cc-mek-scada/rtu/startup.lua

--
-- RTU: Remote Terminal Unit
--

require("/initenv").init_env()

local comms        = require("scada-common.comms")
local crash        = require("scada-common.crash")
local log          = require("scada-common.log")
local mqueue       = require("scada-common.mqueue")
local ppm          = require("scada-common.ppm")
local rsio         = require("scada-common.rsio")
local types        = require("scada-common.types")
local util         = require("scada-common.util")

local config       = require("rtu.config")
local databus      = require("rtu.databus")
local modbus       = require("rtu.modbus")
local renderer     = require("rtu.renderer")
local rtu          = require("rtu.rtu")
local threads      = require("rtu.threads")

local boilerv_rtu  = require("rtu.dev.boilerv_rtu")
local envd_rtu     = require("rtu.dev.envd_rtu")
local imatrix_rtu  = require("rtu.dev.imatrix_rtu")
local redstone_rtu = require("rtu.dev.redstone_rtu")
local sna_rtu      = require("rtu.dev.sna_rtu")
local sps_rtu      = require("rtu.dev.sps_rtu")
local turbinev_rtu = require("rtu.dev.turbinev_rtu")

local RTU_VERSION = "v1.0.5"

local RTU_UNIT_TYPE = types.RTU_UNIT_TYPE
local RTU_UNIT_HW_STATE = databus.RTU_UNIT_HW_STATE

local println = util.println
local println_ts = util.println_ts

----------------------------------------
-- config validation
----------------------------------------

local cfv = util.new_validator()

cfv.assert_port(config.SERVER_PORT)
cfv.assert_port(config.LISTEN_PORT)
cfv.assert_type_int(config.TRUSTED_RANGE)
cfv.assert_type_num(config.COMMS_TIMEOUT)
cfv.assert_min(config.COMMS_TIMEOUT, 2)
cfv.assert_type_str(config.LOG_PATH)
cfv.assert_type_int(config.LOG_MODE)
cfv.assert_type_bool(config.LOG_DEBUG)
cfv.assert_type_table(config.RTU_DEVICES)
cfv.assert_type_table(config.RTU_REDSTONE)
assert(cfv.valid(), "bad config file: missing/invalid fields")

----------------------------------------
-- log init
----------------------------------------

log.init(config.LOG_PATH, config.LOG_MODE, config.LOG_DEBUG)

log.info("========================================")
log.info("BOOTING rtu.startup " .. RTU_VERSION)
log.info("========================================")
println(">> RTU GATEWAY " .. RTU_VERSION .. " <<")

crash.set_env("rtu", RTU_VERSION)

----------------------------------------
-- main application
----------------------------------------

local function main()
    ----------------------------------------
    -- startup
    ----------------------------------------

    -- record firmware versions and ID
    databus.tx_versions(RTU_VERSION, comms.version)

    -- mount connected devices
    ppm.mount_all()

    ---@class rtu_shared_memory
    local __shared_memory = {
        -- RTU system state flags
        ---@class rtu_state
        rtu_state = {
            fp_ok = false,
            linked = false,
            shutdown = false
        },

        -- core RTU devices
        rtu_dev = {
            modem = ppm.get_wireless_modem()
        },

        -- system objects
        rtu_sys = {
            rtu_comms = nil,        ---@type rtu_comms
            conn_watchdog = nil,    ---@type watchdog
            units = {}              ---@type table
        },

        -- message queues
        q = {
            mq_comms = mqueue.new()
        }
    }

    local smem_dev = __shared_memory.rtu_dev
    local smem_sys = __shared_memory.rtu_sys

    -- get modem
    if smem_dev.modem == nil then
        println("boot> wireless modem not found")
        log.fatal("no wireless modem on startup")
        return
    end

    databus.tx_hw_modem(true)

    ----------------------------------------
    -- interpret config and init units
    ----------------------------------------

    local units = __shared_memory.rtu_sys.units

    local rtu_redstone = config.RTU_REDSTONE
    local rtu_devices = config.RTU_DEVICES

