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#44 RPS optimizations, manual trip, RPS handles all reactor state control

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This commit is contained in:
Mikayla Fischler 2022-05-05 13:14:14 -04:00
parent c4df8eabf9
commit 89be79192f
7 changed files with 217 additions and 161 deletions
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257
reactor-plc/plc.lua
View File

@ -22,49 +22,48 @@ local println_ts = util.println_ts
-- identifies dangerous states and SCRAMs reactor if warranted
-- autonomous from main SCADA supervisor/coordinator control
plc.rps_init = function (reactor)
local state_keys = {
dmg_crit = 1,
high_temp = 2,
no_coolant = 3,
ex_waste = 4,
ex_hcoolant = 5,
no_fuel = 6,
fault = 7,
timeout = 8,
manual = 9
}
local self = {
reactor = reactor,
cache = { false, false, false, false, false, false, false },
timed_out = false,
state = { false, false, false, false, false, false, false, false, false },
reactor_enabled = false,
tripped = false,
trip_cause = ""
}
-- PRIVATE FUNCTIONS --
-- set reactor access fault flag
local _set_fault = function ()
self.state[state_keys.fault] = true
end
-- clear reactor access fault flag
local _clear_fault = function ()
self.state[state_keys.fault] = false
end
-- check for critical damage
local _damage_critical = function ()
local damage_percent = self.reactor.getDamagePercent()
if damage_percent == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor damage")
return false
_set_fault()
self.state[state_keys.dmg_crit] = false
else
return damage_percent >= 100
end
end
-- check for heated coolant backup
local _excess_heated_coolant = function ()
local hc_needed = self.reactor.getHeatedCoolantNeeded()
if hc_needed == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor heated coolant level")
return false
else
return hc_needed == 0
end
end
-- check for excess waste
local _excess_waste = function ()
local w_needed = self.reactor.getWasteNeeded()
if w_needed == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor waste level")
return false
else
return w_needed == 0
self.state[state_keys.dmg_crit] = damage_percent >= 100
end
end
@ -75,9 +74,49 @@ plc.rps_init = function (reactor)
if temp == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor temperature")
return false
_set_fault()
self.state[state_keys.high_temp] = false
else
return temp >= 1200
self.state[state_keys.high_temp] = temp >= 1200
end
end
-- check if there is no coolant (<2% filled)
local _no_coolant = function ()
local coolant_filled = self.reactor.getCoolantFilledPercentage()
if coolant_filled == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor coolant level")
_set_fault()
self.state[state_keys.no_coolant] = false
else
self.state[state_keys.no_coolant] = coolant_filled < 0.02
end
end
-- check for excess waste (>80% filled)
local _excess_waste = function ()
local w_filled = self.reactor.getWasteFilledPercentage()
if w_filled == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor waste level")
_set_fault()
self.state[state_keys.ex_waste] = false
else
self.state[state_keys.ex_waste] = w_filled > 0.8
end
end
-- check for heated coolant backup (>95% filled)
local _excess_heated_coolant = function ()
local hc_filled = self.reactor.getHeatedCoolantFilledPercentage()
if hc_filled == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor heated coolant level")
_set_fault()
state[state_keys.ex_hcoolant] = false
else
state[state_keys.ex_hcoolant] = hc_filled > 0.95
end
end
@ -86,22 +125,11 @@ plc.rps_init = function (reactor)
local fuel = self.reactor.getFuel()
if fuel == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor fuel level")
return false
log.error("RPS: failed to check reactor fuel")
_set_fault()
state[state_keys.no_fuel] = false
else
return fuel == 0
end
end
-- check if there is no coolant
local _no_coolant = function ()
local coolant_filled = self.reactor.getCoolantFilledPercentage()
if coolant_filled == ppm.ACCESS_FAULT then
-- lost the peripheral or terminated, handled later
log.error("RPS: failed to check reactor coolant level")
return false
else
return coolant_filled < 0.02
state[state_keys.no_fuel] = fuel.amount == 0
end
end
@ -114,78 +142,114 @@ plc.rps_init = function (reactor)
-- report a PLC comms timeout
local trip_timeout = function ()
self.timed_out = true
state[state_keys.timed_out] = true
end
-- manually SCRAM the reactor
local trip_manual = function ()
state[state_keys.manual] = true
end
-- SCRAM the reactor now
local scram = function ()
log.info("RPS: reactor SCRAM")
self.reactor.scram()
if self.reactor.__p_is_faulted() then
log.error("RPS: failed reactor SCRAM")
return false
else
