#580 work on reactor PLC wired comms

reactor-plc/backplane.lua

@@ -0,0 +1,189 @@
+--
+-- Reactor PLC System Core Peripheral Backplane
+--
+
+local log     = require("scada-common.log")
+local network = require("scada-common.network")
+local ppm     = require("scada-common.ppm")
+local util    = require("scada-common.util")
+
+local databus = require("reactor-plc.databus")
+local plc     = require("reactor-plc.plc")
+
+local println = util.println
+
+---@class plc_backplane
+local backplane = {}
+
+local _bp = {
+    smem = nil,     ---@type plc_shared_memory
+
+    wlan_pref = true,
+    lan_iface = "",
+
+    act_nic = nil,  ---@type nic
+    wl_act = true,
+    wd_nic = nil,   ---@type nic|nil
+    wl_nic = nil    ---@type nic|nil
+}
+
+-- initialize the system peripheral backplane<br>
+---@param config plc_config
+---@param __shared_memory plc_shared_memory
+--- EVENT_CONSUMER: this function consumes events
+function backplane.init(config, __shared_memory)
+    _bp.smem      = __shared_memory
+    _bp.wlan_pref = config.PreferWireless
+    _bp.lan_iface = config.WiredModem
+
+    local plc_dev   = __shared_memory.plc_dev
+    local plc_state = __shared_memory.plc_state
+
+    -- Modem Init
+
+    -- init wired NIC
+    if type(config.WiredModem) == "string" then
+        local modem = ppm.get_modem(_bp.lan_iface)
+        _bp.wd_nic = network.nic(modem)
+
+        log.info("BKPLN: WIRED PHY_" .. util.trinary(modem, "UP ", "DOWN ") .. _bp.lan_iface)
+
+        -- set this as active for now
+        _bp.wl_act = false
+        _bp.act_nic = _bp.wd_nic
+    end
+
+    -- init wireless NIC(s)
+    if config.WirelessModem then
+        local modem, iface = ppm.get_wireless_modem()
+        _bp.wl_nic = network.nic(modem)
+
+        log.info("BKPLN: WIRELESS PHY_" .. util.trinary(modem, "UP ", "DOWN ") .. iface)
+
+        -- set this as active if connected or if both modems are disconnected and this is preferred
+        if (modem and _bp.wlan_pref) or not (_bp.act_nic and _bp.act_nic.is_connected()) then
+            _bp.wl_act = true
+            _bp.act_nic = _bp.wl_nic
+        end
+    end
+
+    plc_state.no_modem = not _bp.act_nic.is_connected()
+
+    databus.tx_hw_modem(not plc_state.no_modem)
+
+    -- comms modem is required if networked
+    if __shared_memory.networked and plc_state.no_modem then
+        println("startup> comms modem not found")
+        log.warning("BKPLN: no comms modem on startup")
+
+        plc_state.degraded = true
+    end
+
+    -- Reactor Init
+
+---@diagnostic disable-next-line: assign-type-mismatch
+    plc_dev.reactor      = ppm.get_fission_reactor()
+    plc_state.no_reactor = plc_dev.reactor == nil
+
+    -- we need a reactor, can at least do some things even if it isn't formed though
+    if plc_state.no_reactor then
+        println("startup> fission reactor not found")
+        log.warning("BKPLN: no reactor on startup")
+
+        plc_state.degraded = true
+        plc_state.reactor_formed = false
+
+        -- mount a virtual peripheral to init the RPS with
+        local _, dev = ppm.mount_virtual()
+        plc_dev.reactor = dev
+
+        log.info("BKPLN: mounted virtual device as reactor")
+    elseif not plc_dev.reactor.isFormed() then
+        println("startup> fission reactor is not formed")
+        log.warning("BKPLN: reactor logic adapter present, but reactor is not formed")
+
+        plc_state.degraded = true
+        plc_state.reactor_formed = false
+    else
+        log.info("BKPLN: reactor detected")
+    end
+end
+
+-- get the active NIC
+---@return nic|nil
+function backplane.active_nic() return _bp.act_nic end
+
+-- handle a backplane peripheral attach
+---@param iface string
+---@param type string
+---@param device table
+---@param print_no_fp function
+function backplane.attach(iface, type, device, print_no_fp)
+    local networked = _bp.smem.networked
+    local state     = _bp.smem.plc_state
+    local dev       = _bp.smem.plc_dev
+    local sys       = _bp.smem.plc_sys
+
+    if state.no_reactor and (type == "fissionReactorLogicAdapter") then
+        -- reconnected reactor
+        dev.reactor = device
+        state.no_reactor = false
+
+        print_no_fp("reactor reconnected")
+        log.info("BKPLN: reactor reconnected")
+
+        -- we need to assume formed here as we cannot check in this main loop
+        -- RPS will identify if it isn't and this will get set false later
+        state.reactor_formed = true
+
+        -- determine if we are still in a degraded state
+        if (not networked or not state.no_modem) and state.reactor_formed then
+            state.degraded = false
+        end
+
+        _bp.smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
+
+        sys.rps.reconnect_reactor(dev.reactor)
+        if networked then
+            sys.plc_comms.reconnect_reactor(dev.reactor)
+        end
+
+        -- partial reset of RPS, specific to becoming formed/reconnected
+        -- without this, auto control can't resume on chunk load
+        sys.rps.reset_formed()
+    elseif networked and type == "modem" then
+        ---@cast device Modem
+        local is_comms_modem = util.trinary(dev.modem_wired, dev.modem_iface == iface, device.isWireless())
+
+        -- note, check init_ok first since nic will be nil if it is false
+        if is_comms_modem and not (state.init_ok and nic.is_connected()) then
+            -- reconnected modem
+            dev.modem = device
+            state.no_modem = false
+
+            if state.init_ok then nic.connect(device) end
+
+            print_no_fp("comms modem reconnected")
+            log.info("comms modem reconnected")
+
+            -- determine if we are still in a degraded state
+            if not state.no_reactor then
+                state.degraded = false
+            end
+        elseif device.isWireless() then
+            log.info("unused wireless modem connected")
+        else
+            log.info("non-comms wired modem connected")
+        end
+    end
+end
+
+-- handle a backplane peripheral detach
+---@param iface string
+---@param type string
+---@param device table
+---@param print_no_fp function
+function backplane.detach(iface, type, device, print_no_fp)
+end
+
+return backplane

