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#32 parallel reactor PLC code

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This commit is contained in:
Mikayla Fischler 2022-04-25 11:40:53 -04:00
parent c46a7b2486
commit 0fc49d312d
4 changed files with 358 additions and 228 deletions
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19
reactor-plc/plc.lua
View File

@ -89,7 +89,7 @@ function iss_init(reactor)
log._error("ISS: failed to check reactor coolant level")
return false
else
return coolant_filled < 2
return coolant_filled < 0.02
end
end
@ -122,7 +122,9 @@ function iss_init(reactor)
}
-- check system states in order of severity
if self.cache[1] then
if self.tripped then
status = self.trip_cause
elseif self.cache[1] then
log._warning("ISS: damage critical!")
status = "dmg_crit"
elseif self.cache[4] then
@ -143,25 +145,24 @@ function iss_init(reactor)
elseif self.timed_out then
log._warning("ISS: supervisor connection timeout!")
status = "timeout"
elseif self.tripped then
status = self.trip_cause
else
self.tripped = false
end
-- if a trip occured...
if status ~= "ok" then
-- if a new trip occured...
local first_trip = false
if not was_tripped and status ~= "ok" then
log._warning("ISS: reactor SCRAM")
first_trip = true
self.tripped = true
self.trip_cause = status
self.reactor.scram()
if self.reactor.__p_is_faulted() then
log._error("ISS: failed reactor SCRAM")
end
end
-- evaluate if this is a new trip
local first_trip = not was_tripped and self.tripped
return self.tripped, status, first_trip
end

