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#122 versioned comms protocol with unified establish protocol

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This commit is contained in:
Mikayla Fischler 2022-11-13 14:13:30 -05:00
parent 1a01bec7e4
commit e679b5a25a
11 changed files with 463 additions and 384 deletions
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188
coordinator/coordinator.lua
View File

@ -16,6 +16,8 @@ local print_ts = util.print_ts
local println_ts = util.println_ts
local PROTOCOLS = comms.PROTOCOLS
local DEVICE_TYPES = comms.DEVICE_TYPES
local ESTABLISH_ACK = comms.ESTABLISH_ACK
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local SCADA_CRDN_TYPES = comms.SCADA_CRDN_TYPES
local CRDN_COMMANDS = comms.CRDN_COMMANDS
@ -236,7 +238,7 @@ function coordinator.comms(version, modem, sv_port, sv_listen, api_listen, sv_wa
-- attempt connection establishment
local function _send_establish()
_send_sv(PROTOCOLS.SCADA_CRDN, SCADA_CRDN_TYPES.ESTABLISH, { version })
_send_sv(PROTOCOLS.SCADA_MGMT, SCADA_MGMT_TYPES.ESTABLISH, { comms.version, version, DEVICE_TYPES.CRDN })
end
-- keep alive ack
@ -288,7 +290,7 @@ function coordinator.comms(version, modem, sv_port, sv_listen, api_listen, sv_wa
elseif event == "modem_message" then
-- handle message
local packet = public.parse_packet(p1, p2, p3, p4, p5)
if packet ~= nil and packet.type == SCADA_CRDN_TYPES.ESTABLISH then
if packet ~= nil and packet.type == SCADA_MGMT_TYPES.ESTABLISH then
public.handle_packet(packet)
end
elseif event == "terminate" then
@ -385,106 +387,124 @@ function coordinator.comms(version, modem, sv_port, sv_listen, api_listen, sv_wa
-- handle packet
if protocol == PROTOCOLS.SCADA_CRDN then
if packet.type == SCADA_CRDN_TYPES.ESTABLISH then
-- connection with supervisor established
if packet.length > 1 then
-- get configuration
---@class facility_conf
local conf = {
num_units = packet.data[1],
defs = {} -- boilers and turbines
}
if (packet.length - 1) == (conf.num_units * 2) then
-- record sequence of pairs of [#boilers, #turbines] per unit
for i = 2, packet.length do
table.insert(conf.defs, packet.data[i])
end
-- init io controller
iocontrol.init(conf, public)
self.sv_linked = true
if self.sv_linked then
if packet.type == SCADA_CRDN_TYPES.STRUCT_BUILDS then
-- record builds
if iocontrol.record_builds(packet.data) then
-- acknowledge receipt of builds
_send_sv(PROTOCOLS.SCADA_CRDN, SCADA_CRDN_TYPES.STRUCT_BUILDS, {})
else
log.debug("supervisor conn establish packet length mismatch")
log.error("received invalid SCADA_CRDN build packet")
end
elseif packet.length == 1 and packet.data[1] == false then
log.debug("supervisor connection denied")
else
log.debug("supervisor conn establish packet length mismatch")
end
elseif packet.type == SCADA_CRDN_TYPES.STRUCT_BUILDS then
-- record builds
if iocontrol.record_builds(packet.data) then
-- acknowledge receipt of builds
_send_sv(PROTOCOLS.SCADA_CRDN, SCADA_CRDN_TYPES.STRUCT_BUILDS, {})
else
log.error("received invalid build packet")
end
elseif packet.type == SCADA_CRDN_TYPES.UNIT_STATUSES then
-- update statuses
if not iocontrol.update_statuses(packet.data) then
log.error("received invalid unit statuses packet")
end
elseif packet.type == SCADA_CRDN_TYPES.COMMAND_UNIT then
-- unit command acknowledgement
if packet.length == 3 then
local cmd = packet.data[1]
local unit_id = packet.data[2]
local ack = packet.data[3]
elseif packet.type == SCADA_CRDN_TYPES.UNIT_STATUSES then
-- update statuses
if not iocontrol.update_statuses(packet.data) then
log.error("received invalid SCADA_CRDN unit statuses packet")
end
elseif packet.type == SCADA_CRDN_TYPES.COMMAND_UNIT then
-- unit command acknowledgement
if packet.length == 3 then
local cmd = packet.data[1]
local unit_id = packet.data[2]
local ack = packet.data[3]
local unit = iocontrol.get_db().units[unit_id] ---@type ioctl_entry
local unit = iocontrol.get_db().units[unit_id] ---@type ioctl_entry
if unit ~= nil then