reactor-plc/configure.lua

@@ -81,7 +81,9 @@ local tmp_cfg = {
     SVR_Channel = nil,      ---@type integer
     PLC_Channel = nil,      ---@type integer
     ConnTimeout = nil,      ---@type number
+    WirelessModem = true,
     WiredModem = false,     ---@type string|false
+    PreferWireless = true,
     TrustedRange = nil,     ---@type number
     AuthKey = "",           ---@type string
     LogMode = 0,            ---@type LOG_MODE
@@ -107,7 +109,9 @@ local fields = {
     { "SVR_Channel", "SVR Channel", 16240 },
     { "PLC_Channel", "PLC Channel", 16241 },
     { "ConnTimeout", "Connection Timeout", 5 },
-    { "WiredModem", "Wired Modem", false },
+    { "WirelessModem", "Wireless/Ender Comms Modem", true },
+    { "WiredModem", "Wired Comms Modem", false },
+    { "PreferWireless", "Prefer Wireless Modem", true },
     { "TrustedRange", "Trusted Range", 0 },
     { "AuthKey", "Facility Auth Key" , ""},
     { "LogMode", "Log Mode", log.MODE.APPEND },

reactor-plc/plc.lua

@@ -48,7 +48,9 @@ function plc.load_config()
     config.SVR_Channel = settings.get("SVR_Channel")
     config.PLC_Channel = settings.get("PLC_Channel")
     config.ConnTimeout = settings.get("ConnTimeout")
+    config.WirelessModem = settings.get("WirelessModem")
     config.WiredModem = settings.get("WiredModem")
+    config.PreferWireless = settings.get("PreferWireless")
     config.TrustedRange = settings.get("TrustedRange")
     config.AuthKey = settings.get("AuthKey")
 
