640 lines
26 KiB
Lua
640 lines
26 KiB
Lua
--
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-- RTU: Remote Terminal Unit
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--
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require("/initenv").init_env()
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local audio = require("scada-common.audio")
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local comms = require("scada-common.comms")
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local crash = require("scada-common.crash")
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local log = require("scada-common.log")
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local mqueue = require("scada-common.mqueue")
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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 rsio = require("scada-common.rsio")
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local types = require("scada-common.types")
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local util = require("scada-common.util")
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local configure = require("rtu.configure")
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local databus = require("rtu.databus")
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local modbus = require("rtu.modbus")
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local renderer = require("rtu.renderer")
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local rtu = require("rtu.rtu")
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local threads = require("rtu.threads")
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local boilerv_rtu = require("rtu.dev.boilerv_rtu")
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local dynamicv_rtu = require("rtu.dev.dynamicv_rtu")
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local envd_rtu = require("rtu.dev.envd_rtu")
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local imatrix_rtu = require("rtu.dev.imatrix_rtu")
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local redstone_rtu = require("rtu.dev.redstone_rtu")
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local sna_rtu = require("rtu.dev.sna_rtu")
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local sps_rtu = require("rtu.dev.sps_rtu")
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local turbinev_rtu = require("rtu.dev.turbinev_rtu")
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local RTU_VERSION = "v1.12.2"
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local RTU_UNIT_TYPE = types.RTU_UNIT_TYPE
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local RTU_HW_STATE = databus.RTU_HW_STATE
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local println = util.println
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local println_ts = util.println_ts
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----------------------------------------
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-- get configuration
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----------------------------------------
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if not rtu.load_config() then
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-- try to reconfigure (user action)
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local success, error = configure.configure(true)
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if success then
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if not rtu.load_config() then
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println("failed to load a valid configuration, please reconfigure")
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return
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end
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else
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println("configuration error: " .. error)
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return
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end
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end
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local config = rtu.config
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----------------------------------------
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-- log init
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----------------------------------------
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log.init(config.LogPath, config.LogMode, config.LogDebug)
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log.info("========================================")
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log.info("BOOTING rtu.startup " .. RTU_VERSION)
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log.info("========================================")
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println(">> RTU GATEWAY " .. RTU_VERSION .. " <<")
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crash.set_env("rtu", RTU_VERSION)
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crash.dbg_log_env()
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----------------------------------------
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-- main application
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----------------------------------------
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local function main()
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----------------------------------------
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-- startup
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----------------------------------------
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-- record firmware versions and ID
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databus.tx_versions(RTU_VERSION, comms.version)
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-- mount connected devices
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ppm.mount_all()
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-- message authentication init
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if type(config.AuthKey) == "string" and string.len(config.AuthKey) > 0 then
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network.init_mac(config.AuthKey)
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end
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-- generate alarm tones
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audio.generate_tones()
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---@class rtu_shared_memory
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local __shared_memory = {
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-- RTU system state flags
