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#7 initial PLC session supervisor code

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This commit is contained in:
Mikayla Fischler 2022-04-23 12:12:33 -04:00
parent 3285f829f6
commit 852161317d
4 changed files with 258 additions and 102 deletions
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295
supervisor/session/plc.lua
View File

@ -3,6 +3,7 @@
-- #REQUIRES log.lua
-- #REQUIRES util.lua
local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
PLC_S_COMMANDS = {
@ -11,6 +12,10 @@ PLC_S_COMMANDS = {
ISS_CLEAR = 2
}
local PERIODICS = {
KEEP_ALIVE = 1.0
}
-- PLC supervisor session
function new_session(id, for_reactor, in_queue, out_queue)
local log_header = "plc_session(" .. id .. "): "
@ -23,16 +28,22 @@ function new_session(id, for_reactor, in_queue, out_queue)
commanded_state = false,
-- connection properties
seq_num = 0,
r_seq_num = nil,
connected = true,
received_struct = false,
plc_conn_watchdog = util.new_watchdog(3)
plc_conn_watchdog = util.new_watchdog(3),
last_rtt = 0,
-- when to next retry one of these requests
periodics = {
last_update = 0
keep_alive = 0
},
retry_times = {
struct_req = 0,
scram_req = 0,
enable_req = 0
},
-- session PLC status database
-- session database
sDB = {
control_state = false,
overridden = false,
@ -140,12 +151,167 @@ function new_session(id, for_reactor, in_queue, out_queue)
end
end
local _handle_packet = function (message)
local checks_ok = true
-- handle an incoming packet from the PLC
rplc_pkt = message.get()
-- check sequence number
if self.r_seq_num == nil then
self.r_seq_num = rplc_pkt.scada_frame.seq_num()
elseif self.r_seq_num >= rplc_pkt.scada_frame.seq_num() then
log._warning(log_header .. "sequence out-of-order: last = " .. self.r_seq_num .. ", new = " .. rplc_pkt.scada_frame.seq_num())
checks_ok = false
else
self.r_seq_num = rplc_pkt.scada_frame.seq_num()
end
-- check reactor ID
if rplc_pkt.id ~= for_reactor then
log._warning(log_header .. "RPLC packet with ID not matching reactor ID: reactor " .. self.for_reactor .. " != " .. rplc_pkt.id)
checks_ok = false
end
-- process packet
if checks_ok then
-- feed watchdog
self.plc_conn_watchdog.feed()
-- handle packet by type
if rplc_pkt.type == RPLC_TYPES.KEEP_ALIVE then
-- keep alive reply
if rplc_pkt.length == 2 then
local srv_start = rplc_pkt.data[1]
local plc_send = rplc_pkt.data[2]
local srv_now = os.epoch()
self.last_rtt = srv_now - srv_start
if self.last_rtt < 0 then
log._warning(log_header .. "PLC KEEP_ALIVE round trip time less than 0 (" .. trip_time .. ")")
elseif trip_time > 1 then
log._warning(log_header .. "PLC KEEP_ALIVE round trip time > 1s (" .. trip_time .. ")")
end
log._debug(log_header .. "RPLC RTT = ".. trip_time)
else
log._debug(log_header .. "RPLC keep alive packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.STATUS then
-- status packet received, update data
if rplc_pkt.length >= 5 then
-- @todo [1] is timestamp, determine how this will be used (if at all)
self.sDB.control_state = rplc_pkt.data[2]
self.sDB.overridden = rplc_pkt.data[3]
self.sDB.degraded = rplc_pkt.data[4]
self.sDB.mek_status.heating_rate = rplc_pkt.data[5]
-- attempt to read mek_data table
if rplc_pkt.data[6] ~= nil then
local status = pcall(_copy_status, rplc_pkt.data[6])
if status then
-- copied in status data OK
else
-- error copying status data
log._error(log_header .. "failed to parse status packet data")
end
end
else
log._debug(log_header .. "RPLC status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_STRUCT then
-- received reactor structure, record it
if rplc_pkt.length == 8 then
local status = pcall(_copy_struct, rplc_pkt.data)
if status then
-- copied in structure data OK
else
-- error copying structure data
log._error(log_header .. "failed to parse struct packet data")
end
else
log._debug(log_header .. "RPLC struct packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_SCRAM then
-- SCRAM acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.sDB.control_state = false
elseif ack == false then
log._warning(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.sDB.control_state = true
elseif ack == false then
log._warning(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!")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_STATUS then
-- ISS status packet received, copy data
if rplc_pkt.length == 7 then
local status = pcall(_copy_iss_status, rplc_pkt.data)
if status then
-- copied in ISS status data OK
else
-- error copying ISS status data
log._error(log_header .. "failed to parse ISS status packet data")
end
else
log._debug(log_header .. "RPLC ISS status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_ALARM then
-- ISS alarm
self.sDB.overridden = true
if rplc_pkt.length == 7 then