if cmd == CRDN_COMMANDS.SCRAM then
unit.scram_ack(ack)
elseif cmd == CRDN_COMMANDS.START then
unit.start_ack(ack)
elseif cmd == CRDN_COMMANDS.RESET_RPS then
unit.reset_rps_ack(ack)
elseif cmd == CRDN_COMMANDS.SET_BURN then
unit.set_burn_ack(ack)
elseif cmd == CRDN_COMMANDS.SET_WASTE then
unit.set_waste_ack(ack)
if unit ~= nil then
if cmd == CRDN_COMMANDS.SCRAM then
unit.scram_ack(ack)
elseif cmd == CRDN_COMMANDS.START then
unit.start_ack(ack)
elseif cmd == CRDN_COMMANDS.RESET_RPS then
unit.reset_rps_ack(ack)
elseif cmd == CRDN_COMMANDS.SET_BURN then
unit.set_burn_ack(ack)
elseif cmd == CRDN_COMMANDS.SET_WASTE then
unit.set_waste_ack(ack)
else
log.debug(util.c("received command ack with unknown command ", cmd))
end
else
log.debug(util.c("received command ack with unknown command ", cmd))
log.debug(util.c("received command ack with unknown unit ", unit_id))
end
else
log.debug(util.c("received command ack with unknown unit ", unit_id))
log.debug("SCADA_CRDN unit command ack packet length mismatch")
end
elseif packet.type == SCADA_CRDN_TYPES.ALARM then
---@todo alarm/architecture handling
else
log.debug("unit command ack packet length mismatch")
log.warning("received unknown SCADA_CRDN packet type " .. packet.type)
end
elseif packet.type == SCADA_CRDN_TYPES.ALARM then
else
log.warning("received unknown SCADA_CRDN packet type " .. packet.type)
log.debug("discarding SCADA_CRDN packet before linked")
end
elseif protocol == PROTOCOLS.SCADA_MGMT then
if packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive request received, echo back
if packet.length == 1 then
local timestamp = packet.data[1]
local trip_time = util.time() - timestamp
if packet.type == SCADA_MGMT_TYPES.ESTABLISH then
-- connection with supervisor established
if packet.length == 2 then
local est_ack = packet.data[1]
local config = packet.data[2]
if trip_time > 500 then
log.warning("coord KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
if est_ack == ESTABLISH_ACK.ALLOW then
if type(config) == "table" and #config > 1 then
-- get configuration
---@class facility_conf
local conf = {
num_units = config[1],
defs = {} -- boilers and turbines
}
if (#config - 1) == (conf.num_units * 2) then
-- record sequence of pairs of [#boilers, #turbines] per unit
for i = 2, #config do
table.insert(conf.defs, config[i])
end
-- init io controller
iocontrol.init(conf, public)
self.sv_linked = true
else
log.error("invalid supervisor configuration definitions received, establish failed")
end
else
log.error("invalid supervisor configuration table received, establish failed")
end
else
log.debug("supervisor connection denied")
end
-- log.debug("coord RTT = " .. trip_time .. "ms")
_send_keep_alive_ack(timestamp)
else
log.debug("SCADA keep alive packet length mismatch")
log.debug("SCADA_MGMT establish packet length mismatch")
end
elseif self.sv_linked then
if packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive request received, echo back
if packet.length == 1 then
local timestamp = packet.data[1]
local trip_time = util.time() - timestamp
if trip_time > 500 then
log.warning("coord KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
end
-- log.debug("coord RTT = " .. trip_time .. "ms")
_send_keep_alive_ack(timestamp)
else
log.debug("SCADA keep alive packet length mismatch")
end
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- handle session close
sv_watchdog.cancel()
self.sv_linked = false
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
else
log.warning("received unknown SCADA_MGMT packet type " .. packet.type)
end
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- handle session close
sv_watchdog.cancel()
self.sv_linked = false
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
else
log.warning("received unknown SCADA_MGMT packet type " .. packet.type)
log.debug("discarding non-link SCADA_MGMT packet before linked")
end
else
log.debug("illegal packet type " .. protocol .. " on supervisor listening channel", true)