261
reactor-plc/startup.lua
View File

@ -9,8 +9,9 @@ os.loadAPI("scada-common/comms.lua")
os.loadAPI("config.lua")
os.loadAPI("plc.lua")
os.loadAPI("threads.lua")
local R_PLC_VERSION = "alpha-v0.2.8"
local R_PLC_VERSION = "alpha-v0.3.0"
local print = util.print
local println = util.println
@ -25,21 +26,37 @@ println(">> Reactor PLC " .. R_PLC_VERSION .. " <<")
-- mount connected devices
ppm.mount_all()
local reactor = ppm.get_fission_reactor()
local modem = ppm.get_wireless_modem()
-- shared memory across threads
local __shared_memory = {
networked = config.NETWORKED,
local networked = config.NETWORKED
plc_state = {
init_ok = true,
scram = true,
degraded = false,
no_reactor = false,
no_modem = false
},
plc_devices = {
reactor = ppm.get_fission_reactor(),
modem = ppm.get_wireless_modem()
},
local plc_state = {
init_ok = true,
scram = true,
degraded = false,
no_reactor = false,
no_modem = false
system = {
iss = nil,
plc_comms = nil,
conn_watchdog = nil
}
}
local smem_dev = __shared_memory.plc_devices
local smem_sys = __shared_memory.system
local plc_state = __shared_memory.plc_state
-- we need a reactor and a modem
if reactor == nil then
if smem_dev.reactor == nil then
println("boot> fission reactor not found");
log._warning("no reactor on startup")
@ -47,12 +64,12 @@ if reactor == nil then
plc_state.degraded = true
plc_state.no_reactor = true
end
if networked and modem == nil then
if networked and smem_dev.modem == nil then
println("boot> wireless modem not found")
log._warning("no wireless modem on startup")
if reactor ~= nil then
reactor.scram()
if smem_dev.reactor ~= nil then
smem_dev.reactor.scram()
end
plc_state.init_ok = false
@ -60,43 +77,29 @@ if networked and modem == nil then
plc_state.no_modem = true
end
local iss = nil
local plc_comms = nil
local conn_watchdog = nil
-- send status updates at ~3.33Hz (every 6 server ticks) (every 3 loop ticks)
-- send link requests at 0.5Hz (every 40 server ticks) (every 20 loop ticks)
local UPDATE_TICKS = 3
local LINK_TICKS = 20
local loop_clock = nil
local ticks_to_update = LINK_TICKS -- start by linking
function init()
if plc_state.init_ok then
-- just booting up, no fission allowed (neutrons stay put thanks)
reactor.scram()
smem_dev.reactor.scram()
-- init internal safety system
iss = plc.iss_init(reactor)
smem_sys.iss = plc.iss_init(smem_dev.reactor)
log._debug("iss init")
if networked then
if __shared_memory.networked then
-- start comms
plc_comms = plc.comms_init(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor, iss)
smem_sys.plc_comms = plc.comms_init(config.REACTOR_ID, smem_dev.modem, config.LISTEN_PORT, config.SERVER_PORT, smem_dev.reactor, smem_sys.iss)
log._debug("comms init")
-- comms watchdog, 3 second timeout
conn_watchdog = util.new_watchdog(3)
smem_sys.conn_watchdog = util.new_watchdog(3)
log._debug("conn watchdog started")
else
println("boot> starting in offline mode");
log._debug("running without networking")
end
-- loop clock (10Hz, 2 ticks)
loop_clock = os.startTimer(0.1)
log._debug("loop clock started")
os.queueEvent("clock_start")
println("boot> completed");
else
@ -108,191 +111,13 @@ end
-- initialize PLC
init()
-- event loop
while true do
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
-- init threads
local main_thread = threads.thread__main(__shared_memory, init)
local iss_thread = threads.thread__iss(__shared_memory)
-- local comms_thread = plc.thread__comms(__shared_memory)
if plc_state.init_ok then
-- if we tried to SCRAM but failed, keep trying
-- if it disconnected, isPowered will return nil (and error logs will get spammed at 10Hz, so disable reporting)
-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
ppm.disable_reporting()
if plc_state.scram and reactor.getStatus() then
reactor.scram()
end
ppm.enable_reporting()
end
-- check for peripheral changes before ISS checks
if event == "peripheral_detach" then
local device = ppm.handle_unmount(param1)
if device.type == "fissionReactor" then
println_ts("reactor disconnected!")
log._error("reactor disconnected!")
plc_state.no_reactor = true
plc_state.degraded = true
