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#118 PLC code cleanup

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This commit is contained in:
Mikayla Fischler 2023-02-21 16:57:33 -05:00
parent 82ea35168b
commit ce0198f389
4 changed files with 54 additions and 50 deletions
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68
reactor-plc/plc.lua
View File

@ -25,7 +25,7 @@ local println_ts = util.println_ts
local PCALL_SCRAM_MSG = "pcall: Scram requires the reactor to be active." local PCALL_SCRAM_MSG = "pcall: Scram requires the reactor to be active."
local PCALL_START_MSG = "pcall: Reactor is already active." local PCALL_START_MSG = "pcall: Reactor is already active."
-- RPS SAFETY CONSTANTS --#region RPS SAFETY CONSTANTS
local MAX_DAMAGE_PERCENT = 90 local MAX_DAMAGE_PERCENT = 90
local MAX_DAMAGE_TEMPERATURE = 1200 local MAX_DAMAGE_TEMPERATURE = 1200
@ -33,13 +33,12 @@ local MIN_COOLANT_FILL = 0.10
local MAX_WASTE_FILL = 0.8 local MAX_WASTE_FILL = 0.8
local MAX_HEATED_COLLANT_FILL = 0.95 local MAX_HEATED_COLLANT_FILL = 0.95
-- END RPS SAFETY CONSTANTS --#endregion END RPS SAFETY CONSTANTS
--- RPS: Reactor Protection System -- RPS: Reactor Protection System<br>
--- -- identifies dangerous states and SCRAMs reactor if warranted<br>
--- identifies dangerous states and SCRAMs reactor if warranted -- autonomous from main SCADA supervisor/coordinator control
--- ---@nodiscard
--- autonomous from main SCADA supervisor/coordinator control
---@param reactor table ---@param reactor table
---@param is_formed boolean ---@param is_formed boolean
function plc.rps_init(reactor, is_formed) function plc.rps_init(reactor, is_formed)
@ -270,6 +269,7 @@ function plc.rps_init(reactor, is_formed)
end end
-- check all safety conditions -- check all safety conditions
---@nodiscard
---@return boolean tripped, rps_trip_cause trip_status, boolean first_trip ---@return boolean tripped, rps_trip_cause trip_status, boolean first_trip
function public.check() function public.check()
local status = RPS_TRIP_CAUSE.OK local status = RPS_TRIP_CAUSE.OK
@ -359,16 +359,23 @@ function plc.rps_init(reactor, is_formed)
return self.tripped, status, first_trip return self.tripped, status, first_trip
end end
---@nodiscard
function public.status() return self.state end function public.status() return self.state end
---@nodiscard
function public.is_tripped() return self.tripped end function public.is_tripped() return self.tripped end
---@nodiscard
function public.get_trip_cause() return self.trip_cause end function public.get_trip_cause() return self.trip_cause end
---@nodiscard
function public.is_active() return self.reactor_enabled end function public.is_active() return self.reactor_enabled end
---@nodiscard
function public.is_formed() return self.formed end function public.is_formed() return self.formed end
---@nodiscard
function public.is_force_disabled() return self.force_disabled end function public.is_force_disabled() return self.force_disabled end
-- get the runtime of the reactor if active, or the last runtime if disabled -- get the runtime of the reactor if active, or the last runtime if disabled
---@nodiscard
---@return integer runtime time since last enable ---@return integer runtime time since last enable
function public.get_runtime() return util.trinary(self.reactor_enabled, util.time_ms() - self.enabled_at, self.last_runtime) end function public.get_runtime() return util.trinary(self.reactor_enabled, util.time_ms() - self.enabled_at, self.last_runtime) end
@ -402,6 +409,7 @@ function plc.rps_init(reactor, is_formed)
end end