2
coordinator/startup.lua
View File

@ -16,7 +16,7 @@ local config = require("coordinator.config")
local coordinator = require("coordinator.coordinator")
local renderer = require("coordinator.renderer")
local COORDINATOR_VERSION = "alpha-v0.6.10"
local COORDINATOR_VERSION = "alpha-v0.6.11"
local print = util.print
local println = util.println

146
reactor-plc/plc.lua
View File

@ -9,8 +9,9 @@ local plc = {}
local rps_status_t = types.rps_status_t
local PROTOCOLS = comms.PROTOCOLS
local DEVICE_TYPES = comms.DEVICE_TYPES
local ESTABLISH_ACK = comms.ESTABLISH_ACK
local RPLC_TYPES = comms.RPLC_TYPES
local RPLC_LINKING = comms.RPLC_LINKING
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local print = util.print
@ -600,7 +601,7 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
-- attempt to establish link with supervisor
function public.send_link_req()
_send(RPLC_TYPES.LINK_REQ, { id, version })
_send_mgmt(SCADA_MGMT_TYPES.ESTABLISH, { comms.version, version, DEVICE_TYPES.PLC, id })
end
-- send live status information
@ -716,34 +717,7 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
-- handle packet
if protocol == PROTOCOLS.RPLC then
if self.linked then
if packet.type == RPLC_TYPES.LINK_REQ then
-- link request confirmation
if packet.length == 1 then
log.debug("received unsolicited link request response")
local link_ack = packet.data[1]
if link_ack == RPLC_LINKING.ALLOW then
self.status_cache = nil
_send_struct()
public.send_status(plc_state.no_reactor, plc_state.reactor_formed)
log.debug("re-sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
println_ts("received unsolicited link denial, unlinking")
log.debug("unsolicited RPLC link request denied")
elseif link_ack == RPLC_LINKING.COLLISION then
println_ts("received unsolicited link collision, unlinking")
log.warning("unsolicited RPLC link request collision")
else
println_ts("invalid unsolicited link response")
log.error("unsolicited unknown RPLC link request response")
end
self.linked = link_ack == RPLC_LINKING.ALLOW
else
log.debug("RPLC link req packet length mismatch")
end
elseif packet.type == RPLC_TYPES.STATUS then
if packet.type == RPLC_TYPES.STATUS then
-- request of full status, clear cache first
self.status_cache = nil
public.send_status(plc_state.no_reactor, plc_state.reactor_formed)
@ -805,69 +779,97 @@ function plc.comms(id, version, modem, local_port, server_port, reactor, rps, co
else
log.warning("received unknown RPLC packet type " .. packet.type)
end
elseif packet.type == RPLC_TYPES.LINK_REQ then
else
log.debug("discarding RPLC packet before linked")
end
elseif protocol == PROTOCOLS.SCADA_MGMT then
if self.linked then
if packet.type == SCADA_MGMT_TYPES.ESTABLISH then
-- link request confirmation
if packet.length == 1 then
log.debug("received unsolicited establish response")
local est_ack = packet.data[1]
if est_ack == ESTABLISH_ACK.ALLOW then
self.status_cache = nil
_send_struct()
public.send_status(plc_state.no_reactor, plc_state.reactor_formed)
log.debug("re-sent initial status data")
elseif est_ack == ESTABLISH_ACK.DENY then
println_ts("received unsolicited link denial, unlinking")
log.info("unsolicited establish request denied")
elseif est_ack == ESTABLISH_ACK.COLLISION then
println_ts("received unsolicited link collision, unlinking")
log.warning("unsolicited establish request collision")
else
println_ts("invalid unsolicited link response")
log.error("unsolicited unknown establish request response")
end
self.linked = est_ack == ESTABLISH_ACK.ALLOW
else
log.debug("SCADA_MGMT establish packet length mismatch")
end
elseif packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive request received, echo back
if packet.length == 1 and type(packet.data[1]) == "number" then
local timestamp = packet.data[1]
local trip_time = util.time() - timestamp
if trip_time > 500 then
log.warning("PLC KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
end
-- log.debug("RPLC RTT = " .. trip_time .. "ms")
_send_keep_alive_ack(timestamp)
else
log.debug("SCADA_MGMT keep alive packet length/type mismatch")
end
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- handle session close
conn_watchdog.cancel()
public.unlink()
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
else
log.warning("received unsupported SCADA_MGMT packet type " .. packet.type)
end
elseif packet.type == SCADA_MGMT_TYPES.ESTABLISH then
-- link request confirmation
if packet.length == 1 then
local link_ack = packet.data[1]
local est_ack = packet.data[1]
if link_ack == RPLC_LINKING.ALLOW then
if est_ack == ESTABLISH_ACK.ALLOW then
println_ts("linked!")
log.debug("RPLC link request approved")
log.debug("supervisor establish request approved")
-- reset remote sequence number and cache
self.r_seq_num = nil
self.status_cache = nil
if plc_state.reactor_formed then
_send_struct()
end
if plc_state.reactor_formed then _send_struct() end
public.send_status(plc_state.no_reactor, plc_state.reactor_formed)
log.debug("sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
elseif est_ack == ESTABLISH_ACK.DENY then
println_ts("link request denied, retrying...")
log.debug("RPLC link request denied")
elseif link_ack == RPLC_LINKING.COLLISION then
log.debug("establish request denied")
elseif est_ack == ESTABLISH_ACK.COLLISION then
println_ts("reactor PLC ID collision (check config), retrying...")
log.warning("RPLC link request collision")
log.warning("establish request collision")
else
println_ts("invalid link response, bad channel? retrying...")
log.error("unknown RPLC link request response")
log.error("unknown establish request response")
end
self.linked = link_ack == RPLC_LINKING.ALLOW
self.linked = est_ack == ESTABLISH_ACK.ALLOW
else
log.debug("RPLC link req packet length mismatch")
log.debug("SCADA_MGMT establish packet length mismatch")
end
else
log.debug("discarding non-link packet before linked")
end
elseif protocol == PROTOCOLS.SCADA_MGMT then
if packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive request received, echo back
if packet.length == 1 then
local timestamp = packet.data[1]
local trip_time = util.time() - timestamp
if trip_time > 500 then
log.warning("PLC KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
end
-- log.debug("RPLC RTT = " .. trip_time .. "ms")
_send_keep_alive_ack(timestamp)
else
log.debug("SCADA keep alive packet length mismatch")
end
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- handle session close
conn_watchdog.cancel()
public.unlink()
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
else
log.warning("received unknown SCADA_MGMT packet type " .. packet.type)
log.debug("discarding non-link SCADA_MGMT packet before linked")
end
else
-- should be unreachable assuming packet is from parse_packet()

2
reactor-plc/startup.lua
View File

@ -13,7 +13,7 @@ local config = require("reactor-plc.config")
local plc = require("reactor-plc.plc")
local threads = require("reactor-plc.threads")
local R_PLC_VERSION = "beta-v0.9.5"
local R_PLC_VERSION = "beta-v0.9.6"
local print = util.print
local println = util.println

