From 13b0fcf65f83c2a522c72d45423a118d0e61f4dd Mon Sep 17 00:00:00 2001 From: Mikayla Fischler Date: Tue, 5 Apr 2022 09:41:06 -0400 Subject: [PATCH] PLC state code cleanup and bugfixes --- reactor-plc/plc.lua | 7 ++-- reactor-plc/startup.lua | 84 ++++++++++++++++++++++------------------- 2 files changed, 48 insertions(+), 43 deletions(-) diff --git a/reactor-plc/plc.lua b/reactor-plc/plc.lua index 9a168bb..47f84b5 100644 --- a/reactor-plc/plc.lua +++ b/reactor-plc/plc.lua @@ -495,9 +495,8 @@ function comms_init(id, modem, local_port, server_port, reactor, iss) end -- send live status information - -- control_state : acknowledged control state from supervisor - -- overridden : if ISS force disabled reactor - local send_status = function (control_state, overridden) + -- overridden : if ISS force disabled reactor + local send_status = function (overridden) local mek_data = nil if _update_status_cache() then @@ -508,7 +507,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss) id = self.id, type = RPLC_TYPES.STATUS, timestamp = os.time(), - control_state = control_state, + control_state = ~self.scrammed, overridden = overridden, heating_rate = self.reactor.getHeatingRate(), mek_data = mek_data diff --git a/reactor-plc/startup.lua b/reactor-plc/startup.lua index 29522e1..65dfe39 100644 --- a/reactor-plc/startup.lua +++ b/reactor-plc/startup.lua @@ -22,28 +22,38 @@ ppm.mount_all() local reactor = ppm.get_device("fissionReactor") local modem = ppm.get_device("modem") -local init_ok = true -local control_degraded = { degraded = false, no_reactor = false, no_modem = false } +local plc_state = { + init_ok = true, + scram = true, -- treated as latching e-stop, all conditions must be OK to set false + degraded = false, + no_reactor = false, + no_modem = false +} -- we need a reactor and a modem if reactor == nil then print_ts("Fission reactor not found. Running in a degraded state...\n"); log._warning("no reactor on startup") - init_ok = false - control_degraded.degraded = true - control_degraded.no_reactor = true + plc_state.init_ok = false + plc_state.degraded = true + plc_state.no_reactor = true end if modem == nil then - print_ts("No modem found. Disabling reactor and running in a degraded state...\n") + if reactor ~= nil then + print_ts("No modem found. Disabling reactor and running in a degraded state...\n") + reactor.scram() + else + print_ts("No modem found. Running in a degraded state...\n") + end + log._warning("no modem on startup") - reactor.scram() - init_ok = false - control_degraded.degraded = true - control_degraded.no_modem = true + plc_state.init_ok = false + plc_state.degraded = true + plc_state.no_modem = true end ::init:: -if init_ok then +if plc_state.init_ok then -- just booting up, no fission allowed (neutrons stay put thanks) reactor.scram() @@ -74,20 +84,16 @@ local LINK_TICKS = 20 -- start by linking local ticks_to_update = LINK_TICKS --- runtime variables -local control_state = false -local reactor_scram = true -- treated as latching e-stop - -- event loop while true do local event, param1, param2, param3, param4, param5 = os.pullEventRaw() - if init_ok then + 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 reactor_scram and reactor.isPowered() then + if plc_state.scram and reactor.isPowered() then reactor.scram() end ppm.enable_reporting() @@ -100,16 +106,16 @@ while true do if device.type == "fissionReactor" then print_ts("reactor disconnected!\n") log._error("reactor disconnected!") - control_degraded.no_reactor = true + plc_state.no_reactor = true -- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ? elseif device.type == "modem" then print_ts("modem disconnected!\n") log._error("modem disconnected!") - control_degraded.no_modem = true + plc_state.no_modem = true - if init_ok then + if plc_state.init_ok then -- try to scram reactor if it is still connected - reactor_scram = true + plc_state.scram = true if reactor.scram() then print_ts("successful reactor SCRAM\n") else @@ -117,55 +123,55 @@ while true do end end - control_degraded.degraded = true + plc_state.degraded = true end elseif event == "peripheral" then local device = ppm.mount(param1) if device.type == "fissionReactor" then -- reconnected reactor - reactor_scram = true + plc_state.scram = true device.scram() print_ts("reactor reconnected.\n") log._info("reactor reconnected.") - control_degraded.no_reactor = false + plc_state.no_reactor = false - if init_ok then + if plc_state.init_ok then iss.reconnect_reactor(device) plc_comms.reconnect_reactor(device) end -- determine if we are still in a degraded state if get_device("modem") not nil then - control_degraded.degraded = false + plc_state.degraded = false end elseif device.type == "modem" then -- reconnected modem - if init_ok then + if plc_state.init_ok then plc_comms.reconnect_modem(device) end print_ts("modem reconnected.\n") log._info("modem reconnected.") - control_degraded.no_modem = false + plc_state.no_modem = false -- determine if we are still in a degraded state if ppm.get_device("fissionReactor") not nil then - control_degraded.degraded = false + plc_state.degraded = false end end - if not init_ok and not control_degraded.degraded then - init_ok = false + if not plc_state.init_ok and not plc_state.degraded then + plc_state.init_ok = false goto init end end -- check safety (SCRAM occurs if tripped) - if not control_degraded.degraded then + if not plc_state.degraded then local iss_tripped, iss_status, iss_first = iss.check() - reactor_scram = reactor_scram or iss_tripped + plc_state.scram = plc_state.scram or iss_tripped if iss_first then plc_comms.send_iss_alarm(iss_status) end @@ -173,14 +179,14 @@ while true do -- handle event if event == "timer" and param1 == loop_tick then - if not control_degraded.no_modem then + if not plc_state.no_modem then -- basic event tick, send updated data if it is time (~3.33Hz) -- iss was already checked (main reason for this tick rate) ticks_to_update = ticks_to_update - 1 if plc_comms.is_linked() then if ticks_to_update <= 0 then - plc_comms.send_status(control_state, iss_tripped) + plc_comms.send_status(iss_tripped) ticks_to_update = UPDATE_TICKS end else @@ -197,17 +203,17 @@ while true do local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5) plc_comms.handle_packet(packet) - reactor_scram = reactor_scram or plc_comms.is_scrammed() + plc_state.scram = plc_state.scram or plc_comms.is_scrammed() elseif event == "timer" and param1 == conn_watchdog.get_timer() then -- haven't heard from server recently? shutdown reactor - reactor_scram = true + plc_state.scram = true plc_comms.unlink() iss.trip_timeout() print_ts("[alert] server timeout, reactor disabled\n") elseif event == "terminate" then -- safe exit - if init_ok then - reactor_scram = true + if plc_state.init_ok then + plc_state.scram = true if reactor.scram() then print_ts("[alert] exiting, reactor disabled\n") else