@@ -71,12 +73,15 @@ function plc.validate_config(cfg)
     cfv.assert_type_int(cfg.UnitID)
     cfv.assert_type_bool(cfg.EmerCoolEnable)
 
-    if cfg.Networked == true then
+    if cfg.Networked then
         cfv.assert_channel(cfg.SVR_Channel)
         cfv.assert_channel(cfg.PLC_Channel)
         cfv.assert_type_num(cfg.ConnTimeout)
         cfv.assert_min(cfg.ConnTimeout, 2)
+        cfv.assert_type_bool(cfg.WirelessModem)
         cfv.assert((cfg.WiredModem == false) or (type(cfg.WiredModem) == "string"))
+        cfv.assert(cfg.WirelessModem or (type(cfg.WiredModem) == "string"))
+        cfv.assert_type_bool(cfg.PreferWireless)
         cfv.assert_type_num(cfg.TrustedRange)
         cfv.assert_min(cfg.TrustedRange, 0)
         cfv.assert_type_str(cfg.AuthKey)

reactor-plc/startup.lua

@@ -3,6 +3,7 @@
 --
 
 require("/initenv").init_env()
+local backplane = require("reactor-plc.backplane")
 
 local comms     = require("scada-common.comms")
 local crash     = require("scada-common.crash")
@@ -87,7 +88,6 @@ local function main()
         -- PLC system state flags
         ---@class plc_state
         plc_state = {
-            init_ok = true,
             fp_ok = false,
             shutdown = false,
             degraded = true,
@@ -103,15 +103,14 @@ local function main()
             burn_rate = 0.0
         },
 
-        -- core PLC devices
+        -- global PLC devices, still initialized by the backplane
+        ---@class plc_dev
         plc_dev = {
-            reactor = ppm.get_fission_reactor(),
+            reactor = nil       ---@type table
-            modem_wired = type(config.WiredModem) == "string",
-            modem_iface = config.WiredModem,
-            modem = nil
         },
 
         -- system objects
+        ---@class plc_sys 
         plc_sys = {
             rps = nil,          ---@type rps
             nic = nil,          ---@type nic
@@ -132,115 +131,66 @@ local function main()
 
     local plc_state = __shared_memory.plc_state
 
-    -- get the configured modem
+    -- reactor and modem initialization
-    if smem_dev.modem_wired then
+    backplane.init(config, __shared_memory)
-        smem_dev.modem = ppm.get_modem(smem_dev.modem_iface)
-    else smem_dev.modem = ppm.get_wireless_modem() end
 
-    -- initial state evaluation
-    plc_state.no_reactor = smem_dev.reactor == nil
-    plc_state.no_modem = smem_dev.modem == nil
-
-    -- we need a reactor, can at least do some things even if it isn't formed though
-    if plc_state.no_reactor then
-        println("init> fission reactor not found")
-        log.warning("init> no reactor on startup")
-
-        plc_state.init_ok = false
-        plc_state.degraded = true
-    elseif not smem_dev.reactor.isFormed() then
-        println("init> fission reactor is not formed")
-        log.warning("init> reactor logic adapter present, but reactor is not formed")
-
-        plc_state.degraded = true
-        plc_state.reactor_formed = false
-    end
-
-    -- comms modem is required if networked
-    if __shared_memory.networked and plc_state.no_modem then
-        println("init> comms modem not found")
-        log.warning("init> no comms modem on startup")
-
-        -- scram reactor if present and enabled
-        if (smem_dev.reactor ~= nil) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
-            smem_dev.reactor.scram()
-        end
-
-        plc_state.init_ok = false
-        plc_state.degraded = true
-    end
-
-    -- print a log message to the terminal as long as the UI isn't running
-    local function _println_no_fp(message) if not plc_state.fp_ok then println(message) end end
-
-    -- PLC init<br>
-    --- EVENT_CONSUMER: this function consumes events
-    local function init()
     -- scram on boot if networked, otherwise leave the reactor be
     if __shared_memory.networked and (not plc_state.no_reactor) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
+        log.debug("startup> power-on SCRAM")
         smem_dev.reactor.scram()
     end
 