206
rtu/rtu.lua
View File

@ -8,6 +8,8 @@ local modbus = require("rtu.modbus")
local rtu = {}
local PROTOCOLS = comms.PROTOCOLS
local DEVICE_TYPES = comms.DEVICE_TYPES
local ESTABLISH_ACK = comms.ESTABLISH_ACK
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local RTU_UNIT_TYPES = comms.RTU_UNIT_TYPES
@ -210,6 +212,34 @@ function rtu.comms(version, modem, local_port, server_port, conn_watchdog)
_send(SCADA_MGMT_TYPES.KEEP_ALIVE, { srv_time, util.time() })
end
-- generate device advertisement table
---@param units table
---@return table advertisement
local function _generate_advertisement(units)
local advertisement = {}
for i = 1, #units do
local unit = units[i] --@type rtu_unit_registry_entry
local type = comms.rtu_t_to_unit_type(unit.type)
if type ~= nil then
local advert = {
type,
unit.index,
unit.reactor
}
if type == RTU_UNIT_TYPES.REDSTONE then
insert(advert, unit.device)
end
insert(advertisement, advert)
end
end
return advertisement
end
-- PUBLIC FUNCTIONS --
-- send a MODBUS TCP packet
@ -244,31 +274,16 @@ function rtu.comms(version, modem, local_port, server_port, conn_watchdog)
_send(SCADA_MGMT_TYPES.CLOSE, {})
end
-- send establish request (includes advertisement)
---@param units table
function public.send_establish(units)
_send(SCADA_MGMT_TYPES.ESTABLISH, { comms.version, self.version, DEVICE_TYPES.RTU, _generate_advertisement(units) })
end
-- send capability advertisement
---@param units table
function public.send_advertisement(units)
local advertisement = { self.version }
for i = 1, #units do
local unit = units[i] --@type rtu_unit_registry_entry
local type = comms.rtu_t_to_unit_type(unit.type)
if type ~= nil then
local advert = {
type,
unit.index,
unit.reactor
}
if type == RTU_UNIT_TYPES.REDSTONE then
insert(advert, unit.device)
end
insert(advertisement, advert)
end
end
_send(SCADA_MGMT_TYPES.RTU_ADVERT, advertisement)
_send(SCADA_MGMT_TYPES.RTU_ADVERT, _generate_advertisement(units))
end
-- notify that a peripheral was remounted
@ -334,86 +349,107 @@ function rtu.comms(version, modem, local_port, server_port, conn_watchdog)
local protocol = packet.scada_frame.protocol()
if protocol == PROTOCOLS.MODBUS_TCP then
local return_code = false
if rtu_state.linked then
local return_code = false
---@diagnostic disable-next-line: param-type-mismatch
local reply = modbus.reply__neg_ack(packet)
local reply = modbus.reply__neg_ack(packet)
-- handle MODBUS instruction
if packet.unit_id <= #units then
local unit = units[packet.unit_id] ---@type rtu_unit_registry_entry
local unit_dbg_tag = " (unit " .. packet.unit_id .. ")"
-- handle MODBUS instruction
if packet.unit_id <= #units then
local unit = units[packet.unit_id] ---@type rtu_unit_registry_entry
local unit_dbg_tag = " (unit " .. packet.unit_id .. ")"
if unit.name == "redstone_io" then
-- immediately execute redstone RTU requests
if unit.name == "redstone_io" then
-- immediately execute redstone RTU requests
---@diagnostic disable-next-line: param-type-mismatch
return_code, reply = unit.modbus_io.handle_packet(packet)
if not return_code then
log.warning("requested MODBUS operation failed" .. unit_dbg_tag)
return_code, reply = unit.modbus_io.handle_packet(packet)
if not return_code then
log.warning("requested MODBUS operation failed" .. unit_dbg_tag)
end
else
-- check validity then pass off to unit comms thread
---@diagnostic disable-next-line: param-type-mismatch
return_code, reply = unit.modbus_io.check_request(packet)
if return_code then
-- check if there are more than 3 active transactions
-- still queue the packet, but this may indicate a problem
if unit.pkt_queue.length() > 3 then
---@diagnostic disable-next-line: param-type-mismatch
reply = modbus.reply__srv_device_busy(packet)
log.debug("queueing new request with " .. unit.pkt_queue.length() ..
" transactions already in the queue" .. unit_dbg_tag)
end
-- always queue the command even if busy
unit.pkt_queue.push_packet(packet)
else
log.warning("cannot perform requested MODBUS operation" .. unit_dbg_tag)
end
end
else
-- check validity then pass off to unit comms thread
-- unit ID out of range?
---@diagnostic disable-next-line: param-type-mismatch
return_code, reply = unit.modbus_io.check_request(packet)
if return_code then
-- check if there are more than 3 active transactions
-- still queue the packet, but this may indicate a problem
if unit.pkt_queue.length() > 3 then
---@diagnostic disable-next-line: param-type-mismatch
reply = modbus.reply__srv_device_busy(packet)
log.debug("queueing new request with " .. unit.pkt_queue.length() ..
" transactions already in the queue" .. unit_dbg_tag)
end
-- always queue the command even if busy
unit.pkt_queue.push_packet(packet)
else
log.warning("cannot perform requested MODBUS operation" .. unit_dbg_tag)
end
reply = modbus.reply__gw_unavailable(packet)
log.error("received MODBUS packet for non-existent unit")
end
else
-- unit ID out of range?
---@diagnostic disable-next-line: param-type-mismatch
reply = modbus.reply__gw_unavailable(packet)
log.error("received MODBUS packet for non-existent unit")
end
public.send_modbus(reply)
public.send_modbus(reply)
else
log.debug("discarding MODBUS packet before linked")
end
elseif protocol == PROTOCOLS.SCADA_MGMT then
-- SCADA management packet
if packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive request received, echo back
if packet.type == SCADA_MGMT_TYPES.ESTABLISH then
if packet.length == 1 then
local timestamp = packet.data[1]
local trip_time = util.time() - timestamp
local est_ack = packet.data[1]
if trip_time > 500 then
log.warning("RTU KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
if est_ack == ESTABLISH_ACK.ALLOW then
-- establish allowed
rtu_state.linked = true
self.r_seq_num = nil
println_ts("supervisor connection established")
log.info("supervisor connection established")
else
-- establish denied
public.unlink(rtu_state)
println_ts("supervisor connection")
log.warning("supervisor connection denied by remote host")
end
-- log.debug("RTU RTT = " .. trip_time .. "ms")
_send_keep_alive_ack(timestamp)
else
log.debug("SCADA keep alive packet length mismatch")
log.debug("SCADA_MGMT establish packet length mismatch")
end
elseif rtu_state.linked then
if packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive request received, echo back
if packet.length == 1 and type(packet.data[1]) == "number" then
local timestamp = packet.data[1]
local trip_time = util.time() - timestamp
if trip_time > 500 then
log.warning("RTU KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
end
-- log.debug("RTU RTT = " .. trip_time .. "ms")
_send_keep_alive_ack(timestamp)
else
log.debug("SCADA_MGMT keep alive packet length/type mismatch")
end
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- close connection
self.conn_watchdog.cancel()
public.unlink(rtu_state)
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
elseif packet.type == SCADA_MGMT_TYPES.RTU_ADVERT then
-- request for capabilities again
public.send_advertisement(units)
else
-- not supported
log.warning("received unsupported SCADA_MGMT message type " .. packet.type)
end
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- close connection
self.conn_watchdog.cancel()
public.unlink(rtu_state)
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
elseif packet.type == SCADA_MGMT_TYPES.REMOTE_LINKED then
-- acknowledgement
rtu_state.linked = true
self.r_seq_num = nil
println_ts("supervisor connection established")
log.info("supervisor connection established")
elseif packet.type == SCADA_MGMT_TYPES.RTU_ADVERT then
-- request for capabilities again
public.send_advertisement(units)
else
-- not supported
log.warning("RTU got unexpected SCADA message type " .. packet.type)
log.debug("discarding non-link SCADA_MGMT packet before linked")
end
else
-- should be unreachable assuming packet is from parse_packet()