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---@class rtu_state
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rtu_state = {
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fp_ok = false,
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linked = false,
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shutdown = false
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},
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-- RTU gateway devices (not RTU units)
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rtu_dev = {
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modem = ppm.get_wireless_modem(),
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sounders = {} ---@type rtu_speaker_sounder[]
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},
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-- system objects
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rtu_sys = {
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nic = nil, ---@type nic
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rtu_comms = nil, ---@type rtu_comms
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conn_watchdog = nil, ---@type watchdog
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units = {} ---@type rtu_registry_entry[]
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},
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-- message queues
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q = {
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mq_comms = mqueue.new()
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}
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}
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local smem_sys = __shared_memory.rtu_sys
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local smem_dev = __shared_memory.rtu_dev
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local rtu_state = __shared_memory.rtu_state
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----------------------------------------
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-- interpret config and init units
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----------------------------------------
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local units = __shared_memory.rtu_sys.units
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local rtu_redstone = config.Redstone
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local rtu_devices = config.Peripherals
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-- get a string representation of a port interface
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---@param entry rtu_rs_definition
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---@return string
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local function entry_iface_name(entry)
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return util.trinary(entry.color ~= nil, util.c(entry.side, "/", rsio.color_name(entry.color)), entry.side)
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end
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-- configure RTU gateway based on settings file definitions
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local function sys_config()
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--#region Redstone Interfaces
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local rs_rtus = {} ---@type { name: string, hw_state: RTU_HW_STATE, rtu: rtu_rs_device, phy: table, banks: rtu_rs_definition[][] }[]
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local all_conns = { [0] = {}, {}, {}, {}, {} }
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-- go through redstone definitions list
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for entry_idx = 1, #rtu_redstone do
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local entry = rtu_redstone[entry_idx]
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local assignment
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local for_reactor = entry.unit
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local phy = entry.relay or 0
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local phy_name = entry.relay or "local"
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local iface_name = entry_iface_name(entry)
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if util.is_int(entry.unit) and entry.unit > 0 and entry.unit < 5 then
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---@cast for_reactor integer
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assignment = "reactor unit " .. entry.unit
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elseif entry.unit == nil then
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assignment = "facility"
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for_reactor = 0
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else
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local message = util.c("sys_config> invalid unit assignment at block index #", entry_idx)
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println(message)
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log.fatal(message)
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return false
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end
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-- create the appropriate RTU if it doesn't exist and check relay name validity
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if entry.relay then
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if type(entry.relay) ~= "string" then
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local message = util.c("sys_config> invalid redstone relay '", entry.relay, '"')
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println(message)
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log.fatal(message)
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return false
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elseif not rs_rtus[entry.relay] then
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log.debug(util.c("sys_config> allocated relay redstone RTU on interface ", entry.relay))
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local hw_state = RTU_HW_STATE.OK
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local relay = ppm.get_periph(entry.relay)
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if not relay then
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hw_state = RTU_HW_STATE.OFFLINE
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log.warning(util.c("sys_config> redstone relay ", entry.relay, " is not connected"))
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local _, v_device = ppm.mount_virtual()
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relay = v_device
