#580 work on reactor PLC wired comms
This commit is contained in:
Mikayla
parent
b57aceff15
commit
c62eaeb5a2
189
reactor-plc/backplane.lua
Normal file
189
reactor-plc/backplane.lua
Normal file
@ -0,0 +1,189 @@
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--
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-- Reactor PLC System Core Peripheral Backplane
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--
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local log = require("scada-common.log")
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local network = require("scada-common.network")
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local ppm = require("scada-common.ppm")
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local util = require("scada-common.util")
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local databus = require("reactor-plc.databus")
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local plc = require("reactor-plc.plc")
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local println = util.println
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---@class plc_backplane
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local backplane = {}
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local _bp = {
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smem = nil, ---@type plc_shared_memory
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wlan_pref = true,
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lan_iface = "",
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act_nic = nil, ---@type nic
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wl_act = true,
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wd_nic = nil, ---@type nic|nil
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wl_nic = nil ---@type nic|nil
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}
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-- initialize the system peripheral backplane<br>
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---@param config plc_config
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---@param __shared_memory plc_shared_memory
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--- EVENT_CONSUMER: this function consumes events
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function backplane.init(config, __shared_memory)
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_bp.smem = __shared_memory
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_bp.wlan_pref = config.PreferWireless
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_bp.lan_iface = config.WiredModem
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local plc_dev = __shared_memory.plc_dev
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local plc_state = __shared_memory.plc_state
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-- Modem Init
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-- init wired NIC
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if type(config.WiredModem) == "string" then
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local modem = ppm.get_modem(_bp.lan_iface)
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_bp.wd_nic = network.nic(modem)
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log.info("BKPLN: WIRED PHY_" .. util.trinary(modem, "UP ", "DOWN ") .. _bp.lan_iface)
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-- set this as active for now
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_bp.wl_act = false
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_bp.act_nic = _bp.wd_nic
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end
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-- init wireless NIC(s)
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if config.WirelessModem then
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local modem, iface = ppm.get_wireless_modem()
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_bp.wl_nic = network.nic(modem)
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log.info("BKPLN: WIRELESS PHY_" .. util.trinary(modem, "UP ", "DOWN ") .. iface)
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-- set this as active if connected or if both modems are disconnected and this is preferred
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if (modem and _bp.wlan_pref) or not (_bp.act_nic and _bp.act_nic.is_connected()) then
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_bp.wl_act = true
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_bp.act_nic = _bp.wl_nic
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end
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end
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plc_state.no_modem = not _bp.act_nic.is_connected()
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databus.tx_hw_modem(not plc_state.no_modem)
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-- comms modem is required if networked
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if __shared_memory.networked and plc_state.no_modem then
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println("startup> comms modem not found")
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log.warning("BKPLN: no comms modem on startup")
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plc_state.degraded = true
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end
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-- Reactor Init
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---@diagnostic disable-next-line: assign-type-mismatch
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plc_dev.reactor = ppm.get_fission_reactor()
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plc_state.no_reactor = plc_dev.reactor == nil
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-- we need a reactor, can at least do some things even if it isn't formed though
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if plc_state.no_reactor then
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println("startup> fission reactor not found")
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log.warning("BKPLN: no reactor on startup")
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plc_state.degraded = true
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plc_state.reactor_formed = false
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-- mount a virtual peripheral to init the RPS with
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local _, dev = ppm.mount_virtual()
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plc_dev.reactor = dev
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log.info("BKPLN: mounted virtual device as reactor")
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elseif not plc_dev.reactor.isFormed() then
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println("startup> fission reactor is not formed")
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log.warning("BKPLN: reactor logic adapter present, but reactor is not formed")
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plc_state.degraded = true
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plc_state.reactor_formed = false
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else
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log.info("BKPLN: reactor detected")
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end
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end
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-- get the active NIC
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---@return nic|nil
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function backplane.active_nic() return _bp.act_nic end
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-- handle a backplane peripheral attach
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---@param iface string
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---@param type string
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---@param device table
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---@param print_no_fp function
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function backplane.attach(iface, type, device, print_no_fp)
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local networked = _bp.smem.networked
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local state = _bp.smem.plc_state
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local dev = _bp.smem.plc_dev