self.reactor_enabled = false
return true
end
end
-- start the reactor
local activate = function ()
if not self.tripped then
log.info("RPS: reactor start")
self.reactor.activate()
if self.reactor.__p_is_faulted() then
log.error("RPS: failed reactor start")
else
self.reactor_enabled = true
return true
end
end
return false
end
-- check all safety conditions
local check = function ()
local status = rps_status_t.ok
local was_tripped = self.tripped
local first_trip = false
-- update state
parallel.waitForAll(
_damage_critical,
_high_temp,
_no_coolant,
_excess_waste,
_excess_heated_coolant,
_insufficient_fuel
)
-- update cache
self.cache = {
_damage_critical(),
_excess_heated_coolant(),
_excess_waste(),
_high_temp(),
_insufficient_fuel(),
_no_coolant(),
self.timed_out
}
-- check system states in order of severity
if self.tripped then
status = self.trip_cause
elseif self.cache[1] then
log.warning("RPS: damage critical!")
elseif self.state[state_keys.dmg_crit] then
log.warning("RPS: damage critical")
status = rps_status_t.dmg_crit
elseif self.cache[4] then
log.warning("RPS: high temperature!")
elseif self.state[state_keys.high_temp] then
log.warning("RPS: high temperature")
status = rps_status_t.high_temp
elseif self.cache[2] then
log.warning("RPS: heated coolant backup!")
status = rps_status_t.ex_hcoolant
elseif self.cache[6] then
log.warning("RPS: no coolant!")
elseif self.state[state_keys.no_coolant] then
log.warning("RPS: no coolant")
status = rps_status_t.no_coolant
elseif self.cache[3] then
log.warning("RPS: full waste!")
elseif self.state[state_keys.ex_waste] then
log.warning("RPS: full waste")
status = rps_status_t.ex_waste
elseif self.cache[5] then
log.warning("RPS: no fuel!")
elseif self.state[state_keys.ex_hcoolant] then
log.warning("RPS: heated coolant backup")
status = rps_status_t.ex_hcoolant
elseif self.state[state_keys.no_fuel] then
log.warning("RPS: no fuel")
status = rps_status_t.no_fuel
elseif self.cache[7] then
log.warning("RPS: supervisor connection timeout!")
elseif self.state[state_keys.fault] then
log.warning("RPS: reactor access fault")
status = rps_status_t.fault
elseif self.state[state_keys.timeout] then
log.warning("RPS: supervisor connection timeout")
status = rps_status_t.timeout
elseif self.state[state_keys.manual] then
log.warning("RPS: manual SCRAM requested")
status = rps_status_t.manual
else
self.tripped = false
end
-- if a new trip occured...
local first_trip = false
if not was_tripped and status ~= rps_status_t.ok then
log.warning("RPS: reactor SCRAM")
-- if a new trip occured...
if (not was_tripped) and (status ~= rps_status_t.ok) then
first_trip = true
self.tripped = true
self.trip_cause = status
self.reactor.scram()
if self.reactor.__p_is_faulted() then
log.error("RPS: failed reactor SCRAM")
end
scram()
end
return self.tripped, status, first_trip
end
-- get the RPS status
local status = function () return self.cache end
local status = function () return self.state end
local is_tripped = function () return self.tripped end
local is_active = function () return self.reactor_enabled end
-- reset the RPS
local reset = function ()
self.timed_out = false
self.tripped = false
self.trip_cause = rps_status_t.ok
end
@ -193,9 +257,13 @@ plc.rps_init = function (reactor)
return {
reconnect_reactor = reconnect_reactor,
trip_timeout = trip_timeout,
trip_manual = trip_manual,
scram = scram,
activate = activate,
check = check,
status = status,
is_tripped = is_tripped,
is_active = is_active,
reset = reset
}
end
@ -544,18 +612,6 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps)
-- request for physical structure
_send_struct()
log.debug("sent out structure again, did supervisor miss it?")
elseif packet.type == RPLC_TYPES.MEK_SCRAM then
-- disable the reactor
self.scrammed = true
plc_state.scram = true
self.reactor.scram()
_send_ack(packet.type, self.reactor.__p_is_ok())
elseif packet.type == RPLC_TYPES.MEK_ENABLE then
-- enable the reactor
self.scrammed = false
plc_state.scram = false
self.reactor.activate()
_send_ack(packet.type, self.reactor.__p_is_ok())
elseif packet.type == RPLC_TYPES.MEK_BURN_RATE then
-- set the burn rate
if packet.length == 1 then
@ -581,6 +637,15 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps)
else
log.debug("RPLC set burn rate packet length mismatch")
end
elseif packet.type == RPLC_TYPES.RPS_ENABLE then
-- enable the reactor
self.scrammed = false
_send_ack(packet.type, self.rps.activate())
elseif packet.type == RPLC_TYPES.RPS_SCRAM then
-- disable the reactor
self.scrammed = true
self.rps.trip_manual()
_send_ack(packet.type, true)
elseif packet.type == RPLC_TYPES.RPS_RESET then
-- reset the RPS status
rps.reset()