local status = pcall(_copy_iss_status, rplc_pkt.data)
if status then
-- copied in ISS status data OK
else
-- error copying ISS status data
log._error(log_header .. "failed to parse ISS status packet data")
end
else
log._debug(log_header .. "RPLC ISS alarm packet length mismatch")
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")
end
else
log._debug(log_header .. "handler received unsupported RPLC packet type " .. rplc_pkt.type)
end
end
end
local _send = function (msg_type, msg)
local s_pkt = comms.scada_packet()
local r_pkt = comms.rplc_packet()
r_pkt.make(self.id, msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable())
self.out_q.push_packet(s_pkt)
self.seq_num = self.seq_num + 1
end
-- PUBLIC FUNCTIONS --
local get_id = function () return self.id end
local get_db = function () return self.sDB end
local close = function () self.connected = false end
local check_wd = function (timer)
return timer == plc_conn_watchdog
return timer == self.plc_conn_watchdog.get_timer()
end
local get_struct = function ()
@ -158,103 +324,37 @@ function new_session(id, for_reactor, in_queue, out_queue)
end
local iterate = function ()
if self.connected and ~self.in_q.empty() then
-- get a new message to process
local message = self.in_q.pop()
if self.connected then
------------------
-- handle queue --
------------------
if message.qtype == mqueue.TYPE.PACKET then
-- handle an incoming packet from the PLC
rplc_pkt = message.message.get()
if ~self.in_q.empty() then
-- get a new message to process
local message = self.in_q.pop()
if message.qtype == mqueue.TYPE.PACKET then
_handle_packet(message.message)
elseif message.qtype == mqueue.TYPE.COMMAND then
-- handle instruction
if rplc_pkt.id == for_reactor then
if rplc_pkt.type == RPLC_TYPES.KEEP_ALIVE then
-- keep alive reply
elseif rplc_pkt.type == RPLC_TYPES.STATUS then
-- status packet received, update data
if rplc_pkt.length >= 5 then
-- @todo [1] is timestamp, determine how this will be used (if at all)
self.sDB.control_state = rplc_pkt.data[2]
self.sDB.overridden = rplc_pkt.data[3]
self.sDB.degraded = rplc_pkt.data[4]
self.sDB.mek_status.heating_rate = rplc_pkt.data[5]
-- attempt to read mek_data table
if rplc_pkt.data[6] ~= nil then
local status = pcall(_copy_status, rplc_pkt.data[6])
if status then
-- copied in status data OK
else
-- error copying status data
log._error(log_header .. "failed to parse status packet data")
end
end
else
log._warning(log_header .. "RPLC status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_STRUCT then
-- received reactor structure, record it
if rplc_pkt.length == 8 then
local status = pcall(_copy_struct, rplc_pkt.data)
if status then
-- copied in structure data OK
else
-- error copying structure data
log._error(log_header .. "failed to parse struct packet data")
end
else
log._warning(log_header .. "RPLC struct packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.MEK_SCRAM then
-- SCRAM acknowledgement
local ack = _get_ack(rplc_pkt)
if ack then
self.sDB.control_state = false
elseif ack == false then
log._warning(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.sDB.control_state = true
elseif ack == false then
log._warning(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!")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_STATUS then
-- ISS status packet received, copy data
if rplc_pkt.length == 7 then
local status = pcall(_copy_iss_status, rplc_pkt.data)
if status then
-- copied in ISS status data OK
else
-- error copying ISS status data
log._error(log_header .. "failed to parse ISS status packet data")
end
else
log._warning(log_header .. "RPLC ISS status packet length mismatch")
end
elseif rplc_pkt.type == RPLC_TYPES.ISS_ALARM then
-- ISS alarm
self.sDB.overridden = true
-- @todo
elseif rplc_pkt.type == RPLC_TYPES.ISS_CLEAR then
-- ISS clear acknowledgement
-- @todo
else
log._warning(log_header .. "handler received unsupported RPLC packet type " .. rplc_pkt.type)
end
else
log._warning(log_header .. "RPLC packet with ID not matching reactor ID: reactor " .. self.for_reactor .. " != " .. rplc_pkt.id)
end
elseif message.qtype == mqueue.TYPE.COMMAND then
-- handle instruction
end
----------------------
-- update periodics --
----------------------
local elapsed = os.clock() - self.periodics.last_update
self.periodics.keep_alive += elapsed
if self.periodics.keep_alive >= PERIODICS.KEEP_ALIVE then
_send(RPLC_TYPES.KEEP_ALIVE, { os.epoch() })
self.periodics.keep_alive = 0
end
self.periodics.last_update = os.clock()
end
return self.connected
@ -262,9 +362,10 @@ function new_session(id, for_reactor, in_queue, out_queue)
return {
get_id = get_id,
get_db = get_db,
close = close,
check_wd = check_wd,
get_struct = get_struct,
close = close,
iterate = iterate
}
end

