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https://github.com/MikaylaFischler/cc-mek-scada.git
synced 2024-08-30 18:22:34 +00:00
#32 new threaded RTU code
This commit is contained in:
Mikayla Fischler
parent
71be6aca1a
commit
8c4598e7a6
@ -183,7 +183,7 @@ function rtu_comms(modem, local_port, server_port)
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end
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-- handle a MODBUS/SCADA packet
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local handle_packet = function(packet, units, ref)
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local handle_packet = function(packet, units, rtu_state)
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if packet ~= nil then
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local protocol = packet.scada_frame.protocol()
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@ -209,7 +209,7 @@ function rtu_comms(modem, local_port, server_port)
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-- SCADA management packet
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if packet.type == SCADA_MGMT_TYPES.REMOTE_LINKED then
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-- acknowledgement
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ref.linked = true
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rtu_state.linked = true
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elseif packet.type == SCADA_MGMT_TYPES.RTU_ADVERT then
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-- request for capabilities again
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send_advertisement(units)
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143
rtu/startup.lua
143
rtu/startup.lua
@ -6,26 +6,26 @@ os.loadAPI("scada-common/log.lua")
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os.loadAPI("scada-common/util.lua")
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os.loadAPI("scada-common/ppm.lua")
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os.loadAPI("scada-common/comms.lua")
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os.loadAPI("scada-common/mqueue.lua")
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os.loadAPI("scada-common/modbus.lua")
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os.loadAPI("scada-common/rsio.lua")
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os.loadAPI("config.lua")
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os.loadAPI("rtu.lua")
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os.loadAPI("threads.lua")
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os.loadAPI("dev/redstone_rtu.lua")
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os.loadAPI("dev/boiler_rtu.lua")
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os.loadAPI("dev/imatrix_rtu.lua")
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os.loadAPI("dev/turbine_rtu.lua")
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local RTU_VERSION = "alpha-v0.3.2"
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local RTU_VERSION = "alpha-v0.4.0"
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local print = util.print
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local println = util.println
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local print_ts = util.print_ts
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local println_ts = util.println_ts
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local async_wait = util.async_wait
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log._info("========================================")
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log._info("BOOTING rtu.startup " .. RTU_VERSION)
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log._info("========================================")
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@ -35,15 +35,37 @@ println(">> RTU " .. RTU_VERSION .. " <<")
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-- startup
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----------------------------------------
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local units = {}
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local linked = false
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-- mount connected devices
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ppm.mount_all()
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local __shared_memory = {
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-- RTU system state flags
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rtu_state = {
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linked = false,
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shutdown = false
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},
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-- core RTU devices
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rtu_dev = {
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modem = ppm.get_wireless_modem()
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},
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-- system objects
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rtu_sys = {
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rtu_comms = nil,
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units = {}
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},
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-- message queues
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q = {
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mq_comms = mqeueu.new()
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}
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}
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local smem_dev = __shared_memory.rtu_dev
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-- get modem
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local modem = ppm.get_wireless_modem()
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if modem == nil then
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if smem_dev.modem == nil then
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println("boot> wireless modem not found")
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log._warning("no wireless modem on startup")
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return
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@ -52,9 +74,11 @@ end
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local rtu_comms = rtu.rtu_comms(modem, config.LISTEN_PORT, config.SERVER_PORT)
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----------------------------------------
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-- determine configuration
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-- interpret config and init units
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----------------------------------------
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local units = __shared_memory.rtu_sys.units
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local rtu_redstone = config.RTU_REDSTONE
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local rtu_devices = config.RTU_DEVICES
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@ -69,12 +93,12 @@ for reactor_idx = 1, #rtu_redstone do
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for i = 1, #io_table do
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local valid = false
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local config = io_table[i]
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local conf = io_table[i]
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-- verify configuration
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if rsio.is_valid_channel(config.channel) and rsio.is_valid_side(config.side) then
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if config.bundled_color then
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valid = rsio.is_color(config.bundled_color)
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if rsio.is_valid_channel(conf.channel) and rsio.is_valid_side(conf.side) then
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if conf.bundled_color then
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valid = rsio.is_color(conf.bundled_color)
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else
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valid = true
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end
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@ -87,24 +111,24 @@ for reactor_idx = 1, #rtu_redstone do
