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#7 sending commands to PLCs, retrying failed sends until confirmed

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This commit is contained in:
Mikayla Fischler 2022-05-01 17:04:38 -04:00
parent cd46c69a66
commit 7ff0e25711
3 changed files with 130 additions and 21 deletions
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148
supervisor/session/plc.lua
View File

@ -6,10 +6,15 @@
local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
PLC_S_COMMANDS = {
-- retry time constants in ms
local INITIAL_WAIT = 1500
local RETRY_PERIOD = 1000
PLC_S_CMDS = {
SCRAM = 0,
ENABLE = 1,
ISS_CLEAR = 2
BURN_RATE = 2,
ISS_CLEAR = 3
}
local PERIODICS = {
@ -26,6 +31,7 @@ function new_session(id, for_reactor, in_queue, out_queue)
in_q = in_queue,
out_q = out_queue,
commanded_state = false,
commanded_burn_rate = 0.0,
-- connection properties
seq_num = 0,
r_seq_num = nil,
@ -33,15 +39,25 @@ function new_session(id, for_reactor, in_queue, out_queue)
received_struct = false,
plc_conn_watchdog = util.new_watchdog(3),
last_rtt = 0,
-- when to next retry one of these requests
-- periodic messages
periodics = {
last_update = 0,
keep_alive = 0
},
-- when to next retry one of these requests
retry_times = {
struct_req = 0,
struct_req = 500,
scram_req = 0,
enable_req = 0
enable_req = 0,
burn_rate_req = 0,
iss_clear_req = 0
},
-- command acknowledgements
acks = {
scram = true,
enable = true,
burn_rate = true,
iss_clear = true
},
-- session database
sDB = {
@ -110,6 +126,7 @@ function new_session(id, for_reactor, in_queue, out_queue)
end
local _copy_status = function (mek_data)
-- copy status information
self.sDB.mek_status.status = mek_data[1]
self.sDB.mek_status.burn_rate = mek_data[2]
self.sDB.mek_status.act_burn_rate = mek_data[3]
@ -118,6 +135,7 @@ function new_session(id, for_reactor, in_queue, out_queue)
self.sDB.mek_status.boil_eff = mek_data[6]
self.sDB.mek_status.env_loss = mek_data[7]
-- copy container information
self.sDB.mek_status.fuel = mek_data[8]
self.sDB.mek_status.fuel_fill = mek_data[9]
self.sDB.mek_status.waste = mek_data[10]
@ -128,6 +146,14 @@ function new_session(id, for_reactor, in_queue, out_queue)
self.sDB.mek_status.hcool_type = mek_data[15]
self.sDB.mek_status.hcool_amnt = mek_data[16]
self.sDB.mek_status.hcool_fill = mek_data[17]
-- update computable fields if we have our structure
if self.received_struct then
self.sDB.mek_status.fuel_need = self.sDB.mek_struct.fuel_cap - self.sDB.mek_status.fuel_fill
self.sDB.mek_status.waste_need = self.sDB.mek_struct.waste_cap - self.sDB.mek_status.waste_fill
self.sDB.mek_status.cool_need = self.sDB.mek_struct.cool_cap - self.sDB.mek_status.cool_fill
self.sDB.mek_status.hcool_need = self.sDB.mek_struct.hcool_cap - self.sDB.mek_status.hcool_fill
end
end
local _copy_struct = function (mek_data)
@ -231,22 +257,26 @@ function new_session(id, for_reactor, in_queue, out_queue)
-- SCRAM acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.acks.scram = true
self.sDB.control_state = false
elseif ack == false then
log._warning(log_header .. "SCRAM failed!")
log._debug(log_header .. "SCRAM failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_ENABLE then
-- enable acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.acks.enable = true
self.sDB.control_state = true
elseif ack == false then
log._warning(log_header .. "enable failed!")
log._debug(log_header .. "enable failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_BURN_RATE then
-- burn rate acknowledgement
if _get_ack(rplc_pkt) == false then
log._warning(log_header .. "burn rate update failed!")
if _get_ack(rplc_pkt) then
self.acks.burn_rate = true
else
log._debug(log_header .. "burn rate update failed!")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_STATUS then
-- ISS status packet received, copy data
@ -279,11 +309,12 @@ function new_session(id, for_reactor, in_queue, out_queue)
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_CLEAR then
-- ISS clear acknowledgement
if _get_ack(rplc_pkt) == false then