    -- configure RTU gateway based on config file definitions
    local function configure()
        -- redstone interfaces
        for entry_idx = 1, #rtu_redstone do
            local rs_rtu = redstone_rtu.new()
            local io_table = rtu_redstone[entry_idx].io             ---@type table
            local io_reactor = rtu_redstone[entry_idx].for_reactor  ---@type integer

            -- CHECK: reactor ID must be >= to 1
            if (not util.is_int(io_reactor)) or (io_reactor < 0) then
                local message = util.c("configure> redstone entry #", entry_idx, " : ", io_reactor, " isn't an integer >= 0")
                println(message)
                log.fatal(message)
                return false
            end

            -- CHECK: io table exists
            if type(io_table) ~= "table" then
                local message = util.c("configure> redstone entry #", entry_idx, " no IO table found")
                println(message)
                log.fatal(message)
                return false
            end

            local capabilities = {}

            log.debug(util.c("configure> starting redstone RTU I/O linking for reactor ", io_reactor, "..."))

            local continue = true

            -- CHECK: no duplicate entries
            for i = 1, #units do
                local unit = units[i]   ---@type rtu_unit_registry_entry
                if unit.reactor == io_reactor and unit.type == RTU_UNIT_TYPE.REDSTONE then
                    -- duplicate entry
                    local message = util.c("configure> skipping definition block #", entry_idx, " for reactor ", io_reactor,
                        " with already defined redstone I/O")
                    println(message)
                    log.warning(message)
                    continue = false
                    break
                end
            end

            -- not a duplicate
            if continue then
                for i = 1, #io_table do
                    local valid = false
                    local conf = io_table[i]

                    -- verify configuration
                    if rsio.is_valid_port(conf.port) and rsio.is_valid_side(conf.side) then
                        if conf.bundled_color then
                            valid = rsio.is_color(conf.bundled_color)
                        else
                            valid = true
                        end
                    end

                    if not valid then
                        local message = util.c("configure> invalid redstone definition at index ", i, " in definition block #", entry_idx,
                            " (for reactor ", io_reactor, ")")
                        println(message)
                        log.fatal(message)
                        return false
                    else
                        -- link redstone in RTU
                        local mode = rsio.get_io_mode(conf.port)
                        if mode == rsio.IO_MODE.DIGITAL_IN then
                            -- can't have duplicate inputs
                            if util.table_contains(capabilities, conf.port) then
                                local message = util.c("configure> skipping duplicate input for port ", rsio.to_string(conf.port), " on side ", conf.side)
                                println(message)
                                log.warning(message)
                            else
                                rs_rtu.link_di(conf.side, conf.bundled_color)
                            end
                        elseif mode == rsio.IO_MODE.DIGITAL_OUT then
                            rs_rtu.link_do(conf.side, conf.bundled_color)
                        elseif mode == rsio.IO_MODE.ANALOG_IN then
                            -- can't have duplicate inputs
                            if util.table_contains(capabilities, conf.port) then
                                local message = util.c("configure> skipping duplicate input for port ", rsio.to_string(conf.port), " on side ", conf.side)
                                println(message)
                                log.warning(message)
                            else
                                rs_rtu.link_ai(conf.side)
                            end
                        elseif mode == rsio.IO_MODE.ANALOG_OUT then
                            rs_rtu.link_ao(conf.side)
                        else
                            -- should be unreachable code, we already validated ports
                            log.error("configure> fell through if chain attempting to identify IO mode", true)
                            println("configure> encountered a software error, check logs")
                            return false
                        end

                        table.insert(capabilities, conf.port)

                        log.debug(util.c("configure> linked redstone ", #capabilities, ": ", rsio.to_string(conf.port),
                            " (", conf.side, ") for reactor ", io_reactor))
                    end
                end

