diff --git a/coordinator/coordinator.lua b/coordinator/coordinator.lua
index a8d6e5e..de92ef0 100644
--- a/coordinator/coordinator.lua
+++ b/coordinator/coordinator.lua
@@ -89,7 +89,7 @@ function coordinator.load_config()
if type(config.AuthKey) == "string" then
local len = string.len(config.AuthKey)
- cfv.assert_eq(len == 0 or len >= 8, true)
+ cfv.assert(len == 0 or len >= 8)
end
cfv.assert_type_int(config.LogMode)
@@ -192,7 +192,7 @@ end
---@return function? update, function? done
local function log_dmesg(message, dmesg_tag, working)
local colors = {
- GRAPHICS = colors.green,
+ RENDER = colors.green,
SYSTEM = colors.cyan,
BOOT = colors.blue,
COMMS = colors.purple,
@@ -206,7 +206,7 @@ local function log_dmesg(message, dmesg_tag, working)
end
end
-function coordinator.log_graphics(message) log_dmesg(message, "GRAPHICS") end
+function coordinator.log_render(message) log_dmesg(message, "RENDER") end
function coordinator.log_sys(message) log_dmesg(message, "SYSTEM") end
function coordinator.log_boot(message) log_dmesg(message, "BOOT") end
function coordinator.log_comms(message) log_dmesg(message, "COMMS") end
diff --git a/coordinator/iocontrol.lua b/coordinator/iocontrol.lua
index 211153e..2bd3a95 100644
--- a/coordinator/iocontrol.lua
+++ b/coordinator/iocontrol.lua
@@ -363,6 +363,13 @@ function iocontrol.fp_monitor_state(id, connected)
end
end
+-- report thread (routine) statuses
+---@param thread string thread name
+---@param ok boolean thread state
+function iocontrol.fp_rt_status(thread, ok)
+ io.fp.ps.publish(util.c("routine__", thread), ok)
+end
+
-- report PKT firmware version and PKT session connection state
---@param session_id integer PKT session
---@param fw string firmware version
diff --git a/coordinator/renderer.lua b/coordinator/renderer.lua
index d9e4b58..f2d2418 100644
--- a/coordinator/renderer.lua
+++ b/coordinator/renderer.lua
@@ -2,22 +2,26 @@
-- Graphics Rendering Control
--
-local log = require("scada-common.log")
+local log = require("scada-common.log")
+local util = require("scada-common.util")
-local iocontrol = require("coordinator.iocontrol")
+local coordinator = require("coordinator.coordinator")
+local iocontrol = require("coordinator.iocontrol")
-local style = require("coordinator.ui.style")
-local pgi = require("coordinator.ui.pgi")
+local style = require("coordinator.ui.style")
+local pgi = require("coordinator.ui.pgi")
-local flow_view = require("coordinator.ui.layout.flow_view")
-local panel_view = require("coordinator.ui.layout.front_panel")
-local main_view = require("coordinator.ui.layout.main_view")
-local unit_view = require("coordinator.ui.layout.unit_view")
+local flow_view = require("coordinator.ui.layout.flow_view")
+local panel_view = require("coordinator.ui.layout.front_panel")
+local main_view = require("coordinator.ui.layout.main_view")
+local unit_view = require("coordinator.ui.layout.unit_view")
-local core = require("graphics.core")
-local flasher = require("graphics.flasher")
+local core = require("graphics.core")
+local flasher = require("graphics.flasher")
-local DisplayBox = require("graphics.elements.displaybox")
+local DisplayBox = require("graphics.elements.displaybox")
+
+local log_render = coordinator.log_render
---@class coord_renderer
local renderer = {}
@@ -195,18 +199,21 @@ function renderer.try_start_ui()
if engine.monitors.main ~= nil then
engine.ui.main_display = DisplayBox{window=engine.monitors.main,fg_bg=style.root}
main_view(engine.ui.main_display)
+ util.nop()
end
-- show flow view on flow monitor
if engine.monitors.flow ~= nil then
engine.ui.flow_display = DisplayBox{window=engine.monitors.flow,fg_bg=style.root}
flow_view(engine.ui.flow_display)
+ util.nop()
end
-- show unit views on unit displays
for idx, display in pairs(engine.monitors.unit_displays) do