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elseif ppm.get_type(entry.relay) ~= "redstone_relay" then
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hw_state = RTU_HW_STATE.FAULTED
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log.warning(util.c("sys_config> redstone relay ", entry.relay, " is not a redstone relay"))
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end
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rs_rtus[entry.relay] = { name = entry.relay, hw_state = hw_state, rtu = redstone_rtu.new(relay), phy = relay, banks = { [0] = {}, {}, {}, {}, {} } }
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end
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elseif rs_rtus[0] == nil then
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log.debug(util.c("sys_config> allocated local redstone RTU"))
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rs_rtus[0] = { name = "redstone_local", hw_state = RTU_HW_STATE.OK, rtu = redstone_rtu.new(), phy = rs, banks = { [0] = {}, {}, {}, {}, {} } }
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end
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-- verify configuration
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local valid = false
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if rsio.is_valid_port(entry.port) and rsio.is_valid_side(entry.side) then
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valid = util.trinary(entry.color == nil, true, rsio.is_color(entry.color))
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end
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local bank = rs_rtus[phy].banks[for_reactor]
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local conns = all_conns[for_reactor]
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if not valid then
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local message = util.c("sys_config> invalid redstone definition at block index #", entry_idx)
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println(message)
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log.fatal(message)
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return false
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else
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-- link redstone in RTU
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local mode = rsio.get_io_mode(entry.port)
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if mode == rsio.IO_MODE.DIGITAL_IN then
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-- can't have duplicate inputs
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if util.table_contains(conns, entry.port) then
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local message = util.c("sys_config> skipping duplicate input for port ", rsio.to_string(entry.port), " on side ", iface_name, " @ ", phy_name)
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println(message)
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log.warning(message)
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else
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table.insert(bank, entry)
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end
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elseif mode == rsio.IO_MODE.ANALOG_IN then
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-- can't have duplicate inputs
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if util.table_contains(conns, entry.port) then
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local message = util.c("sys_config> skipping duplicate input for port ", rsio.to_string(entry.port), " on side ", iface_name, " @ ", phy_name)
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println(message)
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log.warning(message)
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else
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table.insert(bank, entry)
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end
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elseif (mode == rsio.IO_MODE.DIGITAL_OUT) or (mode == rsio.IO_MODE.ANALOG_OUT) then
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table.insert(bank, entry)
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else
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-- should be unreachable code, we already validated ports
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log.fatal("sys_config> failed to identify IO mode at block index #" .. entry_idx)
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println("sys_config> encountered a software error, check logs")
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return false
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end
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table.insert(conns, entry.port)
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log.debug(util.c("sys_config> banked redstone ", #conns, ": ", rsio.to_string(entry.port), " (", iface_name, " @ ", phy_name, ") for ", assignment))
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end
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end
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-- create unit entries for redstone RTUs
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for _, def in pairs(rs_rtus) do
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local rtu_conns = { [0] = {}, {}, {}, {}, {} }
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-- connect the IO banks
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for for_reactor = 0, #def.banks do
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local bank = def.banks[for_reactor]
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local conns = rtu_conns[for_reactor]
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local assign = util.trinary(for_reactor > 0, "reactor unit " .. for_reactor, "the facility")
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-- link redstone to the RTU
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for i = 1, #bank do
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local conn = bank[i]
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local phy_name = conn.relay or "local"
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local mode = rsio.get_io_mode(conn.port)
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if mode == rsio.IO_MODE.DIGITAL_IN then
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def.rtu.link_di(conn.side, conn.color, conn.invert)
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elseif mode == rsio.IO_MODE.DIGITAL_OUT then
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def.rtu.link_do(conn.side, conn.color, conn.invert)
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elseif mode == rsio.IO_MODE.ANALOG_IN then