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log._warning(message)
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else
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-- link redstone in RTU
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local mode = rsio.get_io_mode(config.channel)
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local mode = rsio.get_io_mode(conf.channel)
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if mode == rsio.IO_MODE.DIGITAL_IN then
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rs_rtu.link_di(config.channel, config.side, config.bundled_color)
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rs_rtu.link_di(conf.channel, conf.side, conf.bundled_color)
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elseif mode == rsio.IO_MODE.DIGITAL_OUT then
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rs_rtu.link_do(config.channel, config.side, config.bundled_color)
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rs_rtu.link_do(conf.channel, conf.side, conf.bundled_color)
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elseif mode == rsio.IO_MODE.ANALOG_IN then
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rs_rtu.link_ai(config.channel, config.side)
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rs_rtu.link_ai(conf.channel, conf.side)
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elseif mode == rsio.IO_MODE.ANALOG_OUT then
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rs_rtu.link_ao(config.channel, config.side)
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rs_rtu.link_ao(conf.channel, conf.side)
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else
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-- should be unreachable code, we already validated channels
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log._error("init> fell through if chain attempting to identify IO mode", true)
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break
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end
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table.insert(capabilities, config.channel)
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table.insert(capabilities, conf.channel)
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log._debug("init> linked redstone " .. #capabilities .. ": " .. rsio.to_string(config.channel) .. " (" .. config.side ..
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log._debug("init> linked redstone " .. #capabilities .. ": " .. rsio.to_string(conf.channel) .. " (" .. conf.side ..
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") for reactor " .. rtu_redstone[reactor_idx].for_reactor)
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end
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end
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@ -171,82 +195,15 @@ for i = 1, #rtu_devices do
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end
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----------------------------------------
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-- main loop
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-- start system
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----------------------------------------
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-- advertisement/heartbeat clock (every 2 seconds)
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local loop_clock = os.startTimer(2)
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-- init threads
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local main_thread = threads.thread__main(__shared_memory)
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local comms_thread = threads.thread__comms(__shared_memory)
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-- event loop
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while true do
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local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
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if event == "peripheral_detach" then
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-- handle loss of a device
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local device = ppm.handle_unmount(param1)
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for i = 1, #units do
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-- find disconnected device
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if units[i].device == device.dev then
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-- we are going to let the PPM prevent crashes
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-- return fault flags/codes to MODBUS queries
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local unit = units[i]
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println_ts("lost the " .. unit.type .. " on interface " .. unit.name)
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end
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end
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elseif event == "peripheral" then
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-- relink lost peripheral to correct unit entry
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local type, device = ppm.mount(param1)
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for i = 1, #units do
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local unit = units[i]
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-- find disconnected device to reconnect
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if unit.name == param1 then
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-- found, re-link
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unit.device = device
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if unit.type == "boiler" then
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unit.rtu = boiler_rtu.new(device)
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elseif unit.type == "turbine" then
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unit.rtu = turbine_rtu.new(device)
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elseif unit.type == "imatrix" then
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unit.rtu = imatrix_rtu.new(device)
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end
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unit.modbus_io = modbus.new(unit.rtu)
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println_ts("reconnected the " .. unit.type .. " on interface " .. unit.name)
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end
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end
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elseif event == "timer" and param1 == loop_clock then
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-- start next clock timer
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loop_clock = os.startTimer(2)
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-- period tick, if we are linked send heartbeat, if not send advertisement
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if linked then
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rtu_comms.send_heartbeat()
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else
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-- advertise units
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rtu_comms.send_advertisement(units)
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end
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elseif event == "modem_message" then
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-- got a packet
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local link_ref = { linked = linked }
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local packet = rtu_comms.parse_packet(param1, param2, param3, param4, param5)
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async_wait(function () rtu_comms.handle_packet(packet, units, link_ref) end)
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-- if linked, stop sending advertisements
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linked = link_ref.linked
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end
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-- check for termination request
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if event == "terminate" or ppm.should_terminate() then
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log._warning("terminate requested, exiting...")