engine.ui.unit_displays[idx] = DisplayBox{window=display,fg_bg=style.root}
unit_view(engine.ui.unit_displays[idx], idx)
+ util.nop()
end
end)
@@ -247,6 +254,11 @@ function renderer.close_ui()
-- clear unit monitors
for _, monitor in ipairs(engine.monitors.unit_displays) do monitor.clear() end
+ if not engine.disable_flow_view then
+ -- clear flow monitor
+ engine.monitors.flow.clear()
+ end
+
-- re-draw dmesg
engine.dmesg_window.setVisible(true)
engine.dmesg_window.redraw()
@@ -383,12 +395,15 @@ function renderer.handle_resize(name)
engine.dmesg_window.setVisible(not engine.ui_ready)
if engine.ui_ready then
+ local draw_start = util.time_ms()
local ok = pcall(function ()
ui.main_display = DisplayBox{window=device,fg_bg=style.root}
main_view(ui.main_display)
end)
- if not ok then
+ if ok then
+ log_render("main view re-draw completed in " .. (util.time_ms() - draw_start) .. "ms")
+ else
if ui.main_display then
ui.main_display.delete()
ui.main_display = nil
@@ -416,14 +431,15 @@ function renderer.handle_resize(name)
iocontrol.fp_monitor_state("flow", true)
if engine.ui_ready then
- engine.dmesg_window.setVisible(false)
-
+ local draw_start = util.time_ms()
local ok = pcall(function ()
ui.flow_display = DisplayBox{window=device,fg_bg=style.root}
flow_view(ui.flow_display)
end)
- if not ok then
+ if ok then
+ log_render("flow view re-draw completed in " .. (util.time_ms() - draw_start) .. "ms")
+ else
if ui.flow_display then
ui.flow_display.delete()
ui.flow_display = nil
@@ -453,14 +469,15 @@ function renderer.handle_resize(name)
iocontrol.fp_monitor_state(idx, true)
if engine.ui_ready then
- engine.dmesg_window.setVisible(false)
-
+ local draw_start = util.time_ms()
local ok = pcall(function ()
ui.unit_displays[idx] = DisplayBox{window=device,fg_bg=style.root}
unit_view(ui.unit_displays[idx], idx)
end)
- if not ok then
+ if ok then
+ log_render("unit " .. idx .. " view re-draw completed in " .. (util.time_ms() - draw_start) .. "ms")
+ else
if ui.unit_displays[idx] then
ui.unit_displays[idx].delete()
ui.unit_displays[idx] = nil
diff --git a/coordinator/startup.lua b/coordinator/startup.lua
index 152d37b..0d89a87 100644
--- a/coordinator/startup.lua
+++ b/coordinator/startup.lua
@@ -7,32 +7,29 @@ require("/initenv").init_env()
local comms = require("scada-common.comms")
local crash = require("scada-common.crash")
local log = require("scada-common.log")
+local mqueue = require("scada-common.mqueue")
local network = require("scada-common.network")
local ppm = require("scada-common.ppm")
-local tcd = require("scada-common.tcd")
local util = require("scada-common.util")
-local core = require("graphics.core")
-
local configure = require("coordinator.configure")
local coordinator = require("coordinator.coordinator")
local iocontrol = require("coordinator.iocontrol")
local renderer = require("coordinator.renderer")
local sounder = require("coordinator.sounder")
+local threads = require("coordinator.threads")
-local apisessions = require("coordinator.session.apisessions")
-
-local COORDINATOR_VERSION = "v1.3.5"
+local COORDINATOR_VERSION = "v1.4.2"
local CHUNK_LOAD_DELAY_S = 30.0
-local println = util.println
+local println = util.println
local println_ts = util.println_ts
-local log_graphics = coordinator.log_graphics
-local log_sys = coordinator.log_sys
-local log_boot = coordinator.log_boot
-local log_comms = coordinator.log_comms
+local log_render = coordinator.log_render
+local log_sys = coordinator.log_sys
+local log_boot = coordinator.log_boot
+local log_comms = coordinator.log_comms
local log_crypto = coordinator.log_crypto
----------------------------------------
@@ -129,16 +126,58 @@ local function main()
-- lets get started!
log.info("monitors ready, dmesg output incoming...")