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def.rtu.link_ai(conn.side)
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elseif mode == rsio.IO_MODE.ANALOG_OUT then
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def.rtu.link_ao(conn.side)
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else
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log.fatal(util.c("sys_config> failed to identify IO mode of ", rsio.to_string(conn.port), " (", entry_iface_name(conn), " @ ", phy_name, ") for ", assign))
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println("sys_config> encountered a software error, check logs")
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return false
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end
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table.insert(conns, conn.port)
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log.debug(util.c("sys_config> linked redstone ", for_reactor, ".", #conns, ": ", rsio.to_string(conn.port), " (", entry_iface_name(conn), ")", " @ ", phy_name, ") for ", assign))
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end
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end
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---@type rtu_registry_entry
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local unit = {
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uid = 0,
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name = def.name,
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type = RTU_UNIT_TYPE.REDSTONE,
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index = false,
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reactor = nil,
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device = def.phy,
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rs_conns = rtu_conns,
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is_multiblock = false,
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formed = nil,
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hw_state = def.hw_state,
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rtu = def.rtu,
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modbus_io = modbus.new(def.rtu, false),
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pkt_queue = nil,
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thread = nil
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}
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table.insert(units, unit)
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local type = util.trinary(def.phy == rs, "redstone", "redstone_relay")
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log.info(util.c("sys_config> initialized RTU unit #", #units, ": ", unit.name, " (", type, ")"))
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unit.uid = #units
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databus.tx_unit_hw_status(unit.uid, unit.hw_state)
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end
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--#endregion
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--#region Mounted Peripherals
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for i = 1, #rtu_devices do
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local entry = rtu_devices[i] ---@type rtu_peri_definition
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local name = entry.name
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local index = entry.index
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local for_reactor = util.trinary(entry.unit == nil, 0, entry.unit)
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-- CHECK: name is a string
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if type(name) ~= "string" then
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local message = util.c("sys_config> device entry #", i, ": device ", name, " isn't a string")
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println(message)
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log.fatal(message)
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return false
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end
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-- CHECK: index type
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if (index ~= nil) and (not util.is_int(index)) then
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local message = util.c("sys_config> device entry #", i, ": index ", index, " isn't valid")
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println(message)
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log.fatal(message)
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return false
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end
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-- CHECK: index range
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local function validate_index(min, max)
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if (not util.is_int(index)) or ((index < min) and (max ~= nil and index > max)) then
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local message = util.c("sys_config> device entry #", i, ": index ", index, " isn't >= ", min)
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if max ~= nil then message = util.c(message, " and <= ", max) end
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println(message)
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log.fatal(message)
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return false
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else return true end
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end
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-- CHECK: reactor is an integer >= 0
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local function validate_assign(for_facility)
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if for_facility and for_reactor ~= 0 then
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local message = util.c("sys_config> device entry #", i, ": must only be for the facility")
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println(message)
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log.fatal(message)
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return false
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elseif (not for_facility) and ((not util.is_int(for_reactor)) or (for_reactor < 1) or (for_reactor > 4)) then
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local message = util.c("sys_config> device entry #", i, ": unit assignment ", for_reactor, " isn't vaild")
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println(message)
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log.fatal(message)
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return false