                ---@class rtu_unit_registry_entry
                local unit = {
                    uid = 0,                        ---@type integer
                    name = "redstone_io",           ---@type string
                    type = RTU_UNIT_TYPE.REDSTONE,  ---@type RTU_UNIT_TYPE
                    index = entry_idx,              ---@type integer
                    reactor = io_reactor,           ---@type integer
                    device = capabilities,          ---@type table use device field for redstone ports
                    is_multiblock = false,          ---@type boolean
                    formed = nil,                   ---@type boolean|nil
                    rtu = rs_rtu,                   ---@type rtu_device|rtu_rs_device
                    modbus_io = modbus.new(rs_rtu, false),
                    pkt_queue = nil,                ---@type mqueue|nil
                    thread = nil                    ---@type parallel_thread|nil
                }

                table.insert(units, unit)

                local for_message = "facility"
                if io_reactor > 0 then
                    for_message = util.c("reactor ", io_reactor)
                end

                log.info(util.c("configure> initialized RTU unit #", #units, ": redstone_io (redstone) [1] for ", for_message))

                unit.uid = #units

                databus.tx_unit_hw_status(unit.uid, RTU_UNIT_HW_STATE.OK)
            end
        end

        -- mounted peripherals
        for i = 1, #rtu_devices do
            local name = rtu_devices[i].name
            local index = rtu_devices[i].index
            local for_reactor = rtu_devices[i].for_reactor

            -- CHECK: name is a string
            if type(name) ~= "string" then
                local message = util.c("configure> device entry #", i, ": device ", name, " isn't a string")
                println(message)
                log.fatal(message)
                return false
            end

            -- CHECK: index is an integer >= 1
            if (not util.is_int(index)) or (index <= 0) then
                local message = util.c("configure> device entry #", i, ": index ", index, " isn't an integer >= 1")
                println(message)
                log.fatal(message)
                return false
            end

            -- CHECK: reactor is an integer >= 0
            if (not util.is_int(for_reactor)) or (for_reactor < 0) then
                local message = util.c("configure> device entry #", i, ": reactor ", for_reactor, " isn't an integer >= 0")
                println(message)
                log.fatal(message)
                return false
            end

            local device = ppm.get_periph(name)

            local type                  ---@type string|nil
            local rtu_iface             ---@type rtu_device
            local rtu_type              ---@type RTU_UNIT_TYPE
            local is_multiblock = false ---@type boolean
            local formed = nil          ---@type boolean|nil
            local faulted = nil         ---@type boolean|nil

            if device == nil then
                local message = util.c("configure> '", name, "' not found, using placeholder")
                println(message)
                log.warning(message)

                -- mount a virtual (placeholder) device
                type, device = ppm.mount_virtual()
            else
                type = ppm.get_type(name)
            end

            if type == "boilerValve" then
                -- boiler multiblock
                rtu_type = RTU_UNIT_TYPE.BOILER_VALVE
                rtu_iface, faulted = boilerv_rtu.new(device)
                is_multiblock = true
                formed = device.isFormed()

                if formed == ppm.UNDEFINED_FIELD or formed == ppm.ACCESS_FAULT then
                    println_ts(util.c("configure> failed to check if  '", name, "' is formed"))
                    log.fatal(util.c("configure> failed to check if  '", name, "' is a formed boiler multiblock"))
                    return false
                end
            elseif type == "turbineValve" then
                -- turbine multiblock
                rtu_type = RTU_UNIT_TYPE.TURBINE_VALVE
                rtu_iface, faulted = turbinev_rtu.new(device)
                is_multiblock = true
                formed = device.isFormed()

                if formed == ppm.UNDEFINED_FIELD or formed == ppm.ACCESS_FAULT then
                    println_ts(util.c("configure> failed to check if  '", name, "' is formed"))
                    log.fatal(util.c("configure> failed to check if  '", name, "' is a formed turbine multiblock"))
                    return false
                end
            elseif type == "inductionPort" then
                -- induction matrix multiblock
                rtu_type = RTU_UNIT_TYPE.IMATRIX
                rtu_iface, faulted = imatrix_rtu.new(device)
                is_multiblock = true
                formed = device.isFormed()

                if formed == ppm.UNDEFINED_FIELD or formed == ppm.ACCESS_FAULT then
                    println_ts(util.c("configure> failed to check if  '", name, "' is formed"))
                    log.fatal(util.c("configure> failed to check if  '", name, "' is a formed induction matrix multiblock"))
                    return false
                end
            elseif type == "spsPort" then
                -- SPS multiblock
                rtu_type = RTU_UNIT_TYPE.SPS
                rtu_iface, faulted = sps_rtu.new(device)
                is_multiblock = true
                formed = device.isFormed()

