reason to do that extra operation
was_linked = true
end end
-- if we tried to SCRAM but failed, keep trying -- if we tried to SCRAM but failed, keep trying
@ -418,7 +417,7 @@ end
function thread__setpoint_control(smem) function thread__setpoint_control(smem)
-- execute thread -- execute thread
local exec = function () local exec = function ()
log._debug("comms rx thread start") log._debug("setpoint control thread start")
-- load in from shared memory -- load in from shared memory
local plc_state = smem.plc_state local plc_state = smem.plc_state