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else return true end
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end
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local device = ppm.get_periph(name)
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local type ---@type string|nil
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local rtu_iface ---@type rtu_device
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local rtu_type ---@type RTU_UNIT_TYPE
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local is_multiblock = false ---@type boolean
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local formed = nil ---@type boolean|nil
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local faulted = nil ---@type boolean|nil
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if device == nil then
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local message = util.c("sys_config> '", name, "' not found, using placeholder")
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println(message)
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log.warning(message)
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-- mount a virtual (placeholder) device
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type, device = ppm.mount_virtual()
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else
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type = ppm.get_type(name)
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end
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if type == "boilerValve" then
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-- boiler multiblock
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if not validate_index(1, 2) then return false end
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if not validate_assign() then return false end
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rtu_type = RTU_UNIT_TYPE.BOILER_VALVE
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rtu_iface, faulted = boilerv_rtu.new(device)
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is_multiblock = true
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formed = device.isFormed()
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if formed == ppm.ACCESS_FAULT then
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println_ts(util.c("sys_config> failed to check if '", name, "' is formed"))
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log.warning(util.c("sys_config> failed to check if '", name, "' is a formed boiler multiblock"))
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end
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elseif type == "turbineValve" then
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-- turbine multiblock
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if not validate_index(1, 3) then return false end
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if not validate_assign() then return false end
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rtu_type = RTU_UNIT_TYPE.TURBINE_VALVE
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rtu_iface, faulted = turbinev_rtu.new(device)
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is_multiblock = true
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formed = device.isFormed()
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if formed == ppm.ACCESS_FAULT then
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println_ts(util.c("sys_config> failed to check if '", name, "' is formed"))
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log.warning(util.c("sys_config> failed to check if '", name, "' is a formed turbine multiblock"))
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end
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elseif type == "dynamicValve" then
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-- dynamic tank multiblock
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if entry.unit == nil then
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if not validate_index(1, 4) then return false end
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if not validate_assign(true) then return false end
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else
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if not validate_index(1, 1) then return false end
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if not validate_assign() then return false end
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end
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rtu_type = RTU_UNIT_TYPE.DYNAMIC_VALVE
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rtu_iface, faulted = dynamicv_rtu.new(device)
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is_multiblock = true
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formed = device.isFormed()
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if formed == ppm.ACCESS_FAULT then
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println_ts(util.c("sys_config> failed to check if '", name, "' is formed"))
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log.warning(util.c("sys_config> failed to check if '", name, "' is a formed dynamic tank multiblock"))
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end
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elseif type == "inductionPort" then
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-- induction matrix multiblock
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if not validate_assign(true) then return false end
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rtu_type = RTU_UNIT_TYPE.IMATRIX
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rtu_iface, faulted = imatrix_rtu.new(device)
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is_multiblock = true
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formed = device.isFormed()
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if formed == ppm.ACCESS_FAULT then
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println_ts(util.c("sys_config> failed to check if '", name, "' is formed"))
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log.warning(util.c("sys_config> failed to check if '", name, "' is a formed induction matrix multiblock"))
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end
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elseif type == "spsPort" then
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-- SPS multiblock
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if not validate_assign(true) then return false end
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rtu_type = RTU_UNIT_TYPE.SPS
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rtu_iface, faulted = sps_rtu.new(device)
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is_multiblock = true