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local sys = _bp.smem.plc_sys
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if state.no_reactor and (type == "fissionReactorLogicAdapter") then
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-- reconnected reactor
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dev.reactor = device
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state.no_reactor = false
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print_no_fp("reactor reconnected")
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log.info("BKPLN: reactor reconnected")
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-- we need to assume formed here as we cannot check in this main loop
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-- RPS will identify if it isn't and this will get set false later
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state.reactor_formed = true
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-- determine if we are still in a degraded state
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if (not networked or not state.no_modem) and state.reactor_formed then
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state.degraded = false
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end
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_bp.smem.q.mq_rps.push_command(MQ__RPS_CMD.SCRAM)
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sys.rps.reconnect_reactor(dev.reactor)
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if networked then
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sys.plc_comms.reconnect_reactor(dev.reactor)
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end
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-- partial reset of RPS, specific to becoming formed/reconnected
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-- without this, auto control can't resume on chunk load
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sys.rps.reset_formed()
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elseif networked and type == "modem" then
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---@cast device Modem
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local is_comms_modem = util.trinary(dev.modem_wired, dev.modem_iface == iface, device.isWireless())
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-- note, check init_ok first since nic will be nil if it is false
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if is_comms_modem and not (state.init_ok and nic.is_connected()) then
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-- reconnected modem
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dev.modem = device
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state.no_modem = false
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if state.init_ok then nic.connect(device) end
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print_no_fp("comms modem reconnected")
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log.info("comms modem reconnected")
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-- determine if we are still in a degraded state
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if not state.no_reactor then
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state.degraded = false
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end
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elseif device.isWireless() then
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log.info("unused wireless modem connected")
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else
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log.info("non-comms wired modem connected")
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end
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end
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end
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-- handle a backplane peripheral detach
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---@param iface string
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---@param type string
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---@param device table
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---@param print_no_fp function
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function backplane.detach(iface, type, device, print_no_fp)
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end
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return backplane
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@ -81,7 +81,9 @@ local tmp_cfg = {
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SVR_Channel = nil, ---@type integer
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PLC_Channel = nil, ---@type integer
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ConnTimeout = nil, ---@type number
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WirelessModem = true,
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WiredModem = false, ---@type string|false
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PreferWireless = true,
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TrustedRange = nil, ---@type number
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AuthKey = "", ---@type string
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LogMode = 0, ---@type LOG_MODE
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@ -107,7 +109,9 @@ local fields = {
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{ "SVR_Channel", "SVR Channel", 16240 },
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{ "PLC_Channel", "PLC Channel", 16241 },
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{ "ConnTimeout", "Connection Timeout", 5 },
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{ "WiredModem", "Wired Modem", false },
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{ "WirelessModem", "Wireless/Ender Comms Modem", true },
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{ "WiredModem", "Wired Comms Modem", false },
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{ "PreferWireless", "Prefer Wireless Modem", true },
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{ "TrustedRange", "Trusted Range", 0 },
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{ "AuthKey", "Facility Auth Key" , ""},
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{ "LogMode", "Log Mode", log.MODE.APPEND },
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@ -48,7 +48,9 @@ function plc.load_config()
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config.SVR_Channel = settings.get("SVR_Channel")
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config.PLC_Channel = settings.get("PLC_Channel")
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config.ConnTimeout = settings.get("ConnTimeout")
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config.WirelessModem = settings.get("WirelessModem")
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config.WiredModem = settings.get("WiredModem")
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config.PreferWireless = settings.get("PreferWireless")
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config.TrustedRange = settings.get("TrustedRange")
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config.AuthKey = settings.get("AuthKey")
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@ -71,12 +73,15 @@ function plc.validate_config(cfg)
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cfv.assert_type_int(cfg.UnitID)
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cfv.assert_type_bool(cfg.EmerCoolEnable)
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if cfg.Networked == true then
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if cfg.Networked then
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cfv.assert_channel(cfg.SVR_Channel)
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cfv.assert_channel(cfg.PLC_Channel)
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cfv.assert_type_num(cfg.ConnTimeout)
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cfv.assert_min(cfg.ConnTimeout, 2)
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cfv.assert_type_bool(cfg.WirelessModem)
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cfv.assert((cfg.WiredModem == false) or (type(cfg.WiredModem) == "string"))
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cfv.assert(cfg.WirelessModem or (type(cfg.WiredModem) == "string"))