3
reactor-plc/startup.lua
View File

@ -11,7 +11,7 @@ local config = require("config")
local plc = require("plc")
local threads = require("threads")
local R_PLC_VERSION = "alpha-v0.6.1"
local R_PLC_VERSION = "alpha-v0.6.2"
local print = util.print
local println = util.println
@ -37,7 +37,6 @@ local __shared_memory = {
plc_state = {
init_ok = true,
shutdown = false,
scram = true,
degraded = false,
no_reactor = false,
no_modem = false

58
reactor-plc/threads.lua
View File

@ -13,7 +13,7 @@ local println_ts = util.println_ts
local psleep = util.psleep
local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
local RPS_SLEEP = 500 -- (500ms, 10 ticks)
local RPS_SLEEP = 250 -- (250ms, 5 ticks)
local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
local SP_CTRL_SLEEP = 250 -- (250ms, 5 ticks)
@ -207,7 +207,7 @@ threads.thread__rps = function (smem)
if plc_state.init_ok then
-- SCRAM if no open connection
if networked and not plc_comms.is_linked() then
plc_state.scram = true
rps.scram()
if was_linked then
was_linked = false
rps.trip_timeout()
@ -219,21 +219,17 @@ threads.thread__rps = function (smem)
-- 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)
if not plc_state.no_reactor and plc_state.scram and reactor.getStatus() then
reactor.scram()
if not plc_state.no_reactor and rps.is_tripped() and reactor.getStatus() then
rps.scram()
end
-- if we are in standalone mode, continuously reset RPS
-- RPS 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
rps.reset()
end
if not networked then rps.reset() end
-- check safety (SCRAM occurs if tripped)
if not plc_state.no_reactor then
local rps_tripped, rps_status_string, rps_first = rps.check()
plc_state.scram = plc_state.scram or rps_tripped
if rps_first then
println_ts("[RPS] SCRAM! safety trip: " .. rps_status_string)
@ -250,26 +246,19 @@ threads.thread__rps = function (smem)
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
if msg.message == MQ__RPS_CMD.SCRAM then
-- basic SCRAM
plc_state.scram = true
reactor.scram()
elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
-- SCRAM with print
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")
if plc_state.init_ok then
if msg.message == MQ__RPS_CMD.SCRAM then
-- SCRAM
rps.scram()
elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
-- lost peripheral(s)
rps.trip_degraded()
elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
-- watchdog tripped
rps.trip_timeout()
println_ts("server timeout")
log.warning("server timeout")
end
elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
-- watchdog tripped
plc_state.scram = true
rps.trip_timeout()
println_ts("server timeout")
log.warning("server timeout")
end
elseif msg.qtype == mqueue.TYPE.DATA then
-- received data
@ -286,9 +275,7 @@ threads.thread__rps = function (smem)
-- safe exit
