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#11 configurable 'networked' setting for PLCs that allows for standalone ISS-only mode

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This commit is contained in:
Mikayla Fischler
2022-04-05 15:56:48 -04:00
parent 13b0fcf65f
commit dbf7377c02
2 changed files with 62 additions and 49 deletions
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2
reactor-plc/config.lua
View File

@ -1,3 +1,5 @@
-- set to false to run in standalone mode (safety regulation only)
NETWORKED = true
-- unique reactor ID -- unique reactor ID
REACTOR_ID = 1 REACTOR_ID = 1
-- port to send packets TO server -- port to send packets TO server

109
reactor-plc/startup.lua
View File

@ -22,6 +22,8 @@ ppm.mount_all()
local reactor = ppm.get_device("fissionReactor") local reactor = ppm.get_device("fissionReactor")
local modem = ppm.get_device("modem") local modem = ppm.get_device("modem")
local networked = config.NETWORKED
local plc_state = { local plc_state = {
init_ok = true, init_ok = true,
scram = true, -- treated as latching e-stop, all conditions must be OK to set false scram = true, -- treated as latching e-stop, all conditions must be OK to set false
@ -38,7 +40,7 @@ if reactor == nil then
plc_state.degraded = true plc_state.degraded = true
plc_state.no_reactor = true plc_state.no_reactor = true
end end
if modem == nil then if networked and modem == nil then
if reactor ~= nil then if reactor ~= nil then
print_ts("No modem found. Disabling reactor and running in a degraded state...\n") print_ts("No modem found. Disabling reactor and running in a degraded state...\n")
reactor.scram() reactor.scram()
@ -52,37 +54,46 @@ if modem == nil then
plc_state.no_modem = true plc_state.no_modem = true
end end
::init:: local iss = nil
if plc_state.init_ok then local plc_comms = nil
-- just booting up, no fission allowed (neutrons stay put thanks) local conn_watchdog = nil
reactor.scram()
-- init internal safety system
local iss = plc.iss_init(reactor)
log._debug("iss init")
-- start comms
local plc_comms = plc.comms_init(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor, iss)
log._debug("comms init")
-- comms watchdog, 3 second timeout
local conn_watchdog = watchdog.new_watchdog(3)
log._debug("conn watchdog started")
-- loop clock (10Hz, 2 ticks)
local loop_tick = os.startTimer(0.05)
log._debug("loop clock started")
else
log._warning("booted in a degraded state, awaiting peripheral connections...")
end
-- send status updates at ~3.33Hz (every 6 server ticks) (every 3 loop ticks) -- send status updates at ~3.33Hz (every 6 server ticks) (every 3 loop ticks)
-- send link requests at 0.5Hz (every 40 server ticks) (every 20 loop ticks) -- send link requests at 0.5Hz (every 40 server ticks) (every 20 loop ticks)
local UPDATE_TICKS = 3 local UPDATE_TICKS = 3
local LINK_TICKS = 20 local LINK_TICKS = 20
-- start by linking local loop_tick = nil
local ticks_to_update = LINK_TICKS local ticks_to_update = LINK_TICKS -- start by linking
-- initialize PLC
::init::
if plc_state.init_ok then
-- just booting up, no fission allowed (neutrons stay put thanks)
reactor.scram()
-- init internal safety system
iss = plc.iss_init(reactor)
log._debug("iss init")
if networked then
-- start comms
plc_comms = plc.comms_init(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor, iss)
log._debug("comms init")
-- comms watchdog, 3 second timeout
conn_watchdog = watchdog.new_watchdog(3)
log._debug("conn watchdog started")
else
log._debug("running without networking")
end
-- loop clock (10Hz, 2 ticks)
loop_tick = os.startTimer(0.05)
log._debug("loop clock started")
else
log._warning("booted in a degraded state, awaiting peripheral connections...")
end
-- event loop -- event loop
while true do while true do
@ -93,7 +104,7 @@ while true do
-- if it disconnected, isPowered will return nil (and error logs will get spammed at 10Hz, so disable reporting) -- if it disconnected, isPowered will return nil (and error logs will get spammed at 10Hz, so disable reporting)