- log_graphics("displays connected and reset")
+ log_render("displays connected and reset")
log_sys("system start on " .. os.date("%c"))
log_boot("starting " .. COORDINATOR_VERSION)
+ ----------------------------------------
+ -- memory allocation
+ ----------------------------------------
+
+ -- shared memory across threads
+ ---@class crd_shared_memory
+ local __shared_memory = {
+ -- time and date format for display
+ date_format = util.trinary(config.Time24Hour, "%X \x04 %A, %B %d %Y", "%r \x04 %A, %B %d %Y"),
+
+ -- coordinator system state flags
+ ---@class crd_state
+ crd_state = {
+ fp_ok = false,
+ ui_ok = true, -- default true, used to abort on fail
+ link_fail = false,
+ shutdown = false
+ },
+
+ -- core coordinator devices
+ crd_dev = {
+ speaker = ppm.get_device("speaker"),
+ modem = ppm.get_wireless_modem()
+ },
+
+ -- system objects
+ crd_sys = {
+ nic = nil, ---@type nic
+ coord_comms = nil, ---@type coord_comms
+ conn_watchdog = nil ---@type watchdog
+ },
+
+ -- message queues
+ q = {
+ mq_render = mqueue.new()
+ }
+ }
+
+ local smem_dev = __shared_memory.crd_dev
+ local smem_sys = __shared_memory.crd_sys
+
+ local crd_state = __shared_memory.crd_state
+
----------------------------------------
-- setup alarm sounder subsystem
----------------------------------------
- local speaker = ppm.get_device("speaker")
- if speaker == nil then
+ if smem_dev.speaker == nil then
log_boot("annunciator alarm speaker not found")
println("startup> speaker not found")
log.fatal("no annunciator alarm speaker found")
@@ -146,7 +185,7 @@ local function main()
else
local sounder_start = util.time_ms()
log_boot("annunciator alarm speaker connected")
- sounder.init(speaker, config.SpeakerVolume)
+ sounder.init(smem_dev.speaker, config.SpeakerVolume)
log_boot("tone generation took " .. (util.time_ms() - sounder_start) .. "ms")
log_sys("annunciator alarm configured")
iocontrol.fp_has_speaker(true)
@@ -163,8 +202,7 @@ local function main()
end
-- get the communications modem
- local modem = ppm.get_wireless_modem()
- if modem == nil then
+ if smem_dev.modem == nil then
log_comms("wireless modem not found")
println("startup> wireless modem not found")
log.fatal("no wireless modem on startup")
@@ -175,243 +213,54 @@ local function main()
end
-- create connection watchdog
- local conn_watchdog = util.new_watchdog(config.SVR_Timeout)
- conn_watchdog.cancel()
+ smem_sys.conn_watchdog = util.new_watchdog(config.SVR_Timeout)
+ smem_sys.conn_watchdog.cancel()
log.debug("startup> conn watchdog created")
-- create network interface then setup comms
- local nic = network.nic(modem)
- local coord_comms = coordinator.comms(COORDINATOR_VERSION, nic, conn_watchdog)
+ smem_sys.nic = network.nic(smem_dev.modem)
+ smem_sys.coord_comms = coordinator.comms(COORDINATOR_VERSION, smem_sys.nic, smem_sys.conn_watchdog)
log.debug("startup> comms init")
log_comms("comms initialized")
- -- base loop clock (2Hz, 10 ticks)
- local MAIN_CLOCK = 0.5
- local loop_clock = util.new_clock(MAIN_CLOCK)
-
----------------------------------------
- -- start front panel & UI start function
+ -- start front panel
----------------------------------------
- log_graphics("starting front panel UI...")
+ log_render("starting front panel UI...")
- local fp_ok, fp_message = renderer.try_start_fp()
- if not fp_ok then
- log_graphics(util.c("front panel UI error: ", fp_message))
+ local fp_message
+ crd_state.fp_ok, fp_message = renderer.try_start_fp()
+ if not crd_state.fp_ok then
+ log_render(util.c("front panel UI error: ", fp_message))
println_ts("front panel UI creation failed")
log.fatal(util.c("front panel GUI render failed with error ", fp_message))
return
- else log_graphics("front panel ready") end
-
- -- start up the main UI
- ---@return boolean ui_ok started ok
- local function start_main_ui()
- log_graphics("starting main UI...")
-
- local draw_start = util.time_ms()
-
- local ui_ok, ui_message = renderer.try_start_ui()
- if not ui_ok then
- log_graphics(util.c("main UI error: ", ui_message))
- log.fatal(util.c("main GUI render failed with error ", ui_message))
- else
- log_graphics("main UI draw took " .. (util.time_ms() - draw_start) .. "ms")
- end
-
- return ui_ok
- end
+ else log_render("front panel ready") end
----------------------------------------
- -- main event loop
+ -- start system
----------------------------------------
- local link_failed = false
- local ui_ok = true
- local date_format = util.trinary(config.Time24Hour, "%X \x04 %A, %B %d %Y", "%r \x04 %A, %B %d %Y")
+ -- init threads
+ local main_thread = threads.thread__main(__shared_memory)
+ local render_thread = threads.thread__render(__shared_memory)
- -- start clock
- loop_clock.start()
+ log.info("startup> completed")
- log_sys("system started successfully")
-
- -- main event loop
- while true do
- local event, param1, param2, param3, param4, param5 = util.pull_event()
-
- -- handle event
- if event == "peripheral_detach" then
- local type, device = ppm.handle_unmount(param1)
-
- if type ~= nil and device ~= nil then
- if type == "modem" then
- -- we only really care if this is our wireless modem
- -- if it is another modem, handle other peripheral losses separately
- if nic.is_modem(device) then
- nic.disconnect()
- log_sys("comms modem disconnected")
-
- local other_modem = ppm.get_wireless_modem()
- if other_modem then
- log_sys("found another wireless modem, using it for comms")
- nic.connect(other_modem)
- else
- -- close out main UI
- renderer.close_ui()
-
- -- alert user to status
- log_sys("awaiting comms modem reconnect...")