2
rtu/startup.lua
View File

@ -24,7 +24,7 @@ local sna_rtu = require("rtu.dev.sna_rtu")
local sps_rtu = require("rtu.dev.sps_rtu")
local turbinev_rtu = require("rtu.dev.turbinev_rtu")
local RTU_VERSION = "beta-v0.9.2"
local RTU_VERSION = "beta-v0.9.3"
local rtu_t = types.rtu_t

10
rtu/threads.lua
View File

@ -11,7 +11,7 @@ local sna_rtu = require("rtu.dev.sna_rtu")
local sps_rtu = require("rtu.dev.sps_rtu")
local turbinev_rtu = require("rtu.dev.turbinev_rtu")
local modbus = require("rtu.modbus")
local modbus = require("rtu.modbus")
local threads = {}
@ -58,10 +58,10 @@ function threads.thread__main(smem)
-- start next clock timer
loop_clock.start()
-- period tick, if we are not linked send advertisement
-- period tick, if we are not linked send establish request
if not rtu_state.linked then
-- advertise units
rtu_comms.send_advertisement(units)
rtu_comms.send_establish(units)
end
elseif event == "modem_message" then
-- got a packet
@ -93,7 +93,9 @@ function threads.thread__main(smem)
-- we are going to let the PPM prevent crashes
-- return fault flags/codes to MODBUS queries
local unit = units[i]
println_ts("lost the " .. unit.type .. " on interface " .. unit.name)
println_ts(util.c("lost the ", unit.type, " on interface ", unit.name))
log.warning(util.c("lost the ", unit.type, " unit peripheral on interface ", unit.name))
break
end
end
end

