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#17 PLC ramp burn rate to setpoint

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This commit is contained in:
Mikayla Fischler 2022-04-29 22:27:54 -04:00
parent e1135eac01
commit 10aa34a8e8
3 changed files with 111 additions and 19 deletions
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20
reactor-plc/plc.lua
View File

@ -357,12 +357,12 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
end
local sys_status = {
util.time(),
(not self.scrammed),
iss.is_tripped(),
degraded,
self.reactor.getHeatingRate(),
mek_data
util.time(), -- timestamp
(not self.scrammed), -- enabled
iss.is_tripped(), -- overridden
degraded, -- degraded
self.reactor.getHeatingRate(), -- heating rate
mek_data -- mekanism status data
}
_send(RPLC_TYPES.STATUS, sys_status)
@ -411,7 +411,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
end
-- handle an RPLC packet
local handle_packet = function (packet, plc_state, conn_watchdog)
local handle_packet = function (packet, plc_state, setpoints, conn_watchdog)
if packet ~= nil then
-- check sequence number
if self.r_seq_num == nil then
@ -499,11 +499,11 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.max_burn_rate = max_burn_rate
end
-- if we know our max burn rate, update current burn rate if in range
-- if we know our max burn rate, update current burn rate setpoint if in range
if max_burn_rate ~= ppm.ACCESS_FAULT then
if burn_rate > 0 and burn_rate <= max_burn_rate then
self.reactor.setBurnRate(burn_rate)
success = self.reactor.__p_is_ok()
setpoints.burn_rate = burn_rate
success = true
end
end

11
reactor-plc/startup.lua
View File

@ -12,7 +12,7 @@ os.loadAPI("config.lua")
os.loadAPI("plc.lua")
os.loadAPI("threads.lua")
local R_PLC_VERSION = "alpha-v0.4.11"
local R_PLC_VERSION = "alpha-v0.4.12"
local print = util.print
local println = util.println
@ -43,6 +43,10 @@ local __shared_memory = {
no_reactor = false,
no_modem = false
},
setpoints = {
burn_rate = 0.0
},
-- core PLC devices
plc_dev = {
@ -135,8 +139,11 @@ if __shared_memory.networked then
local comms_thread_tx = threads.thread__comms_tx(__shared_memory)
local comms_thread_rx = threads.thread__comms_rx(__shared_memory)
-- setpoint control only needed when networked
local sp_ctrl_thread = threads.thread__setpoint_control(__shared_memory)
-- run threads
parallel.waitForAll(main_thread.exec, iss_thread.exec, comms_thread_tx.exec, comms_thread_rx.exec)
parallel.waitForAll(main_thread.exec, iss_thread.exec, comms_thread_tx.exec, comms_thread_rx.exec, sp_ctrl_thread.exec)
else
-- run threads, excluding comms
parallel.waitForAll(main_thread.exec, iss_thread.exec)

99
reactor-plc/threads.lua
View File

@ -10,9 +10,12 @@ local println_ts = util.println_ts
local psleep = util.psleep
local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
local ISS_SLEEP = 500 -- (500ms, 10 ticks)
local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
local ISS_SLEEP = 500 -- (500ms, 10 ticks)
local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
local SP_CTRL_SLEEP = 250 -- (250ms, 5 ticks)
local BURN_RATE_RAMP_mB_s = 5.0
local MQ__ISS_CMD = {
SCRAM = 1,
@ -196,7 +199,7 @@ function thread__iss(smem)
-- thread loop
while true do
local reactor = smem.plc_dev.reactor
local reactor = plc_dev.reactor
-- ISS checks
if plc_state.init_ok then
@ -292,7 +295,7 @@ function thread__iss(smem)
return { exec = exec }
end
-- communications handler thread
-- communications sender thread
function thread__comms_tx(smem)
-- execute thread
local exec = function ()
@ -343,6 +346,7 @@ function thread__comms_tx(smem)
return { exec = exec }
end
-- communications handler thread
function thread__comms_rx(smem)
-- execute thread
local exec = function ()
@ -350,6 +354,7 @@ function thread__comms_rx(smem)
-- load in from shared memory
local plc_state = smem.plc_state
local setpoints = smem.setpoints
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog
@ -369,8 +374,10 @@ function thread__comms_rx(smem)
-- received data
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
plc_comms.handle_packet(msg.message, plc_state, conn_watchdog)
-- handle the packet (setpoints passed to update burn rate setpoint)
-- (plc_state passed to allow clearing SCRAM flag and check if degraded)
-- (conn_watchdog passed to allow feeding the watchdog)
plc_comms.handle_packet(msg.message, setpoints, plc_state, conn_watchdog)
end
-- quick yield
@ -390,3 +397,81 @@ function thread__comms_rx(smem)
return { exec = exec }
end
-- apply setpoints
function thread__setpoint_control(smem)
-- execute thread
local exec = function ()
log._debug("comms rx thread start")
-- load in from shared memory
local plc_state = smem.plc_state
local setpoints = smem.setpoints
local plc_dev = smem.plc_dev
local last_update = util.time()
local running = false
local last_sp_burn = 0
-- thread loop
while true do
local reactor = plc_dev.reactor
-- check if we should start ramping
if setpoints.burn_rate ~= last_sp_burn then
last_sp_burn = setpoints.burn_rate
running = true
end
-- only check I/O if active to save on processing time
if running then
-- do not use the actual elapsed time, it could spike
-- we do not want to have big jumps as that is what we are trying to avoid in the first place
local min_elapsed_s = SETPOINT_CTRL_SLEEP / 1000.0
-- clear so we can later evaluate if we should keep running
running = false
-- adjust burn rate (setpoints.burn_rate)
if not plc_state.scram then
local current_burn_rate = reactor.getBurnRate()
if (current_burn_rate ~= ppm.ACCESS_FAULT) and (current_burn_rate ~= setpoints.burn_rate) then
-- calculate new burn rate
local new_burn_rate = current_burn_rate
if setpoints.burn_rate > current_burn_rate then
-- need to ramp up
local new_burn_rate = current_burn_rate + (BURN_RATE_RAMP_mB_s * min_elapsed_s)
if new_burn_rate > setpoints.burn_rate then
new_burn_rate = setpoints.burn_rate
end
else
-- need to ramp down
local new_burn_rate = current_burn_rate - (BURN_RATE_RAMP_mB_s * min_elapsed_s)
if new_burn_rate < setpoints.burn_rate then
new_burn_rate = setpoints.burn_rate
end
end
-- set the burn rate
reactor.setBurnRate(new_burn_rate)
running = running or (new_burn_rate ~= setpoints.burn_rate)
end
end
end
-- check for termination request
if plc_state.shutdown then
log._info("setpoint control thread exiting")
break
end
-- delay before next check
last_update = util.adaptive_delay(SETPOINT_CTRL_SLEEP, last_update)
end
end
return { exec = exec }
end