-- Reactor PLC Communications -- Reactor PLC Communications
---@nodiscard
---@param id integer reactor ID ---@param id integer reactor ID
---@param version string PLC version ---@param version string PLC version
---@param modem table modem device ---@param modem table modem device
@ -416,8 +424,6 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
seq_num = 0, seq_num = 0,
r_seq_num = nil, r_seq_num = nil,
modem = modem, modem = modem,
s_port = server_port,
l_port = local_port,
reactor = reactor, reactor = reactor,
scrammed = false, scrammed = false,
linked = false, linked = false,
@ -428,9 +434,6 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
max_burn_rate = nil max_burn_rate = nil
} }
---@class plc_comms
local public = {}
comms.set_trusted_range(range) comms.set_trusted_range(range)
-- PRIVATE FUNCTIONS -- -- PRIVATE FUNCTIONS --
@ -438,7 +441,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
-- configure modem channels -- configure modem channels
local function _conf_channels() local function _conf_channels()
self.modem.closeAll() self.modem.closeAll()
self.modem.open(self.l_port) self.modem.open(local_port)
end end
_conf_channels() _conf_channels()
@ -453,7 +456,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
r_pkt.make(id, msg_type, msg) r_pkt.make(id, msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOL.RPLC, r_pkt.raw_sendable()) s_pkt.make(self.seq_num, PROTOCOL.RPLC, r_pkt.raw_sendable())
self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable()) self.modem.transmit(server_port, local_port, s_pkt.raw_sendable())
self.seq_num = self.seq_num + 1 self.seq_num = self.seq_num + 1
end end
@ -467,7 +470,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
m_pkt.make(msg_type, msg) m_pkt.make(msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOL.SCADA_MGMT, m_pkt.raw_sendable()) s_pkt.make(self.seq_num, PROTOCOL.SCADA_MGMT, m_pkt.raw_sendable())
self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable()) self.modem.transmit(server_port, local_port, s_pkt.raw_sendable())
self.seq_num = self.seq_num + 1 self.seq_num = self.seq_num + 1
end end
@ -614,6 +617,9 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
-- PUBLIC FUNCTIONS -- -- PUBLIC FUNCTIONS --
---@class plc_comms
local public = {}
-- reconnect a newly connected modem -- reconnect a newly connected modem
---@param modem table ---@param modem table
---@diagnostic disable-next-line: redefined-local ---@diagnostic disable-next-line: redefined-local
@ -679,9 +685,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
_send(RPLC_TYPE.STATUS, sys_status) _send(RPLC_TYPE.STATUS, sys_status)
if self.resend_build then if self.resend_build then _send_struct() end
_send_struct()
end
end end
end end
@ -696,12 +700,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
---@param cause rps_trip_cause reactor protection system status ---@param cause rps_trip_cause reactor protection system status
function public.send_rps_alarm(cause) function public.send_rps_alarm(cause)
if self.linked then if self.linked then
local rps_alarm = { _send(RPLC_TYPE.RPS_ALARM, { cause, table.unpack(rps.status()) })
cause,
table.unpack(rps.status())
}
_send(RPLC_TYPE.RPS_ALARM, rps_alarm)
end end
end end
@ -745,7 +744,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
---@param plc_state plc_state PLC state ---@param plc_state plc_state PLC state
---@param setpoints setpoints setpoint control table ---@param setpoints setpoints setpoint control table
function public.handle_packet(packet, plc_state, setpoints) function public.handle_packet(packet, plc_state, setpoints)