76
scada-common/comms.lua
View File

@ -12,6 +12,8 @@ local rtu_t = types.rtu_t
local insert = table.insert
comms.version = "1.0.0"
---@alias PROTOCOLS integer
local PROTOCOLS = {
MODBUS_TCP = 0, -- our "MODBUS TCP"-esque protocol
@ -21,43 +23,49 @@ local PROTOCOLS = {
COORD_API = 4 -- data/control packets for pocket computers to/from coordinators
}
---@alias RPLC_TYPES integer
local RPLC_TYPES = {
LINK_REQ = 0, -- linking requests
STATUS = 1, -- reactor/system status
MEK_STRUCT = 2, -- mekanism build structure
MEK_BURN_RATE = 3, -- set burn rate
RPS_ENABLE = 4, -- enable reactor
RPS_SCRAM = 5, -- SCRAM reactor (manual request)
RPS_ASCRAM = 6, -- SCRAM reactor (automatic request)
RPS_STATUS = 7, -- RPS status
RPS_ALARM = 8, -- RPS alarm broadcast
RPS_RESET = 9 -- clear RPS trip (if in bad state, will trip immediately)
---@alias DEVICE_TYPES integer
local DEVICE_TYPES = {
PLC = 0, -- PLC device type for establish
RTU = 1, -- RTU device type for establish
SV = 2, -- supervisor device type for establish
CRDN = 3 -- coordinator device type for establish
}
---@alias RPLC_LINKING integer
local RPLC_LINKING = {
---@alias RPLC_TYPES integer
local RPLC_TYPES = {
STATUS = 0, -- reactor/system status
MEK_STRUCT = 1, -- mekanism build structure
MEK_BURN_RATE = 2, -- set burn rate
RPS_ENABLE = 3, -- enable reactor
RPS_SCRAM = 4, -- SCRAM reactor (manual request)
RPS_ASCRAM = 5, -- SCRAM reactor (automatic request)
RPS_STATUS = 6, -- RPS status
RPS_ALARM = 7, -- RPS alarm broadcast
RPS_RESET = 8 -- clear RPS trip (if in bad state, will trip immediately)
}
---@alias SCADA_MGMT_TYPES integer
local SCADA_MGMT_TYPES = {
ESTABLISH = 0, -- establish new connection
KEEP_ALIVE = 1, -- keep alive packet w/ RTT
CLOSE = 2, -- close a connection
RTU_ADVERT = 3, -- RTU capability advertisement
RTU_DEV_REMOUNT = 4 -- RTU multiblock possbily changed (formed, unformed) due to PPM remount
}
---@alias ESTABLISH_ACK integer
local ESTABLISH_ACK = {
ALLOW = 0, -- link approved
DENY = 1, -- link denied
COLLISION = 2 -- link denied due to existing active link
}
---@alias SCADA_MGMT_TYPES integer
local SCADA_MGMT_TYPES = {
KEEP_ALIVE = 0, -- keep alive packet w/ RTT
CLOSE = 1, -- close a connection
REMOTE_LINKED = 2, -- remote device linked
RTU_ADVERT = 3, -- RTU capability advertisement
RTU_DEV_REMOUNT = 4 -- RTU multiblock possbily changed (formed, unformed) due to PPM remount
}
---@alias SCADA_CRDN_TYPES integer
local SCADA_CRDN_TYPES = {
ESTABLISH = 0, -- initial greeting
STRUCT_BUILDS = 1, -- mekanism structure builds
UNIT_STATUSES = 2, -- state of reactor units
COMMAND_UNIT = 3, -- command a reactor unit
ALARM = 4 -- alarm signaling
STRUCT_BUILDS = 0, -- mekanism structure builds
UNIT_STATUSES = 1, -- state of reactor units
COMMAND_UNIT = 2, -- command a reactor unit
ALARM = 3 -- alarm signaling
}
---@alias CRDN_COMMANDS integer
@ -86,8 +94,9 @@ local RTU_UNIT_TYPES = {
}
comms.PROTOCOLS = PROTOCOLS
comms.DEVICE_TYPES = DEVICE_TYPES
comms.RPLC_TYPES = RPLC_TYPES
comms.RPLC_LINKING = RPLC_LINKING
comms.ESTABLISH_ACK = ESTABLISH_ACK
comms.SCADA_MGMT_TYPES = SCADA_MGMT_TYPES
comms.SCADA_CRDN_TYPES = SCADA_CRDN_TYPES
comms.CRDN_COMMANDS = CRDN_COMMANDS
@ -286,8 +295,7 @@ function comms.rplc_packet()
-- check that type is known
local function _rplc_type_valid()
return self.type == RPLC_TYPES.LINK_REQ or
self.type == RPLC_TYPES.STATUS or
return self.type == RPLC_TYPES.STATUS or
self.type == RPLC_TYPES.MEK_STRUCT or
self.type == RPLC_TYPES.MEK_BURN_RATE or
self.type == RPLC_TYPES.RPS_ENABLE or
@ -384,7 +392,8 @@ function comms.mgmt_packet()
-- check that type is known
local function _scada_type_valid()
return self.type == SCADA_MGMT_TYPES.KEEP_ALIVE or
return self.type == SCADA_MGMT_TYPES.ESTABLISH or
self.type == SCADA_MGMT_TYPES.KEEP_ALIVE or
self.type == SCADA_MGMT_TYPES.CLOSE or
self.type == SCADA_MGMT_TYPES.REMOTE_LINKED or
self.type == SCADA_MGMT_TYPES.RTU_ADVERT or
@ -472,8 +481,7 @@ function comms.crdn_packet()
-- check that type is known
local function _crdn_type_valid()
return self.type == SCADA_CRDN_TYPES.ESTABLISH or
self.type == SCADA_CRDN_TYPES.STRUCT_BUILDS or
return self.type == SCADA_CRDN_TYPES.STRUCT_BUILDS or
self.type == SCADA_CRDN_TYPES.UNIT_STATUSES or
self.type == SCADA_CRDN_TYPES.COMMAND_UNIT or
self.type == SCADA_CRDN_TYPES.ALARM

6
supervisor/session/svsessions.lua
View File

@ -317,11 +317,9 @@ end
---@param local_port integer
---@param remote_port integer
---@param advertisement table
---@param version string
---@return integer session_id
function svsessions.establish_rtu_session(local_port, remote_port, advertisement)
-- pull version from advertisement
local version = table.remove(advertisement, 1)
function svsessions.establish_rtu_session(local_port, remote_port, advertisement, version)
---@class rtu_session_struct
local rtu_s = {
s_type = "rtu",

2
supervisor/startup.lua
View File

@ -13,7 +13,7 @@ local svsessions = require("supervisor.session.svsessions")
local config = require("supervisor.config")
local supervisor = require("supervisor.supervisor")
local SUPERVISOR_VERSION = "beta-v0.7.4"
local SUPERVISOR_VERSION = "beta-v0.7.5"
local print = util.print
local println = util.println