log.info("rps thread shutdown initiated")
if plc_state.init_ok then
plc_state.scram = true
reactor.scram()
if reactor.__p_is_ok() then
if rps.scram() then
println_ts("reactor disabled")
log.info("rps thread reactor SCRAM OK")
else
@ -368,6 +355,8 @@ threads.thread__comms_rx = function (smem)
-- load in from shared memory
local plc_state = smem.plc_state
local setpoints = smem.setpoints
local plc_dev = smem.plc_dev
local rps = smem.plc_sys.rps
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog
@ -388,7 +377,7 @@ threads.thread__comms_rx = function (smem)
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
-- handle the packet (setpoints passed to update burn rate setpoint)
-- (plc_state passed to allow clearing SCRAM flag and check if degraded)
-- (plc_state passed to check if degraded)
-- (conn_watchdog passed to allow feeding the watchdog)
plc_comms.handle_packet(msg.message, setpoints, plc_state, conn_watchdog)
end
@ -421,6 +410,7 @@ threads.thread__setpoint_control = function (smem)
local plc_state = smem.plc_state
local setpoints = smem.setpoints
local plc_dev = smem.plc_dev
local rps = smem.plc_sys.rps
local last_update = util.time()
local running = false
@ -433,7 +423,7 @@ threads.thread__setpoint_control = function (smem)
-- check if we should start ramping
if setpoints.burn_rate ~= last_sp_burn then
if not plc_state.scram then
if rps.is_active() then
if math.abs(setpoints.burn_rate - last_sp_burn) <= 5 then
-- update without ramp if <= 5 mB/t change
log.debug("setting burn rate directly to " .. setpoints.burn_rate .. "mB/t")
@ -459,7 +449,7 @@ threads.thread__setpoint_control = function (smem)
running = false
-- adjust burn rate (setpoints.burn_rate)
if not plc_state.scram then
if rps.is_active() 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

10
scada-common/comms.lua
View File

@ -17,9 +17,9 @@ local RPLC_TYPES = {
LINK_REQ = 1, -- linking requests
STATUS = 2, -- reactor/system status
MEK_STRUCT = 3, -- mekanism build structure
MEK_SCRAM = 4, -- SCRAM reactor
MEK_ENABLE = 5, -- enable reactor
MEK_BURN_RATE = 6, -- set burn rate
MEK_BURN_RATE = 4, -- set burn rate
RPS_ENABLE = 5, -- enable reactor
RPS_SCRAM = 6, -- SCRAM reactor
RPS_STATUS = 7, -- RPS status
RPS_ALARM = 8, -- RPS alarm broadcast
RPS_RESET = 9 -- clear RPS trip (if in bad state, will trip immediately)
@ -229,9 +229,9 @@ comms.rplc_packet = function ()
self.type == RPLC_TYPES.LINK_REQ or
self.type == RPLC_TYPES.STATUS or
self.type == RPLC_TYPES.MEK_STRUCT or
self.type == RPLC_TYPES.MEK_SCRAM or
self.type == RPLC_TYPES.MEK_ENABLE or
self.type == RPLC_TYPES.MEK_BURN_RATE or
self.type == RPLC_TYPES.RPS_ENABLE or
self.type == RPLC_TYPES.RPS_SCRAM or
self.type == RPLC_TYPES.RPS_ALARM or
self.type == RPLC_TYPES.RPS_STATUS or
self.type == RPLC_TYPES.RPS_RESET