if packet ~= nil and packet.scada_frame.local_port() == self.l_port then if packet.scada_frame.local_port() == local_port then
-- check sequence number -- check sequence number
if self.r_seq_num == nil then if self.r_seq_num == nil then
self.r_seq_num = packet.scada_frame.seq_num() self.r_seq_num = packet.scada_frame.seq_num()
@ -848,9 +847,8 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
log.debug("AUTO: stopping the reactor to meet 0.0 burn rate") log.debug("AUTO: stopping the reactor to meet 0.0 burn rate")
if rps.scram() then if rps.scram() then
ack = AUTO_ACK.ZERO_DIS_OK ack = AUTO_ACK.ZERO_DIS_OK
self.auto_last_disable = util.time_ms()
else else
log.debug("AUTO: automatic reactor stop failed") log.warning("AUTO: automatic reactor stop failed")
end end
else else
ack = AUTO_ACK.ZERO_DIS_OK ack = AUTO_ACK.ZERO_DIS_OK
@ -862,10 +860,10 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
self.reactor.setBurnRate(0.01) self.reactor.setBurnRate(0.01)
if self.reactor.__p_is_faulted() then if self.reactor.__p_is_faulted() then
log.debug("AUTO: failed to reset burn rate for auto activation") log.warning("AUTO: failed to reset burn rate for auto activation")
else else
if not rps.auto_activate() then if not rps.auto_activate() then
log.debug("AUTO: automatic reactor activation failed") log.warning("AUTO: automatic reactor activation failed")
end end
end end
end end
@ -965,7 +963,7 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
if est_ack == ESTABLISH_ACK.ALLOW then if est_ack == ESTABLISH_ACK.ALLOW then
println_ts("linked!") println_ts("linked!")
log.debug("supervisor establish request approved") log.info("supervisor establish request approved, PLC is linked")
-- reset remote sequence number and cache -- reset remote sequence number and cache
self.r_seq_num = nil self.r_seq_num = nil
@ -978,16 +976,16 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
elseif self.last_est_ack ~= est_ack then elseif self.last_est_ack ~= est_ack then
if est_ack == ESTABLISH_ACK.DENY then if est_ack == ESTABLISH_ACK.DENY then
println_ts("link request denied, retrying...") println_ts("link request denied, retrying...")
log.debug("establish request denied") log.info("supervisor establish request denied, retrying")
elseif est_ack == ESTABLISH_ACK.COLLISION then elseif est_ack == ESTABLISH_ACK.COLLISION then
println_ts("reactor PLC ID collision (check config), retrying...") println_ts("reactor PLC ID collision (check config), retrying...")
log.warning("establish request collision") log.warning("establish request collision, retrying")
elseif est_ack == ESTABLISH_ACK.BAD_VERSION then elseif est_ack == ESTABLISH_ACK.BAD_VERSION then
println_ts("supervisor version mismatch (try updating), retrying...") println_ts("supervisor version mismatch (try updating), retrying...")
log.warning("establish request version mismatch") log.warning("establish request version mismatch, retrying")
else else
println_ts("invalid link response, bad channel? retrying...") println_ts("invalid link response, bad channel? retrying...")
log.error("unknown establish request response") log.error("unknown establish request response, retrying")
end end
end end
@ -1006,7 +1004,9 @@ function plc.comms(id, version, modem, local_port, server_port, range, reactor,
end end
end end
---@nodiscard
function public.is_scrammed() return self.scrammed end function public.is_scrammed() return self.scrammed end
---@nodiscard
function public.is_linked() return self.linked end function public.is_linked() return self.linked end
return public return public