     -- setup front panel
-        if not renderer.ui_ready() then
     local message
     plc_state.fp_ok, message = renderer.try_start_ui(config.FrontPanelTheme, config.ColorMode)
 
     -- ...or not
     if not plc_state.fp_ok then
         println_ts(util.c("UI error: ", message))
-                println("init> running without front panel")
+        println("startup> running without front panel")
         log.error(util.c("front panel GUI render failed with error ", message))
-                log.info("init> running in headless mode without front panel")
+        log.info("startup> running in headless mode without front panel")
-            end
     end
 
-        if plc_state.init_ok then
+    -- print a log message to the terminal as long as the UI isn't running
+    local function _println_no_fp(msg) if not plc_state.fp_ok then println(msg) end end
+
+    ----------------------------------------
+    -- initialize PLC
+    ----------------------------------------
+
     -- init reactor protection system
     smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
-            log.debug("init> rps init")
+    log.debug("startup> rps init")
-
-            if __shared_memory.networked then
-                -- comms watchdog
-                smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
-                log.debug("init> conn watchdog started")
-
-                -- create network interface then setup comms
-                smem_sys.nic = network.nic(smem_dev.modem)
-                smem_sys.plc_comms = plc.comms(R_PLC_VERSION, smem_sys.nic, smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
-                log.debug("init> comms init")
-            else
-                _println_no_fp("init> starting in offline mode")
-                log.info("init> running without networking")
-            end
 
     -- notify user of emergency coolant configuration status
     if config.EmerCoolEnable then
-                println("init> emergency coolant control ready")
+        _println_no_fp("startup> emergency coolant control ready")
-                log.info("init> running with emergency coolant control available")
+        log.info("startup> emergency coolant control available")
     end
 
-            util.push_event("clock_start")
+    -- conditionally init comms
+    if __shared_memory.networked then
+        -- comms watchdog
+        smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
+        log.debug("startup> conn watchdog started")
 
-            _println_no_fp("init> completed")
+        -- create network interface then setup comms
-            log.info("init> startup completed")
+        smem_sys.nic = network.nic(backplane.active_nic())
+        smem_sys.plc_comms = plc.comms(R_PLC_VERSION, smem_sys.nic, smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
+        log.debug("startup> comms init")
     else
-            _println_no_fp("init> system in degraded state, awaiting devices...")
+        _println_no_fp("startup> starting in non-networked mode")
-            log.warning("init> started in a degraded state, awaiting peripheral connections...")
+        log.info("startup> starting without networking")
     end
 
     databus.tx_hw_status(plc_state)
-    end
 
-    ----------------------------------------
+    _println_no_fp("startup> completed")
-    -- start system
+    log.info("startup> completed")
-    ----------------------------------------
-
-    -- initialize PLC
-    init()
 
     -- init threads
-    local main_thread = threads.thread__main(__shared_memory, init)
+    local main_thread = threads.thread__main(__shared_memory)
     local rps_thread  = threads.thread__rps(__shared_memory)
 
     if __shared_memory.networked then
@@ -254,14 +204,12 @@ local function main()
         -- run threads
         parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec, comms_thread_tx.p_exec, comms_thread_rx.p_exec, sp_ctrl_thread.p_exec)
 
-        if plc_state.init_ok then
         -- send status one last time after RPS shutdown
         smem_sys.plc_comms.send_status(plc_state.no_reactor, plc_state.reactor_formed)
         smem_sys.plc_comms.send_rps_status()
 