-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check) -- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
ppm.disable_reporting() ppm.disable_reporting()
if plc_state.scram and reactor.isPowered() then if plc_state.degraded or (plc_state.scram and reactor.isPowered()) then
reactor.scram() reactor.scram()
end end
ppm.enable_reporting() ppm.enable_reporting()
@ -108,7 +119,7 @@ while true do
log._error("reactor disconnected!") log._error("reactor disconnected!")
plc_state.no_reactor = true plc_state.no_reactor = true
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ? -- send an alarm: plc_comms.send_alarm(ALARMS.PLC_PERI_DC) ?
elseif device.type == "modem" then elseif networked and device.type == "modem" then
print_ts("modem disconnected!\n") print_ts("modem disconnected!\n")
log._error("modem disconnected!") log._error("modem disconnected!")
plc_state.no_modem = true plc_state.no_modem = true
@ -139,14 +150,16 @@ while true do
if plc_state.init_ok then if plc_state.init_ok then
iss.reconnect_reactor(device) iss.reconnect_reactor(device)
plc_comms.reconnect_reactor(device) if networked then
plc_comms.reconnect_reactor(device)
end
end end
-- determine if we are still in a degraded state -- determine if we are still in a degraded state
if get_device("modem") not nil then if not networked or get_device("modem") not nil then
plc_state.degraded = false plc_state.degraded = false
end end
elseif device.type == "modem" then elseif networked and device.type == "modem" then
-- reconnected modem -- reconnected modem
if plc_state.init_ok then if plc_state.init_ok then
plc_comms.reconnect_modem(device) plc_comms.reconnect_modem(device)
@ -172,31 +185,29 @@ while true do
if not plc_state.degraded then if not plc_state.degraded then
local iss_tripped, iss_status, iss_first = iss.check() local iss_tripped, iss_status, iss_first = iss.check()
plc_state.scram = plc_state.scram or iss_tripped plc_state.scram = plc_state.scram or iss_tripped
if iss_first then if networked and iss_first then
plc_comms.send_iss_alarm(iss_status) plc_comms.send_iss_alarm(iss_status)
end end
end end
-- handle event -- handle event
if event == "timer" and param1 == loop_tick then if event == "timer" and param1 == loop_tick and networked and not plc_state.no_modem then
if not plc_state.no_modem then -- basic event tick, send updated data if it is time (~3.33Hz)
-- basic event tick, send updated data if it is time (~3.33Hz) -- iss was already checked (that's the main reason for this tick rate)
-- iss was already checked (main reason for this tick rate) ticks_to_update = ticks_to_update - 1
ticks_to_update = ticks_to_update - 1
if plc_comms.is_linked() then if plc_comms.is_linked() then
if ticks_to_update <= 0 then if ticks_to_update <= 0 then
plc_comms.send_status(iss_tripped) plc_comms.send_status(iss_tripped)
ticks_to_update = UPDATE_TICKS ticks_to_update = UPDATE_TICKS
end end
else else
if ticks_to_update <= 0 then if ticks_to_update <= 0 then
plc_comms.send_link_req() plc_comms.send_link_req()
ticks_to_update = LINK_TICKS ticks_to_update = LINK_TICKS
end
end end
end end
elseif event == "modem_message" then elseif event == "modem_message" and networked and not plc_state.no_modem then
-- got a packet -- got a packet
-- feed the watchdog first so it doesn't uhh...eat our packets -- feed the watchdog first so it doesn't uhh...eat our packets
conn_watchdog.feed() conn_watchdog.feed()
@ -204,7 +215,7 @@ while true do
local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5) local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5)
plc_comms.handle_packet(packet) plc_comms.handle_packet(packet)
plc_state.scram = plc_state.scram or plc_comms.is_scrammed() plc_state.scram = plc_state.scram or plc_comms.is_scrammed()
elseif event == "timer" and param1 == conn_watchdog.get_timer() then elseif event == "timer" and param1 == conn_watchdog.get_timer() and networked then
-- haven't heard from server recently? shutdown reactor -- haven't heard from server recently? shutdown reactor
plc_state.scram = true plc_state.scram = true
plc_comms.unlink() plc_comms.unlink()