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formed = device.isFormed()
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if formed == ppm.ACCESS_FAULT then
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println_ts(util.c("sys_config> failed to check if '", name, "' is formed"))
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log.warning(util.c("sys_config> failed to check if '", name, "' is a formed SPS multiblock"))
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end
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elseif type == "solarNeutronActivator" then
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-- SNA
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if not validate_assign() then return false end
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rtu_type = RTU_UNIT_TYPE.SNA
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rtu_iface, faulted = sna_rtu.new(device)
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elseif type == "environmentDetector" or type == "environment_detector" then
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-- advanced peripherals environment detector
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if not validate_index(1) then return false end
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if not validate_assign(entry.unit == nil) then return false end
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rtu_type = RTU_UNIT_TYPE.ENV_DETECTOR
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rtu_iface, faulted = envd_rtu.new(device)
|
|
elseif type == ppm.VIRTUAL_DEVICE_TYPE then
|
|
-- placeholder device
|
|
rtu_type = RTU_UNIT_TYPE.VIRTUAL
|
|
rtu_iface = rtu.init_unit().interface()
|
|
else
|
|
local message = util.c("sys_config> device '", name, "' is not a known type (", type, ")")
|
|
println_ts(message)
|
|
log.fatal(message)
|
|
return false
|
|
end
|
|
|
|
if is_multiblock then
|
|
if not formed then
|
|
if formed == false then
|
|
log.info(util.c("sys_config> device '", name, "' is not formed"))
|
|
else formed = false end
|
|
elseif faulted then
|
|
-- sometimes there is a race condition on server boot where it reports formed, but
|
|
-- the other functions are not yet defined (that's the theory at least). mark as unformed to attempt connection later
|
|
formed = false
|
|
log.warning(util.c("sys_config> device '", name, "' is formed, but initialization had one or more faults: marked as unformed"))
|
|
end
|
|
end
|
|
|
|
---@class rtu_registry_entry
|
|
local rtu_unit = {
|
|
uid = 0, ---@type integer RTU unit ID
|
|
name = name, ---@type string unit name
|
|
type = rtu_type, ---@type RTU_UNIT_TYPE unit type
|
|
index = index or false, ---@type integer|false device index
|
|
reactor = for_reactor, ---@type integer|nil unit/facility assignment
|
|
device = device, ---@type table peripheral reference
|
|
rs_conns = nil, ---@type IO_PORT[][]|nil available redstone connections
|
|
is_multiblock = is_multiblock, ---@type boolean if this is for a multiblock peripheral
|
|
formed = formed, ---@type boolean|nil if this peripheral is currently formed
|
|
hw_state = RTU_HW_STATE.OFFLINE, ---@type RTU_HW_STATE hardware device status
|
|
rtu = rtu_iface, ---@type rtu_device|rtu_rs_device RTU hardware interface
|
|
modbus_io = modbus.new(rtu_iface, true), ---@type modbus MODBUS interface
|
|
pkt_queue = mqueue.new(), ---@type mqueue|nil packet queue
|
|
thread = nil ---@type parallel_thread|nil associated RTU thread
|
|
}
|
|
|
|
rtu_unit.thread = threads.thread__unit_comms(__shared_memory, rtu_unit)
|
|
|
|
table.insert(units, rtu_unit)
|
|
|
|
local for_message = "the facility"
|
|
if for_reactor > 0 then
|
|
for_message = util.c("reactor ", for_reactor)
|
|
end
|
|
|
|
local index_str = util.trinary(index ~= nil, util.c(" [", index, "]"), "")
|
|
log.info(util.c("sys_config> initialized RTU unit #", #units, ": ", name, " (", types.rtu_type_to_string(rtu_type), ")", index_str, " for ", for_message))
|
|
|
|
rtu_unit.uid = #units
|
|
|
|
-- determine hardware status
|
|
if rtu_unit.type == RTU_UNIT_TYPE.VIRTUAL then
|
|
rtu_unit.hw_state = RTU_HW_STATE.OFFLINE
|
|
else
|
|
if rtu_unit.is_multiblock then
|
|
rtu_unit.hw_state = util.trinary(rtu_unit.formed == true, RTU_HW_STATE.OK, RTU_HW_STATE.UNFORMED)
|
|
elseif faulted then
|
|
rtu_unit.hw_state = RTU_HW_STATE.FAULTED
|
|
else
|
|
rtu_unit.hw_state = RTU_HW_STATE.OK
|
|
end
|
|
end
|
|
|
|
-- report hardware status
|
|
databus.tx_unit_hw_status(rtu_unit.uid, rtu_unit.hw_state)
|
|
end
|
|
|
|
--#endregion
|
|
|
|
return true
|
|
end
|
|
|
|
----------------------------------------
|
|
-- start system
|
|
----------------------------------------
|
|
|
|
log.debug("boot> running sys_config()")
|
|
|
|
if sys_config() then
|
|
-- check modem
|
|
if smem_dev.modem == nil then
|
|
println("startup> wireless modem not found")
|
|
log.fatal("no wireless modem on startup")
|
|
return
|
|
end
|
|
|
|
databus.tx_hw_modem(true)
|
|
|
|
-- find and setup all speakers
|
|
local speakers = ppm.get_all_devices("speaker")
|
|
for _, s in pairs(speakers) do
|
|
local sounder = rtu.init_sounder(s)
|
|
|
|
table.insert(smem_dev.sounders, sounder)
|
|
|
|
log.debug(util.c("startup> added speaker, attached as ", sounder.name))
|
|
end
|
|
|
|
databus.tx_hw_spkr_count(#smem_dev.sounders)
|
|
|
|
-- start UI
|
|
local message
|
|
rtu_state.fp_ok, message = renderer.try_start_ui(units, config.FrontPanelTheme, config.ColorMode)
|
|
|
|
if not rtu_state.fp_ok then
|
|
println_ts(util.c("UI error: ", message))
|
|
println("startup> running without front panel")
|
|
log.error(util.c("front panel GUI render failed with error ", message))
|
|
log.info("startup> running in headless mode without front panel")
|
|
end
|
|
|
|
-- start connection watchdog
|
|
smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout)
|
|
log.debug("startup> conn watchdog started")
|
|
|
|
-- setup comms
|
|
smem_sys.nic = network.nic(smem_dev.modem)
|
|
smem_sys.rtu_comms = rtu.comms(RTU_VERSION, smem_sys.nic, smem_sys.conn_watchdog)
|
|
log.debug("startup> comms init")
|
|
|
|
-- init threads
|
|
local main_thread = threads.thread__main(__shared_memory)
|
|
local comms_thread = threads.thread__comms(__shared_memory)
|
|
|
|
-- assemble thread list
|
|
local _threads = { main_thread.p_exec, comms_thread.p_exec }
|
|
for i = 1, #units do
|
|
if units[i].thread ~= nil then
|
|
table.insert(_threads, units[i].thread.p_exec)
|
|
end
|
|
end
|
|
|
|
log.info("startup> completed")
|
|
|
|
-- run threads
|
|
parallel.waitForAll(table.unpack(_threads))
|
|
else
|
|
println("system initialization failed, exiting...")
|
|
end
|
|
|
|
renderer.close_ui()
|
|
|
|
println_ts("exited")
|
|
log.info("exited")
|
|
end
|
|
|
|
if not xpcall(main, crash.handler) then
|
|
pcall(renderer.close_ui)
|
|
crash.exit()
|
|
else
|
|
log.close()
|
|
end
|