7
reactor-plc/startup.lua
View File

@ -145,8 +145,7 @@ local function main()
plc_state.no_modem = true plc_state.no_modem = true
end end
-- PLC init -- PLC init<br>
---
--- EVENT_CONSUMER: this function consumes events --- EVENT_CONSUMER: this function consumes events
local function init() local function init()
if plc_state.init_ok then if plc_state.init_ok then
@ -170,13 +169,13 @@ local function main()
log.debug("init> comms init") log.debug("init> comms init")
else else
println("boot> starting in offline mode") println("boot> starting in offline mode")
log.debug("init> running without networking") log.info("init> running without networking")
end end
util.push_event("clock_start") util.push_event("clock_start")
println("boot> completed") println("boot> completed")
log.debug("init> boot completed") log.info("init> boot completed")
else else
println("boot> system in degraded state, awaiting devices...") println("boot> system in degraded state, awaiting devices...")
log.warning("init> booted in a degraded state, awaiting peripheral connections...") log.warning("init> booted in a degraded state, awaiting peripheral connections...")

19
reactor-plc/threads.lua
View File

@ -28,6 +28,7 @@ local MQ__COMM_CMD = {
} }
-- main thread -- main thread
---@nodiscard
---@param smem plc_shared_memory ---@param smem plc_shared_memory
---@param init function ---@param init function
function threads.thread__main(smem, init) function threads.thread__main(smem, init)
@ -45,9 +46,9 @@ function threads.thread__main(smem, init)
local loop_clock = util.new_clock(MAIN_CLOCK) local loop_clock = util.new_clock(MAIN_CLOCK)
-- load in from shared memory -- load in from shared memory
local networked = smem.networked local networked = smem.networked
local plc_state = smem.plc_state local plc_state = smem.plc_state
local plc_dev = smem.plc_dev local plc_dev = smem.plc_dev
-- event loop -- event loop
while true do while true do
@ -276,6 +277,7 @@ function threads.thread__main(smem, init)
end end
-- RPS operation thread -- RPS operation thread
---@nodiscard
---@param smem plc_shared_memory ---@param smem plc_shared_memory
function threads.thread__rps(smem) function threads.thread__rps(smem)
---@class parallel_thread ---@class parallel_thread
@ -298,10 +300,10 @@ function threads.thread__rps(smem)
-- thread loop -- thread loop
while true do while true do
-- get plc_sys fields (may have been set late due to degraded boot) -- get plc_sys fields (may have been set late due to degraded boot)
local rps = smem.plc_sys.rps local rps = smem.plc_sys.rps
local plc_comms = smem.plc_sys.plc_comms local plc_comms = smem.plc_sys.plc_comms
-- get reactor, may have changed do to disconnect/reconnect -- get reactor, may have changed do to disconnect/reconnect
local reactor = plc_dev.reactor local reactor = plc_dev.reactor
-- RPS checks -- RPS checks
if plc_state.init_ok then if plc_state.init_ok then
@ -416,6 +418,7 @@ function threads.thread__rps(smem)
end end
-- communications sender thread -- communications sender thread
---@nodiscard
---@param smem plc_shared_memory ---@param smem plc_shared_memory
function threads.thread__comms_tx(smem) function threads.thread__comms_tx(smem)
---@class parallel_thread ---@class parallel_thread
@ -491,6 +494,7 @@ function threads.thread__comms_tx(smem)
end end
-- communications handler thread -- communications handler thread
---@nodiscard
---@param smem plc_shared_memory ---@param smem plc_shared_memory
function threads.thread__comms_rx(smem) function threads.thread__comms_rx(smem)
---@class parallel_thread ---@class parallel_thread
@ -565,7 +569,8 @@ function threads.thread__comms_rx(smem)
return public return public
end end
-- apply setpoints -- ramp control outputs to desired setpoints
---@nodiscard
---@param smem plc_shared_memory ---@param smem plc_shared_memory
function threads.thread__setpoint_control(smem) function threads.thread__setpoint_control(smem)
---@class parallel_thread ---@class parallel_thread

10
scada-common/comms.lua
View File

@ -334,7 +334,7 @@ function comms.rplc_packet()
frame = nil, frame = nil,
raw = {}, raw = {},
id = 0, id = 0,
type = -1, type = 0, ---@type RPLC_TYPE
length = 0, length = 0,
data = {} data = {}
} }
@ -436,7 +436,7 @@ function comms.mgmt_packet()
local self = { local self = {
frame = nil, frame = nil,
raw = {}, raw = {},
type = -1, type = 0, ---@type SCADA_MGMT_TYPE
length = 0, length = 0,
data = {} data = {}
} }
@ -528,7 +528,7 @@ function comms.crdn_packet()
local self = { local self = {
frame = nil, frame = nil,
raw = {}, raw = {},
type = -1, type = 0, ---@type SCADA_CRDN_TYPE
length = 0, length = 0,
data = {} data = {}
} }
@ -617,13 +617,13 @@ function comms.crdn_packet()
end end
-- coordinator API (CAPI) packet -- coordinator API (CAPI) packet
---@todo implement for pocket access ---@todo implement for pocket access, set enum type for self.type
---@nodiscard ---@nodiscard
function comms.capi_packet() function comms.capi_packet()
local self = { local self = {
frame = nil, frame = nil,
raw = {}, raw = {},
type = -1, type = 0,
length = 0, length = 0,
data = {} data = {}
} }