         -- close connection
         smem_sys.plc_comms.close()
-        end
     else
         -- run threads, excluding comms
         parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec)

reactor-plc/threads.lua

@@ -31,8 +31,7 @@ local MQ__COMM_CMD = {
 -- main thread
 ---@nodiscard
 ---@param smem plc_shared_memory
----@param init function
+function threads.thread__main(smem)
-function threads.thread__main(smem, init)
     -- print a log message to the terminal as long as the UI isn't running
     local function println_ts(message) if not smem.plc_state.fp_ok then util.println_ts(message) end end
 
@@ -42,7 +41,7 @@ function threads.thread__main(smem, init)
     -- execute thread
     function public.exec()
         databus.tx_rt_status("main", true)
-        log.debug("main thread init, clock inactive")
+        log.debug("main thread start")
 
         -- send status updates at 2Hz (every 10 server ticks) (every loop tick)
         -- send link requests at 0.5Hz (every 40 server ticks) (every 8 loop ticks)
@@ -55,6 +54,9 @@ function threads.thread__main(smem, init)
         local plc_state = smem.plc_state
         local plc_dev   = smem.plc_dev
 
+        -- start clock
+        loop_clock.start()
+
         -- event loop
         while true do
             -- get plc_sys fields (may have been set late due to degraded boot)
@@ -67,7 +69,6 @@ function threads.thread__main(smem, init)
 
             -- handle event
             if event == "timer" and loop_clock.is_clock(param1) then
-                -- note: loop clock is only running if init_ok = true
                 -- blink heartbeat indicator
                 databus.heartbeat()
 
@@ -118,14 +119,14 @@ function threads.thread__main(smem, init)
 
                 -- update indicators
                 databus.tx_hw_status(plc_state)
-            elseif event == "modem_message" and networked and plc_state.init_ok and nic.is_connected() then
+            elseif event == "modem_message" and networked and nic.is_connected() then
                 -- got a packet
                 local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
                 if packet ~= nil then
                     -- pass the packet onto the comms message queue
                     smem.q.mq_comms_rx.push_packet(packet)
                 end
-            elseif event == "timer" and networked and plc_state.init_ok and conn_watchdog.is_timer(param1) then
+            elseif event == "timer" and networked and conn_watchdog.is_timer(param1) then
                 -- haven't heard from server recently? close connection and shutdown reactor
                 plc_comms.close()
                 smem.q.mq_rps.push_command(MQ__RPS_CMD.TRIP_TIMEOUT)
@@ -146,8 +147,7 @@ function threads.thread__main(smem, init)
                     elseif networked and type == "modem" then
                         ---@cast device Modem
                         -- we only care if this is our comms modem
-                        -- note, check init_ok first since nic will be nil if it is false
+                        if nic.is_modem(device) then
-                        if plc_state.init_ok and nic.is_modem(device) then
                             nic.disconnect()
 
                             println_ts("comms modem disconnected!")
@@ -184,7 +184,7 @@ function threads.thread__main(smem, init)
                         plc_dev.reactor = device
                         plc_state.no_reactor = false
 
-                        println_ts("reactor reconnected.")
+                        println_ts("reactor reconnected")
                         log.info("reactor reconnected")
 
                         -- we need to assume formed here as we cannot check in this main loop
@@ -220,7 +220,7 @@ function threads.thread__main(smem, init)
 
                             if plc_state.init_ok then nic.connect(device) end
 
-                            println_ts("comms modem reconnected.")
+                            println_ts("comms modem reconnected")
                             log.info("comms modem reconnected")
 
                             -- determine if we are still in a degraded state
@@ -235,22 +235,12 @@ function threads.thread__main(smem, init)
                     end
                 end
 