log._warning(log_header .. "ISS clear failed")
else
if _get_ack(rplc_pkt) then
self.acks.iss_tripped = true
self.sDB.iss_tripped = false
self.sDB.iss_trip_cause = "ok"
else
log._debug(log_header .. "ISS clear failed")
end
else
log._debug(log_header .. "handler received unsupported RPLC packet type " .. rplc_pkt.type)
@ -318,7 +349,6 @@ function new_session(id, for_reactor, in_queue, out_queue)
if self.received_struct then
return self.sDB.mek_struct
else
-- @todo: need a system in place to re-request this periodically
return nil
end
end
@ -340,7 +370,33 @@ function new_session(id, for_reactor, in_queue, out_queue)
_handle_packet(message.message)
elseif message.qtype == mqueue.TYPE.COMMAND then
-- handle instruction
local cmd = message.message
if cmd == PLC_S_CMDS.SCRAM then
-- SCRAM reactor
self.acks.scram = false
self.retry_times.scram_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.MEK_SCRAM, {})
elseif cmd == PLC_S_CMDS.ENABLE then
-- enable reactor
self.acks.enable = false
self.retry_times.enable_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.MEK_ENABLE, {})
elseif cmd == PLC_S_CMDS.ISS_CLEAR then
-- clear ISS
self.acks.iss_clear = false
self.retry_times.iss_clear_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.ISS_CLEAR, {})
end
elseif message.qtype == mqueue.TYPE.DATA then
-- instruction with body
local cmd = message.message
if cmd.key == PLC_S_CMDS.BURN_RATE then
-- update burn rate
self.commanded_burn_rate = cmd.val
self.acks.burn_rate = false
self.retry_times.burn_rate_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.MEK_BURN_RATE, { self.commanded_burn_rate })
end
end
-- max 100ms spent processing queue
@ -354,16 +410,70 @@ function new_session(id, for_reactor, in_queue, out_queue)
-- update periodics --
----------------------
local elapsed = os.clock() - self.periodics.last_update
local elapsed = util.time() - self.periodics.last_update
self.periodics.keep_alive = self.periodics.keep_alive + elapsed
local periodics = self.periodics
if self.periodics.keep_alive >= PERIODICS.KEEP_ALIVE then
-- keep alive
periodics.keep_alive = periodics.keep_alive + elapsed
if periodics.keep_alive >= PERIODICS.KEEP_ALIVE then
_send(RPLC_TYPES.KEEP_ALIVE, { util.time() })
self.periodics.keep_alive = 0
periodics.keep_alive = 0
end
self.periodics.last_update = os.clock()
self.periodics.last_update = util.time()
---------------------
-- attempt retries --
---------------------
local rtimes = self.rtimes
-- struct request retry
if not self.received_struct then
if rtimes.struct_req - util.time() <= 0 then
_send(RPLC_TYPES.LINK_REQ, {})
rtimes.struct_req = util.time() + RETRY_PERIOD
end
end
-- SCRAM request retry
if not self.acks.scram then
if rtimes.scram_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_SCRAM, {})
rtimes.scram_req = util.time() + RETRY_PERIOD
end
end
-- enable request retry
if not self.acks.enable then
if rtimes.enable_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_ENABLE, {})
rtimes.enable_req = util.time() + RETRY_PERIOD
end
end
-- burn rate request retry
if not self.acks.burn_rate then
if rtimes.burn_rate_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_BURN_RATE, { self.commanded_burn_rate })
rtimes.burn_rate_req = util.time() + RETRY_PERIOD
end
end
-- ISS clear request retry
if not self.acks.iss_clear then
if rtimes.iss_clear_req - util.time() <= 0 then
_send(RPLC_TYPES.ISS_CLEAR, {})
rtimes.iss_clear_req = util.time() + RETRY_PERIOD
end
end
end
return self.connected

1
supervisor/session/svsessions.lua
View File

@ -128,7 +128,6 @@ local function _iterate(sessions)
local ok = session.instance.iterate()
if ok then
-- send packets in out queue
-- @todo handle commands if that's being used too
while session.out_queue.ready() do
local msg = session.out_queue.pop()
if msg.qtype == mqueue.TYPE.PACKET then

2
supervisor/startup.lua
View File

@ -18,7 +18,7 @@ os.loadAPI("session/svsessions.lua")
os.loadAPI("supervisor.lua")
local SUPERVISOR_VERSION = "alpha-v0.1.9"
local SUPERVISOR_VERSION = "alpha-v0.1.10"
local print = util.print
local println = util.println