10
scada-common/types.lua
View File

@ -17,12 +17,14 @@ types.rtu_t = {
types.rps_status_t = {
ok = "ok",
dmg_crit = "dmg_crit",
ex_hcoolant = "heated_coolant_backup",
ex_waste = "full_waste",
high_temp = "high_temp",
no_fuel = "no_fuel",
no_coolant = "no_coolant",
timeout = "timeout"
ex_waste = "full_waste",
ex_hcoolant = "heated_coolant_backup",
no_fuel = "no_fuel",
fault = "fault",
timeout = "timeout",
manual = "manual"
}
-- MODBUS

38
supervisor/session/plc.lua
View File

@ -291,16 +291,15 @@ plc.new_session = function (id, for_reactor, in_queue, out_queue)
else
log.debug(log_header .. "RPLC struct packet length mismatch")
end
elseif pkt.type == RPLC_TYPES.MEK_SCRAM then
-- SCRAM acknowledgement
elseif pkt.type == RPLC_TYPES.MEK_BURN_RATE then
-- burn rate acknowledgement
local ack = _get_ack(pkt)
if ack then
self.acks.scram = true
self.sDB.control_state = false
self.acks.burn_rate = true
elseif ack == false then
log.debug(log_header .. "SCRAM failed!")
log.debug(log_header .. "burn rate update failed!")
end
elseif pkt.type == RPLC_TYPES.MEK_ENABLE then
elseif pkt.type == RPLC_TYPES.RPS_ENABLE then
-- enable acknowledgement
local ack = _get_ack(pkt)
if ack then
@ -309,13 +308,14 @@ plc.new_session = function (id, for_reactor, in_queue, out_queue)
elseif ack == false then
log.debug(log_header .. "enable failed!")
end
elseif pkt.type == RPLC_TYPES.MEK_BURN_RATE then
-- burn rate acknowledgement
elseif pkt.type == RPLC_TYPES.RPS_SCRAM then
-- SCRAM acknowledgement
local ack = _get_ack(pkt)
if ack then
self.acks.burn_rate = true
self.acks.scram = true
self.sDB.control_state = false
elseif ack == false then
log.debug(log_header .. "burn rate update failed!")
log.debug(log_header .. "SCRAM failed!")
end
elseif pkt.type == RPLC_TYPES.RPS_STATUS then
-- RPS status packet received, copy data
@ -428,16 +428,16 @@ plc.new_session = function (id, for_reactor, in_queue, out_queue)
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
if 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, {})
_send(RPLC_TYPES.RPS_ENABLE, {})
elseif cmd == PLC_S_CMDS.SCRAM then
-- SCRAM reactor
self.acks.scram = false
self.retry_times.scram_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.RPS_SCRAM, {})
elseif cmd == PLC_S_CMDS.RPS_RESET then
-- reset RPS
self.acks.rps_reset = false
@ -517,7 +517,7 @@ plc.new_session = function (id, for_reactor, in_queue, out_queue)
if not self.acks.scram then
if rtimes.scram_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_SCRAM, {})
_send(RPLC_TYPES.RPS_SCRAM, {})
rtimes.scram_req = util.time() + RETRY_PERIOD
end
end
@ -526,7 +526,7 @@ plc.new_session = function (id, for_reactor, in_queue, out_queue)
if not self.acks.enable then
if rtimes.enable_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_ENABLE, {})
_send(RPLC_TYPES.RPS_ENABLE, {})
rtimes.enable_req = util.time() + RETRY_PERIOD
end
end

2
supervisor/startup.lua
View File

@ -14,7 +14,7 @@ local svsessions = require("session.svsessions")
local config = require("config")
local supervisor = require("supervisor")
local SUPERVISOR_VERSION = "alpha-v0.3.1"
local SUPERVISOR_VERSION = "alpha-v0.3.2"
local print = util.print
local println = util.println