207
supervisor/supervisor.lua
View File

@ -7,8 +7,9 @@ local svsessions = require("supervisor.session.svsessions")
local supervisor = {}
local PROTOCOLS = comms.PROTOCOLS
local DEVICE_TYPES = comms.DEVICE_TYPES
local ESTABLISH_ACK = comms.ESTABLISH_ACK
local RPLC_TYPES = comms.RPLC_TYPES
local RPLC_LINKING = comms.RPLC_LINKING
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local SCADA_CRDN_TYPES = comms.SCADA_CRDN_TYPES
@ -51,27 +52,14 @@ function supervisor.comms(version, num_reactors, cooling_conf, modem, dev_listen
-- link modem to svsessions
svsessions.init(self.modem, num_reactors, cooling_conf)
-- send PLC link request response
-- send an establish request response to a PLC/RTU
---@param dest integer
---@param msg table
local function _send_plc_linking(seq_id, dest, msg)
local s_pkt = comms.scada_packet()
local r_pkt = comms.rplc_packet()
r_pkt.make(0, RPLC_TYPES.LINK_REQ, msg)
s_pkt.make(seq_id, PROTOCOLS.RPLC, r_pkt.raw_sendable())
self.modem.transmit(dest, self.dev_listen, s_pkt.raw_sendable())
end
-- send RTU advertisement response
---@param seq_id integer
---@param dest integer
local function _send_remote_linked(seq_id, dest)
local function _send_dev_establish(seq_id, dest, msg)
local s_pkt = comms.scada_packet()
local m_pkt = comms.mgmt_packet()
m_pkt.make(SCADA_MGMT_TYPES.REMOTE_LINKED, {})
m_pkt.make(SCADA_MGMT_TYPES.ESTABLISH, msg)
s_pkt.make(seq_id, PROTOCOLS.SCADA_MGMT, m_pkt.raw_sendable())
self.modem.transmit(dest, self.dev_listen, s_pkt.raw_sendable())
@ -80,23 +68,13 @@ function supervisor.comms(version, num_reactors, cooling_conf, modem, dev_listen
-- send coordinator connection establish response
---@param seq_id integer
---@param dest integer
---@param allow boolean
local function _send_crdn_establish(seq_id, dest, allow)
---@param msg table
local function _send_crdn_establish(seq_id, dest, msg)
local s_pkt = comms.scada_packet()
local c_pkt = comms.crdn_packet()
local c_pkt = comms.mgmt_packet()
local config = { false }
if allow then
config = { self.num_reactors }
for i = 1, #cooling_conf do
table.insert(config, cooling_conf[i].BOILERS)
table.insert(config, cooling_conf[i].TURBINES)
end
end
c_pkt.make(SCADA_CRDN_TYPES.ESTABLISH, config)
s_pkt.make(seq_id, PROTOCOLS.SCADA_CRDN, c_pkt.raw_sendable())
c_pkt.make(SCADA_MGMT_TYPES.ESTABLISH, msg)
s_pkt.make(seq_id, PROTOCOLS.SCADA_MGMT, c_pkt.raw_sendable())
self.modem.transmit(dest, self.coord_listen, s_pkt.raw_sendable())
end
@ -187,46 +165,12 @@ function supervisor.comms(version, num_reactors, cooling_conf, modem, dev_listen
-- reactor PLC packet
if session ~= nil then
if packet.type == RPLC_TYPES.LINK_REQ then
-- new device on this port? that's a collision
log.debug("PLC_LNK: request from existing connection received on " .. r_port .. ", responding with collision")
_send_plc_linking(packet.scada_frame.seq_num() + 1, r_port, { RPLC_LINKING.COLLISION })
else
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
end
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
else
local next_seq_id = packet.scada_frame.seq_num() + 1
-- unknown session, is this a linking request?
if packet.type == RPLC_TYPES.LINK_REQ then
if packet.length == 2 then
-- this is a linking request
if type(packet.data[1]) == "number" and type(packet.data[2]) == "string" then
local plc_id = svsessions.establish_plc_session(l_port, r_port, packet.data[1], packet.data[2])
if plc_id == false then
-- reactor already has a PLC assigned
log.debug(util.c("PLC_LNK: assignment collision with reactor ", packet.data[1]))
_send_plc_linking(next_seq_id, r_port, { RPLC_LINKING.COLLISION })
else
-- got an ID; assigned to a reactor successfully
println(util.c("connected to reactor ", packet.data[1], " PLC (", packet.data[2], ") [:", r_port, "]"))
log.debug("PLC_LNK: allowed for device at " .. r_port)
_send_plc_linking(next_seq_id, r_port, { RPLC_LINKING.ALLOW })
end
else
log.debug("PLC_LNK: bad parameter types")
_send_plc_linking(next_seq_id, r_port, { RPLC_LINKING.DENY })
end
else
log.debug("PLC_LNK: new linking packet length mismatch")
_send_plc_linking(next_seq_id, r_port, { RPLC_LINKING.DENY })
end
else
-- force a re-link
log.debug("PLC_LNK: no session but not a link, force relink")
_send_plc_linking(next_seq_id, r_port, { RPLC_LINKING.DENY })
end
-- unknown session, force a re-link
log.debug("PLC_EST: no session but not an establish, force relink")
_send_dev_establish((packet.scada_frame.seq_num() + 1), r_port, { ESTABLISH_ACK.DENY })
end
elseif protocol == PROTOCOLS.SCADA_MGMT then
-- look for an associated session
@ -236,20 +180,63 @@ function supervisor.comms(version, num_reactors, cooling_conf, modem, dev_listen
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
elseif packet.type == SCADA_MGMT_TYPES.RTU_ADVERT then
if packet.length >= 1 then
-- this is an RTU advertisement for a new session
local rtu_version = packet.data[1]
elseif packet.type == SCADA_MGMT_TYPES.ESTABLISH then
-- establish a new session
local next_seq_id = packet.scada_frame.seq_num() + 1
-- note: this function mutates packet.data
svsessions.establish_rtu_session(l_port, r_port, packet.data)
-- validate packet and continue
if packet.length >= 3 and type(packet.data[1]) == "string" and type(packet.data[2]) == "string" then
local comms_v = packet.data[1]
local firmware_v = packet.data[2]
local dev_type = packet.data[3]