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ?
elseif networked and device.type == "modem" then
-- we only care if this is our wireless modem
if device.dev == modem then
println_ts("wireless modem disconnected!")
log._error("comms modem disconnected!")
plc_state.no_modem = true
if plc_state.init_ok then
-- try to scram reactor if it is still connected
plc_state.scram = true
if reactor.scram() then
println_ts("successful reactor SCRAM")
log._error("successful reactor SCRAM")
else
println_ts("failed reactor SCRAM")
log._error("failed reactor SCRAM")
end
end
plc_state.degraded = true
else
log._warning("non-comms modem disconnected")
end
end
elseif event == "peripheral" then
local type, device = ppm.mount(param1)
if type == "fissionReactor" then
-- reconnected reactor
reactor = device
plc_state.scram = true
reactor.scram()
println_ts("reactor reconnected.")
log._info("reactor reconnected.")
plc_state.no_reactor = false
if plc_state.init_ok then
iss.reconnect_reactor(reactor)
if networked then
plc_comms.reconnect_reactor(reactor)
end
end
-- determine if we are still in a degraded state
if not networked or ppm.get_device("modem") ~= nil then
plc_state.degraded = false
end
elseif networked and type == "modem" then
if device.isWireless() then
-- reconnected modem
modem = device
if plc_state.init_ok then
plc_comms.reconnect_modem(modem)
end
println_ts("wireless modem reconnected.")
log._info("comms modem reconnected.")
plc_state.no_modem = false
-- determine if we are still in a degraded state
if ppm.get_device("fissionReactor") ~= nil then
plc_state.degraded = false
end
else
log._info("wired modem reconnected.")
end
end
if not plc_state.init_ok and not plc_state.degraded then
plc_state.init_ok = true
init()
end
end
-- ISS
if plc_state.init_ok then
-- if we are in standalone mode, continuously reset ISS
-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
if not networked then
plc_state.scram = false
iss.reset()
end
-- check safety (SCRAM occurs if tripped)
if not plc_state.degraded then
local iss_tripped, iss_status_string, iss_first = iss.check()
plc_state.scram = plc_state.scram or iss_tripped
if iss_first then
println_ts("[ISS] reactor shutdown, safety tripped: " .. iss_status_string)
if networked then
plc_comms.send_iss_alarm(iss_status_string)
end
end
elseif not plc_state.no_reactor then
-- degraded but we have a reactor
reactor.scram()
end
end
-- handle event
if event == "timer" and param1 == loop_clock then
-- basic event tick, send updated data if it is time (~3.33Hz)
-- iss was already checked (that's the main reason for this tick rate)
if networked and not plc_state.no_modem then
ticks_to_update = ticks_to_update - 1
if plc_comms.is_linked() then
if ticks_to_update <= 0 then
plc_comms.send_status(iss_tripped, plc_state.degraded)
plc_comms.send_iss_status()
ticks_to_update = UPDATE_TICKS
end
else
if ticks_to_update <= 0 then
plc_comms.send_link_req()
ticks_to_update = LINK_TICKS
end
end
end
-- start next clock timer
loop_clock = os.startTimer(0.1)
elseif event == "modem_message" and networked and not plc_state.no_modem then
-- got a packet
-- feed the watchdog first so it doesn't uhh...eat our packets
conn_watchdog.feed()
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5)
plc_comms.handle_packet(packet, plc_state)
elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
-- haven't heard from server recently? shutdown reactor
plc_state.scram = true
plc_comms.unlink()
iss.trip_timeout()
println_ts("server timeout, reactor disabled")
log._warning("server timeout, reactor disabled")
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
-- safe exit
log._warning("terminate requested, exiting...")
if plc_state.init_ok then
plc_state.scram = true
reactor.scram()
if reactor.__p_is_ok() then
println_ts("reactor disabled")
else
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_LOST_CONTROL) ?
println_ts("exiting, reactor failed to disable")
end
end
break
end
end
-- run threads
parallel.waitForAll(main_thread.exec, iss_thread.exec)
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_SHUTDOWN) ?
println_ts("exited")