                if formed == ppm.UNDEFINED_FIELD or formed == ppm.ACCESS_FAULT then
                    println_ts(util.c("configure> failed to check if  '", name, "' is formed"))
                    log.fatal(util.c("configure> failed to check if  '", name, "' is a formed SPS multiblock"))
                    return false
                end
            elseif type == "solarNeutronActivator" then
                -- SNA
                rtu_type = RTU_UNIT_TYPE.SNA
                rtu_iface, faulted = sna_rtu.new(device)
            elseif type == "environmentDetector" then
                -- advanced peripherals environment detector
                rtu_type = RTU_UNIT_TYPE.ENV_DETECTOR
                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("configure> 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
                    log.info(util.c("configure> device '", name, "' is not formed"))
                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("configure> device '", name, "' is formed, but initialization had one or more faults: marked as unformed"))
                end
            end

            ---@class rtu_unit_registry_entry
            local rtu_unit = {
                uid = 0,                                ---@type integer
                name = name,                            ---@type string
                type = rtu_type,                        ---@type RTU_UNIT_TYPE
                index = index,                          ---@type integer
                reactor = for_reactor,                  ---@type integer
                device = device,                        ---@type table
                is_multiblock = is_multiblock,          ---@type boolean
                formed = formed,                        ---@type boolean|nil
                rtu = rtu_iface,                        ---@type rtu_device|rtu_rs_device
                modbus_io = modbus.new(rtu_iface, true),
                pkt_queue = mqueue.new(),               ---@type mqueue|nil
                thread = nil                            ---@type parallel_thread|nil
            }

            rtu_unit.thread = threads.thread__unit_comms(__shared_memory, rtu_unit)

            table.insert(units, rtu_unit)

            local for_message = "facility"
            if for_reactor > 0 then
                for_message = util.c("reactor ", for_reactor)
            end

            log.info(util.c("configure> initialized RTU unit #", #units, ": ", name, " (", types.rtu_type_to_string(rtu_type), ") [", index, "] for ", for_message))

            rtu_unit.uid = #units

            -- report hardware status
            if rtu_unit.type == RTU_UNIT_TYPE.VIRTUAL then
                databus.tx_unit_hw_status(rtu_unit.uid, RTU_UNIT_HW_STATE.OFFLINE)
            else
                if rtu_unit.is_multiblock then
                    databus.tx_unit_hw_status(rtu_unit.uid, util.trinary(rtu_unit.formed == true, RTU_UNIT_HW_STATE.OK, RTU_UNIT_HW_STATE.UNFORMED))
                elseif faulted then
                    databus.tx_unit_hw_status(rtu_unit.uid, RTU_UNIT_HW_STATE.FAULTED)
                else
                    databus.tx_unit_hw_status(rtu_unit.uid, RTU_UNIT_HW_STATE.OK)
                end
            end

        end

        -- we made it through all that trusting-user-to-write-a-config-file chaos
        return true
    end

    ----------------------------------------
    -- start system
    ----------------------------------------

    local rtu_state = __shared_memory.rtu_state

    log.debug("boot> running configure()")

    if configure() then
        -- start UI
        local message
        rtu_state.fp_ok, message = pcall(renderer.start_ui, units)

        if not rtu_state.fp_ok then
            renderer.close_ui()
            println_ts(util.c("UI error: ", message))
            println("init> running without front panel")
            log.error(util.c("GUI crashed with error ", message))
            log.info("init> running in headless mode without front panel")
        end

        -- start connection watchdog
        smem_sys.conn_watchdog = util.new_watchdog(config.COMMS_TIMEOUT)
        log.debug("startup> conn watchdog started")

        -- setup comms
        smem_sys.rtu_comms = rtu.comms(RTU_VERSION, smem_dev.modem, config.LISTEN_PORT, config.SERVER_PORT,
                                        config.TRUSTED_RANGE, 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("configuration 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