println(util.c("connected to RTU (", rtu_version, ") [:", r_port, "]"))
log.debug("RTU_ADVERT: linked " .. r_port)
if comms_v ~= comms.version then
log.debug(util.c("dropping establish packet with incorrect comms version v", comms_v,
" (expected v", comms.version, ")"))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
return
end
_send_remote_linked(packet.scada_frame.seq_num() + 1, r_port)
if dev_type == DEVICE_TYPES.PLC then
-- PLC linking request
if packet.length == 4 and type(packet.data[4]) == "number" then
local reactor_id = packet.data[4]
local plc_id = svsessions.establish_plc_session(l_port, r_port, reactor_id, firmware_v)
if plc_id == false then
-- reactor already has a PLC assigned
log.debug(util.c("PLC_ESTABLISH: assignment collision with reactor ", reactor_id))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.COLLISION })
else
-- got an ID; assigned to a reactor successfully
println(util.c("reactor ", reactor_id, " PLC (", firmware_v, ") [:", r_port, "] \xbb connected"))
log.debug(util.c("PLC_ESTABLISH: link accepted for PLC (", firmware_v, ") [:", r_port, "] connected with session ID ", plc_id))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW })
end
else
log.debug("PLC_ESTABLISH: packet length mismatch/bad parameter type")
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
end
elseif dev_type == DEVICE_TYPES.RTU then
if packet.length == 4 then
-- this is an RTU advertisement for a new session
local rtu_advert = packet.data[4]
local s_id = svsessions.establish_rtu_session(l_port, r_port, rtu_advert, firmware_v)
println(util.c("RTU (", firmware_v, ") [:", r_port, "] \xbb connected"))
log.debug(util.c("RTU_ESTABLISH: RTU (",firmware_v, ") [:", r_port, "] connected with session ID ", s_id))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW })
else
log.debug("RTU_ESTABLISH: packet length mismatch")
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
end
else
log.debug(util.c("illegal establish packet for device ", dev_type, " on PLC/RTU listening channel"))
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
end
else
log.debug("RTU_ADVERT: advertisement packet empty")
log.debug("invalid establish packet (on PLC/RTU listening channel)")
_send_dev_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
end
else
-- any other packet should be session related, discard it
@ -268,6 +255,48 @@ function supervisor.comms(version, num_reactors, cooling_conf, modem, dev_listen
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
elseif packet.type == SCADA_MGMT_TYPES.ESTABLISH then
-- establish a new session
local next_seq_id = packet.scada_frame.seq_num() + 1
-- validate packet and continue
if packet.length >= 3 and type(packet.data[1]) == "string" and type(packet.data[2]) == "string" then
local comms_v = packet.data[1]
local firmware_v = packet.data[2]
local dev_type = packet.data[3]
if comms_v ~= comms.version then
log.debug(util.c("dropping establish packet with incorrect comms version v", comms_v,
" (expected v", comms.version, ")"))
_send_crdn_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
return
elseif dev_type ~= DEVICE_TYPES.CRDN then
log.debug(util.c("illegal establish packet for device ", dev_type, " on CRDN listening channel"))
_send_crdn_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
return
end
-- this is an attempt to establish a new session
local s_id = svsessions.establish_coord_session(l_port, r_port, firmware_v)
if s_id ~= false then
local config = { self.num_reactors }
for i = 1, #cooling_conf do
table.insert(config, cooling_conf[i].BOILERS)
table.insert(config, cooling_conf[i].TURBINES)
end
println(util.c("coordinator (",firmware_v, ") [:", r_port, "] \xbb connected"))
log.debug(util.c("CRDN_ESTABLISH: coordinator (",firmware_v, ") [:", r_port, "] connected with session ID ", s_id))
_send_crdn_establish(next_seq_id, r_port, { ESTABLISH_ACK.ALLOW, config })
else
log.debug("CRDN_ESTABLISH: denied new coordinator due to already being connected to another coordinator")
_send_crdn_establish(next_seq_id, r_port, { ESTABLISH_ACK.COLLISION })
end
else
log.debug("CRDN_ESTABLISH: establish packet length mismatch")
_send_crdn_establish(next_seq_id, r_port, { ESTABLISH_ACK.DENY })
end
else
-- any other packet should be session related, discard it
log.debug(r_port .. "->" .. l_port .. ": discarding SCADA_MGMT packet without a known session")
@ -277,22 +306,6 @@ function supervisor.comms(version, num_reactors, cooling_conf, modem, dev_listen
if session ~= nil then
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
elseif packet.type == SCADA_CRDN_TYPES.ESTABLISH then
if packet.length == 1 then
-- this is an attempt to establish a new session
local s_id = svsessions.establish_coord_session(l_port, r_port, packet.data[1])
if s_id ~= false then
println(util.c("connected to coordinator (", packet.data[1], ") [:", r_port, "]"))
log.debug("CRDN_ESTABLISH: connected to " .. r_port)
else
log.debug("CRDN_ESTABLISH: denied new coordinator due to already being connected to another coordinator")
end
_send_crdn_establish(packet.scada_frame.seq_num() + 1, r_port, (s_id ~= false))
else
log.debug("CRDN_ESTABLISH: establish packet length mismatch")
end
else
-- any other packet should be session related, discard it
log.debug(r_port .. "->" .. l_port .. ": discarding SCADA_CRDN packet without a known session")