304
reactor-plc/threads.lua Normal file
View File

@ -0,0 +1,304 @@
-- #REQUIRES comms.lua
-- #REQUIRES ppm.lua
-- #REQUIRES plc.lua
-- #REQUIRES util.lua
local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
local async_wait = util.async_wait
local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
local ISS_CLOCK = 0.5 -- (2Hz, 10 ticks)
local ISS_EVENT = {
SCRAM = 1,
DEGRADED_SCRAM = 2,
TRIP_TIMEOUT = 3
}
-- main thread
function thread__main(shared_memory, init)
-- execute thread
local exec = function ()
-- send status updates at 2Hz (every 10 server ticks) (every loop tick)
-- send link requests at 0.5Hz (every 40 server ticks) (every 4 loop ticks)
local LINK_TICKS = 4
local loop_clock = nil
local ticks_to_update = LINK_TICKS -- start by linking
-- load in from shared memory
local networked = shared_memory.networked
local plc_state = shared_memory.plc_state
local plc_devices = shared_memory.plc_devices
local iss = shared_memory.system.iss
local plc_comms = shared_memory.system.plc_comms
local conn_watchdog = shared_memory.system.conn_watchdog
-- debug
-- local last_update = util.time()
-- event loop
while true do
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
-- handle event
if event == "timer" and param1 == loop_clock then
-- core clock tick
if networked then
-- start next clock timer
loop_clock = os.startTimer(MAIN_CLOCK)
-- send updated data
if not plc_state.no_modem then
if plc_comms.is_linked() then
async_wait(function ()
plc_comms.send_status(iss_tripped, plc_state.degraded)
plc_comms.send_iss_status()
end)
else
ticks_to_update = ticks_to_update - 1
if ticks_to_update <= 0 then
plc_comms.send_link_req()
ticks_to_update = LINK_TICKS
end
end
end
-- debug
-- print(util.time() - last_update)
-- println("ms")
-- last_update = util.time()
end
elseif event == "modem_message" and networked and not plc_state.no_modem then
-- got a packet
-- feed the watchdog first so it doesn't uhh...eat our packets
conn_watchdog.feed()
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5)
async_wait(function () plc_comms.handle_packet(packet, plc_state) end)
elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
-- haven't heard from server recently? shutdown reactor
println("timed out, passing event")
plc_comms.unlink()
os.queueEvent("iss_command", ISS_EVENT.TRIP_TIMEOUT)
elseif event == "peripheral_detach" then
-- peripheral disconnect
local device = ppm.handle_unmount(param1)
if device.type == "fissionReactor" then
println_ts("reactor disconnected!")
log._error("reactor disconnected!")
plc_state.no_reactor = true
plc_state.degraded = true
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ?
elseif networked and device.type == "modem" then
-- we only care if this is our wireless modem
if device.dev == modem then
println_ts("wireless modem disconnected!")
log._error("comms modem disconnected!")
plc_state.no_modem = true
if plc_state.init_ok then
-- try to scram reactor if it is still connected
os.queueEvent("iss_command", ISS_EVENT.DEGRADED_SCRAM)
end
plc_state.degraded = true
else
log._warning("non-comms modem disconnected")
end
end
elseif event == "peripheral" then
-- peripheral connect
local type, device = ppm.mount(param1)
if type == "fissionReactor" then
-- reconnected reactor
plc_devices.reactor = device
os.queueEvent("iss_command", ISS_EVENT.SCRAM)
println_ts("reactor reconnected.")
log._info("reactor reconnected.")
plc_state.no_reactor = false
if plc_state.init_ok then
iss.reconnect_reactor(plc_devices.reactor)
if networked then
plc_comms.reconnect_reactor(plc_devices.reactor)
end
end
-- determine if we are still in a degraded state
if not networked or ppm.get_device("modem") ~= nil then
plc_state.degraded = false
end
elseif networked and type == "modem" then
if device.isWireless() then
-- reconnected modem
plc_devices.modem = device
if plc_state.init_ok then
plc_comms.reconnect_modem(plc_devices.modem)
end
println_ts("wireless modem reconnected.")
log._info("comms modem reconnected.")
plc_state.no_modem = false
-- determine if we are still in a degraded state
if ppm.get_device("fissionReactor") ~= nil then
plc_state.degraded = false
end
else
log._info("wired modem reconnected.")
end
end
if not plc_state.init_ok and not plc_state.degraded then
plc_state.init_ok = true
init()
end
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(MAIN_CLOCK)
log._debug("loop clock started")
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
-- iss handles reactor shutdown
log._warning("terminate requested, main thread exiting")
break
end
end
end
return { exec = exec }
end
-- ISS monitor thread
function thread__iss(shared_memory)
-- execute thread
local exec = function ()
local loop_clock = nil
-- load in from shared memory
local networked = shared_memory.networked
local plc_state = shared_memory.plc_state
local plc_devices = shared_memory.plc_devices
local iss = shared_memory.system.iss
local plc_comms = shared_memory.system.plc_comms
-- debug
-- local last_update = util.time()
-- event loop
while true do
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
local reactor = shared_memory.plc_devices.reactor
if event == "timer" and param1 == loop_clock then
-- start next clock timer
loop_clock = os.startTimer(ISS_CLOCK)
-- ISS checks
if plc_state.init_ok then
-- if we tried to SCRAM but failed, keep trying
-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
async_wait(function ()
if not plc_state.no_reactor and plc_state.scram and reactor.getStatus() then
reactor.scram()
end
end)
-- if we are in standalone mode, continuously reset ISS
-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
if not networked then
plc_state.scram = false
iss.reset()
end
-- check safety (SCRAM occurs if tripped)
async_wait(function ()
if not plc_state.degraded then
local iss_tripped, iss_status_string, iss_first = iss.check()
plc_state.scram = plc_state.scram or iss_tripped
if iss_first then
println_ts("[ISS] SCRAM! safety trip: " .. iss_status_string)
if networked then
plc_comms.send_iss_alarm(iss_status_string)
end
end
end
end)
end
-- debug
-- print(util.time() - last_update)
-- println("ms")
-- last_update = util.time()
elseif event == "iss_command" then
-- handle ISS commands
println("got iss command?")
if param1 == ISS_EVENT.SCRAM then
-- basic SCRAM
plc_state.scram = true
async_wait(reactor.scram)
elseif param1 == ISS_EVENT.DEGRADED_SCRAM then
-- SCRAM with print
plc_state.scram = true
async_wait(function ()
if reactor.scram() then
println_ts("successful reactor SCRAM")
log._error("successful reactor SCRAM")
else
println_ts("failed reactor SCRAM")
log._error("failed reactor SCRAM")
end
end)
elseif param1 == ISS_EVENT.TRIP_TIMEOUT then
-- watchdog tripped
plc_state.scram = true
iss.trip_timeout()
println_ts("server timeout, reactor disabled")
log._warning("server timeout, reactor disabled")
end
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(ISS_CLOCK)
log._debug("loop clock started")
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
-- safe exit
log._warning("terminate requested, iss thread shutdown")
if plc_state.init_ok then
plc_state.scram = true
async_wait(reactor.scram)
if reactor.__p_is_ok() then
println_ts("reactor disabled")
else
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_LOST_CONTROL) ?
println_ts("exiting, reactor failed to disable")
end
end
break
end
end
end
return { exec = exec }
end

2
scada-common/util.lua
View File

@ -40,7 +40,7 @@ end
-- PARALLELIZATION --
-- block waiting for parallel call
function task_wait(f)
function async_wait(f)
parallel.waitForAll(f)
end