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cfv.assert_type_bool(cfg.PreferWireless)
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cfv.assert_type_num(cfg.TrustedRange)
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cfv.assert_min(cfg.TrustedRange, 0)
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cfv.assert_type_str(cfg.AuthKey)
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@ -3,6 +3,7 @@
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--
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require("/initenv").init_env()
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local backplane = require("reactor-plc.backplane")
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local comms = require("scada-common.comms")
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local crash = require("scada-common.crash")
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@ -87,7 +88,6 @@ local function main()
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-- PLC system state flags
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---@class plc_state
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plc_state = {
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init_ok = true,
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fp_ok = false,
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shutdown = false,
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degraded = true,
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@ -103,15 +103,14 @@ local function main()
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burn_rate = 0.0
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},
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-- core PLC devices
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-- global PLC devices, still initialized by the backplane
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---@class plc_dev
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plc_dev = {
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reactor = ppm.get_fission_reactor(),
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modem_wired = type(config.WiredModem) == "string",
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modem_iface = config.WiredModem,
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modem = nil
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reactor = nil ---@type table
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},
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-- system objects
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---@class plc_sys
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plc_sys = {
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rps = nil, ---@type rps
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nic = nil, ---@type nic
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@ -132,115 +131,66 @@ local function main()
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local plc_state = __shared_memory.plc_state
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-- get the configured modem
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if smem_dev.modem_wired then
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smem_dev.modem = ppm.get_modem(smem_dev.modem_iface)
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else smem_dev.modem = ppm.get_wireless_modem() end
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-- reactor and modem initialization
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backplane.init(config, __shared_memory)
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-- initial state evaluation
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plc_state.no_reactor = smem_dev.reactor == nil
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plc_state.no_modem = smem_dev.modem == nil
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-- we need a reactor, can at least do some things even if it isn't formed though
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if plc_state.no_reactor then
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println("init> fission reactor not found")
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log.warning("init> no reactor on startup")
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plc_state.init_ok = false
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plc_state.degraded = true
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elseif not smem_dev.reactor.isFormed() then
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println("init> fission reactor is not formed")
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log.warning("init> reactor logic adapter present, but reactor is not formed")
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plc_state.degraded = true
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plc_state.reactor_formed = false
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-- scram on boot if networked, otherwise leave the reactor be
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if __shared_memory.networked and (not plc_state.no_reactor) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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log.debug("startup> power-on SCRAM")
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smem_dev.reactor.scram()
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end
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-- comms modem is required if networked
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if __shared_memory.networked and plc_state.no_modem then
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println("init> comms modem not found")
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log.warning("init> no comms modem on startup")
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-- setup front panel
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local message
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plc_state.fp_ok, message = renderer.try_start_ui(config.FrontPanelTheme, config.ColorMode)
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-- scram reactor if present and enabled
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if (smem_dev.reactor ~= nil) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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smem_dev.reactor.scram()
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end
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plc_state.init_ok = false
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plc_state.degraded = true
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-- ...or not
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if not plc_state.fp_ok then
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println_ts(util.c("UI error: ", message))
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println("startup> running without front panel")
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log.error(util.c("front panel GUI render failed with error ", message))
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log.info("startup> running in headless mode without front panel")
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end
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-- print a log message to the terminal as long as the UI isn't running
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local function _println_no_fp(message) if not plc_state.fp_ok then println(message) end end
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local function _println_no_fp(msg) if not plc_state.fp_ok then println(msg) end end
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-- PLC init<br>
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--- EVENT_CONSUMER: this function consumes events
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local function init()
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-- scram on boot if networked, otherwise leave the reactor be
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if __shared_memory.networked and (not plc_state.no_reactor) and plc_state.reactor_formed and smem_dev.reactor.getStatus() then
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smem_dev.reactor.scram()
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end
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----------------------------------------
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-- initialize PLC
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----------------------------------------