47
supervisor/session/svsessions.lua
View File

@ -10,6 +10,7 @@ SESSION_TYPE = {
}
local self = {
modem = nil
num_reactors = 0,
rtu_sessions = {},
plc_sessions = {},
@ -19,6 +20,10 @@ local self = {
next_coord_id = 0
}
function link_modem(modem)
self.modem = modem
end
function alloc_reactor_plcs(num_reactors)
self.num_reactors = num_reactors
for i = 1, num_reactors do
@ -64,12 +69,13 @@ function get_reactor_session(reactor)
return session
end
function establish_plc_session(remote_port, for_reactor)
function establish_plc_session(local_port, remote_port, for_reactor)
if get_reactor_session(for_reactor) == nil then
local plc_s = {
open = true,
reactor = for_reactor,
r_host = remote_port,
l_port = local_port,
r_port = remote_port,
in_queue = mqueue.new(),
out_queue = mqueue.new(),
instance = nil
@ -87,12 +93,46 @@ function establish_plc_session(remote_port, for_reactor)
end
end
local function _check_watchdogs(sessions, timer_event)
for i = 1, #sessions do
local session = sessions[i]
if session.open then
local triggered = session.instance.check_wd(timer_event)
if triggered then
log._debug("watchdog closing session " .. session.instance.get_id() .. " on remote port " .. session.r_port)
session.open = false
session.instance.close()
end
end
end
end
function check_all_watchdogs(timer_event)
-- check RTU session watchdogs
_check_watchdogs(self.rtu_sessions, timer_event)
-- check PLC session watchdogs
_check_watchdogs(self.plc_sessions, timer_event)
-- check coordinator session watchdogs
_check_watchdogs(self.coord_sessions, timer_event)
end
local function _iterate(sessions)
for i = 1, #sessions do
local session = sessions[i]
if session.open then
local ok = session.instance.iterate()
if not ok then
if ok then
-- send packets in out queue
-- @todo handle commands if that's being used too
while not session.out_queue.empty() do
local msg = session.out_queue.pop()
if msg.qtype == mqueue.TYPE.PACKET then
self.modem.transmit(self.r_port, self.l_port, msg.message.raw_sendable())
end
end
else
session.open = false
session.instance.close()
end
@ -123,6 +163,7 @@ local function _free_closed(sessions)
end
move_to = move_to + 1
else
log._debug("free'ing closing session " .. session.instance.get_id() .. " on remote port " .. session.r_port)
sessions[i] = nil
end
end

14
supervisor/startup.lua
View File

@ -17,7 +17,7 @@ os.loadAPI("session/plc.lua")
os.loadAPI("session/coordinator.lua")
os.loadAPI("session/svsessions.lua")
local SUPERVISOR_VERSION = "alpha-v0.1.1"
local SUPERVISOR_VERSION = "alpha-v0.1.2"
local print = util.print
local println = util.println
@ -78,8 +78,18 @@ while true do
end
end
elseif event == "timer" and param1 == loop_clock then
-- basic event tick, send keep-alives
-- main loop tick
-- iterate sessions
svsessions.iterate_all()
-- free any closed sessions
svsessions.free_all_closed()
loop_clock = os.startTimer(0.25)
elseif event == "timer" then
-- another timer event, check watchdogs
svsessions.check_all_watchdogs(param1)
elseif event == "modem_message" then
-- got a packet
local packet = superv_comms.parse_packet(p1, p2, p3, p4, p5)

4
supervisor/supervisor.lua
View File

@ -38,6 +38,9 @@ function superv_comms(mode, num_reactors, modem, dev_listen, coord_listen)
-- open at construct time
_open_channels()
-- link modem to svsessions
svsessions.link_modem(self.modem)
-- send PLC link request responses
local _send_plc_linking = function (dest, msg)
local s_pkt = comms.scada_packet()
@ -55,6 +58,7 @@ function superv_comms(mode, num_reactors, modem, dev_listen, coord_listen)
-- reconnect a newly connected modem
local reconnect_modem = function (modem)
self.modem = modem
svsessions.link_modem(self.modem)
_open_channels()
end