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break
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end
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end
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-- run threads
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parallel.waitForAll(main_thread.exec, comms_thread.exec)
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println_ts("exited")
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log._info("exited")
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147
rtu/threads.lua
Normal file
147
rtu/threads.lua
Normal file
@ -0,0 +1,147 @@
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-- #REQUIRES comms.lua
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-- #REQUIRES log.lua
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-- #REQUIRES ppm.lua
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-- #REQUIRES util.lua
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local print = util.print
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local println = util.println
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local print_ts = util.print_ts
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local println_ts = util.println_ts
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local MAIN_CLOCK = 2 -- (2Hz, 40 ticks)
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local COMMS_CLOCK = 0.25 -- (4Hz, 5 ticks)
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-- main thread
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function thread__main(smem)
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-- execute thread
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local exec = function ()
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-- advertisement/heartbeat clock
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local loop_clock = os.startTimer(MAIN_CLOCK)
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-- load in from shared memory
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local rtu_state = smem.rtu_state
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local rtu_dev = smem.rtu_dev
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local rtu_comms = smem.rtu_sys.rtu_comms
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-- event loop
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while true do
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local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
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if event == "peripheral_detach" then
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-- handle loss of a device
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local device = ppm.handle_unmount(param1)
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for i = 1, #units do
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-- find disconnected device
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if units[i].device == device.dev then
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-- we are going to let the PPM prevent crashes
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-- return fault flags/codes to MODBUS queries
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local unit = units[i]
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println_ts("lost the " .. unit.type .. " on interface " .. unit.name)
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end
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end
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elseif event == "peripheral" then
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-- relink lost peripheral to correct unit entry
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local type, device = ppm.mount(param1)
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for i = 1, #units do
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local unit = units[i]
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-- find disconnected device to reconnect
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if unit.name == param1 then
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-- found, re-link
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unit.device = device
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if unit.type == "boiler" then
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unit.rtu = boiler_rtu.new(device)
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elseif unit.type == "turbine" then
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unit.rtu = turbine_rtu.new(device)
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elseif unit.type == "imatrix" then
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unit.rtu = imatrix_rtu.new(device)
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end
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unit.modbus_io = modbus.new(unit.rtu)
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println_ts("reconnected the " .. unit.type .. " on interface " .. unit.name)
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end
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end
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elseif event == "timer" and param1 == loop_clock then
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-- start next clock timer
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loop_clock = os.startTimer(MAIN_CLOCK)
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-- period tick, if we are linked send heartbeat, if not send advertisement
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if rtu_state.linked then
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rtu_comms.send_heartbeat()
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else
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-- advertise units
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rtu_comms.send_advertisement(units)
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end
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elseif event == "modem_message" then
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-- got a packet
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local packet = rtu_comms.parse_packet(param1, param2, param3, param4, param5)
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if packet ~= nil then
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smem.q.mq_comms.push_packet(packet)
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end
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rtu_comms.handle_packet(packet, units, link_ref)
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end
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-- check for termination request
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if event == "terminate" or ppm.should_terminate() then
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rtu_state.shutdown = true
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log._warning("terminate requested, main thread exiting")
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break
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end
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end
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end
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return { exec = exec }
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end
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-- communications handler thread
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function thread__comms(smem)
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-- execute thread
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local exec = function ()
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-- load in from shared memory
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local rtu_state = smem.rtu_state
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local rtu_comms = smem.rtu_sys.rtu_comms
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local units = smem.rtu_sys.units
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local comms_queue = smem.q.mq_comms
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local last_update = util.time()
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-- thread loop
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while true do
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-- check for messages in the message queue
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while comms_queue.ready() do
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local msg = comms_queue.pop()
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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-- handle the packet (rtu_state passed to allow setting link flag)
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rtu_comms.handle_packet(msg.message, units, rtu_state)
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end
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-- quick yield
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if comms_queue.ready() then util.nop() end
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end
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-- check for termination request
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if rtu_state.shutdown then
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log._warning("comms thread exiting")
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break
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end
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-- delay before next check
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local sleep_for = COMMS_CLOCK - (util.time() - last_update)
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if sleep_for > 0.05 then
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sleep(sleep_for)
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end
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end
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end
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end
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