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-- setup front panel
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if not renderer.ui_ready() then
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local message
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plc_state.fp_ok, message = renderer.try_start_ui(config.FrontPanelTheme, config.ColorMode)
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-- init reactor protection system
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smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
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log.debug("startup> rps init")
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-- ...or not
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if not plc_state.fp_ok then
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println_ts(util.c("UI error: ", message))
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println("init> running without front panel")
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log.error(util.c("front panel GUI render failed with error ", message))
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log.info("init> running in headless mode without front panel")
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end
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end
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if plc_state.init_ok then
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-- init reactor protection system
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smem_sys.rps = plc.rps_init(smem_dev.reactor, plc_state.reactor_formed)
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log.debug("init> rps init")
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if __shared_memory.networked then
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-- comms watchdog
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smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
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log.debug("init> conn watchdog started")
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-- create network interface then setup comms
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smem_sys.nic = network.nic(smem_dev.modem)
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smem_sys.plc_comms = plc.comms(R_PLC_VERSION, smem_sys.nic, smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
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log.debug("init> comms init")
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else
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_println_no_fp("init> starting in offline mode")
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log.info("init> running without networking")
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end
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-- notify user of emergency coolant configuration status
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if config.EmerCoolEnable then
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println("init> emergency coolant control ready")
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log.info("init> running with emergency coolant control available")
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end
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util.push_event("clock_start")
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_println_no_fp("init> completed")
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log.info("init> startup completed")
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else
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_println_no_fp("init> system in degraded state, awaiting devices...")
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log.warning("init> started in a degraded state, awaiting peripheral connections...")
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end
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databus.tx_hw_status(plc_state)
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-- notify user of emergency coolant configuration status
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if config.EmerCoolEnable then
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_println_no_fp("startup> emergency coolant control ready")
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log.info("startup> emergency coolant control available")
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end
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----------------------------------------
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-- start system
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----------------------------------------
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-- conditionally init comms
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if __shared_memory.networked then
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-- comms watchdog
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smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
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log.debug("startup> conn watchdog started")
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-- initialize PLC
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init()
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-- create network interface then setup comms
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smem_sys.nic = network.nic(backplane.active_nic())
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smem_sys.plc_comms = plc.comms(R_PLC_VERSION, smem_sys.nic, smem_dev.reactor, smem_sys.rps, smem_sys.conn_watchdog)
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log.debug("startup> comms init")
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else
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_println_no_fp("startup> starting in non-networked mode")
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log.info("startup> starting without networking")
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end
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databus.tx_hw_status(plc_state)
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_println_no_fp("startup> completed")
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log.info("startup> completed")
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-- init threads
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local main_thread = threads.thread__main(__shared_memory, init)
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local main_thread = threads.thread__main(__shared_memory)
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local rps_thread = threads.thread__rps(__shared_memory)
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if __shared_memory.networked then
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@ -254,14 +204,12 @@ local function main()
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-- run threads
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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)
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if plc_state.init_ok then
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-- send status one last time after RPS shutdown
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smem_sys.plc_comms.send_status(plc_state.no_reactor, plc_state.reactor_formed)
|
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smem_sys.plc_comms.send_rps_status()
|
||||
-- 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
|
||||
-- close connection
|
||||
smem_sys.plc_comms.close()
|
||||
else
|
||||
-- run threads, excluding comms
|
||||
parallel.waitForAll(main_thread.p_exec, rps_thread.p_exec)
|
||||
|
||||
@ -31,8 +31,7 @@ local MQ__COMM_CMD = {
|
||||
-- main thread
|
||||
---@nodiscard
|
||||
---@param smem plc_shared_memory
|
||||
---@param init function
|
||||
function threads.thread__main(smem, init)
|
||||
function threads.thread__main(smem)
|
||||
-- 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 plc_state.init_ok and nic.is_modem(device) then
|
||||
if 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")
|
||||
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
|
||||
|
||||
if rps.scram() then
|
||||
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
|
||||
|
||||
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
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user