-                -- if not init'd and no longer degraded, proceed to init
-                if not plc_state.init_ok and not plc_state.degraded then
-                    plc_state.init_ok = true
-                    init()
-                end
-
                 -- update indicators
                 databus.tx_hw_status(plc_state)
             elseif event == "mouse_click" or event == "mouse_up" or event == "mouse_drag" or event == "mouse_scroll" or
                    event == "double_click" then
                 -- handle a mouse event
                 renderer.handle_mouse(core.events.new_mouse_event(event, param1, param2, param3))
-            elseif event == "clock_start" then
-                -- start loop clock
-                loop_clock.start()
-                log.debug("main thread clock started")
             end
 
             -- check for termination request
@@ -280,7 +270,6 @@ function threads.thread__main(smem, init)
             -- this thread cannot be slept because it will miss events (namely "terminate" otherwise)
             if not plc_state.shutdown then
                 log.info("main thread restarting now...")
-                util.push_event("clock_start")
             end
         end
     end
@@ -399,15 +388,15 @@ function threads.thread__rps(smem)
             if plc_state.shutdown then
                 -- safe exit
                 log.info("rps thread shutdown initiated")
-                if plc_state.init_ok then
+
                 if rps.scram() then
-                        println_ts("reactor disabled")
+                    println_ts("exiting, reactor disabled")
                     log.info("rps thread reactor SCRAM OK")
                 else
                     println_ts("exiting, reactor failed to disable")
                     log.error("rps thread failed to SCRAM reactor on exit")
                 end
-                end
+
                 log.info("rps thread exiting")
                 break
             end
@@ -430,7 +419,7 @@ function threads.thread__rps(smem)
             databus.tx_rt_status("rps", false)
 
             if not plc_state.shutdown then
-                if plc_state.init_ok then smem.plc_sys.rps.scram() end
+                smem.plc_sys.rps.scram()
                 log.info("rps thread restarting in 5 seconds...")
                 util.psleep(5)
             end

scada-common/network.lua

@@ -78,7 +78,7 @@ end
 
 -- NIC: Network Interface Controller<br>
 -- utilizes HMAC-MD5 for message authentication, if enabled and this is wireless
----@param modem Modem modem to use
+---@param modem Modem|nil modem to use
 function network.nic(modem)
     local self = {
         -- modem interface name
@@ -86,9 +86,9 @@ function network.nic(modem)
         -- phy name
         name = "?",
         -- used to quickly return out of tx/rx functions if there is nothing to do
-        connected = true,
+        connected = false,
         -- used to avoid costly MAC calculations if not required
-        use_hash = c_eng.hmac and modem.isWireless(),
+        use_hash = false,
         -- open channels
         channels = {}
     }
@@ -135,13 +135,13 @@ function network.nic(modem)
     function public.is_modem(device) return device == modem end
 
     -- wrap modem functions, then create custom functions
-    public.connect(modem)
+    if modem then public.connect(modem) end
 
     -- open a channel on the modem<br>
     -- if disconnected *after* opening, previousy opened channels will be re-opened on reconnection
     ---@param channel integer
     function public.open(channel)
-        modem.open(channel)
+        if modem then modem.open(channel) end
 
         local already_open = false
         for i = 1, #self.channels do
@@ -159,7 +159,7 @@ function network.nic(modem)
     -- close a channel on the modem
     ---@param channel integer
     function public.close(channel)
-        modem.close(channel)
+        if modem then modem.close(channel) end
 
         for i = 1, #self.channels do
             if self.channels[i] == channel then
@@ -171,7 +171,7 @@ function network.nic(modem)
 
     -- close all channels on the modem
     function public.closeAll()
-        modem.closeAll()
+        if modem then modem.closeAll() end
         self.channels = {}
     end
 
@@ -193,7 +193,10 @@ function network.nic(modem)
                 -- log.debug("network.modem.transmit: data processing took " .. (util.time_ms() - start) .. "ms")
             end
 
+---@diagnostic disable-next-line: need-check-nil
             modem.transmit(dest_channel, local_channel, tx_packet.raw_sendable())
+        else
+            log.debug("network.transmit tx dropped, link is down")
         end
     end