-
- iocontrol.fp_has_modem(false)
- end
- else
- log_sys("non-comms modem disconnected")
- end
- elseif type == "monitor" then
- if renderer.handle_disconnect(device) then
- log_sys("lost a configured monitor")
- else
- log_sys("lost an unused monitor")
- end
- elseif type == "speaker" then
- log_sys("lost alarm sounder speaker")
- iocontrol.fp_has_speaker(false)
- end
- end
- elseif event == "peripheral" then
- local type, device = ppm.mount(param1)
-
- if type ~= nil and device ~= nil then
- if type == "modem" then
- if device.isWireless() and not nic.is_connected() then
- -- reconnected modem
- log_sys("comms modem reconnected")
- nic.connect(device)
- iocontrol.fp_has_modem(true)
- elseif device.isWireless() then
- log.info("unused wireless modem reconnected")
- else
- log_sys("wired modem reconnected")
- end
- elseif type == "monitor" then
- if renderer.handle_reconnect(param1, device) then
- log_sys(util.c("configured monitor ", param1, " reconnected"))
- else
- log_sys(util.c("unused monitor ", param1, " connected"))
- end
- elseif type == "speaker" then
- log_sys("alarm sounder speaker reconnected")
- sounder.reconnect(device)
- iocontrol.fp_has_speaker(true)
- end
- end
- elseif event == "monitor_resize" then
- local is_used, is_ok = renderer.handle_resize(param1)
- if is_used then
- log_sys(util.c("configured monitor ", param1, " resized, ", util.trinary(is_ok, "display still fits", "display no longer fits")))
- end
- elseif event == "timer" then
- if loop_clock.is_clock(param1) then
- -- main loop tick
-
- -- toggle heartbeat
- iocontrol.heartbeat()
-
- -- maintain connection
- if nic.is_connected() then
- local ok, start_ui = coord_comms.try_connect()
- if not ok then
- link_failed = true
- log_sys("supervisor connection failed, shutting down...")
- log.fatal("failed to connect to supervisor")
- break
- elseif start_ui then
- log_sys("supervisor connected, proceeding to main UI start")
- ui_ok = start_main_ui()
- if not ui_ok then break end
- end
- end
-
- -- iterate sessions
- apisessions.iterate_all()
-
- -- free any closed sessions
- apisessions.free_all_closed()
-
- -- update date and time string for main display
- if coord_comms.is_linked() then
- iocontrol.get_db().facility.ps.publish("date_time", os.date(date_format))
- end
-
- loop_clock.start()
- elseif conn_watchdog.is_timer(param1) then
- -- supervisor watchdog timeout
- log_comms("supervisor server timeout")
-
- -- close connection, main UI, and stop sounder
- coord_comms.close()
- renderer.close_ui()
- sounder.stop()
- else
- -- a non-clock/main watchdog timer event
-
- -- check API watchdogs
- apisessions.check_all_watchdogs(param1)
-
- -- notify timer callback dispatcher
- tcd.handle(param1)
- end
- elseif event == "modem_message" then
- -- got a packet
- local packet = coord_comms.parse_packet(param1, param2, param3, param4, param5)
-
- -- handle then check if it was a disconnect
- if coord_comms.handle_packet(packet) then
- log_comms("supervisor closed connection")
-
- -- close connection, main UI, and stop sounder
- coord_comms.close()
- renderer.close_ui()
- sounder.stop()
- end
- elseif event == "monitor_touch" or event == "mouse_click" or event == "mouse_up" or
- event == "mouse_drag" or event == "mouse_scroll" or event == "double_click" then
- -- handle a mouse event
- renderer.handle_mouse(core.events.new_mouse_event(event, param1, param2, param3))
- elseif event == "speaker_audio_empty" then
- -- handle speaker buffer emptied
- sounder.continue()
- end
-
- -- check for termination request
- if event == "terminate" or ppm.should_terminate() then
- -- handle supervisor connection
- coord_comms.try_connect(true)
-
- if coord_comms.is_linked() then
- log_comms("terminate requested, closing supervisor connection...")
- else link_failed = true end
-
- coord_comms.close()
- log_comms("supervisor connection closed")
-
- -- handle API sessions
- log_comms("closing api sessions...")
- apisessions.close_all()
- log_comms("api sessions closed")
- break
- end
- end
+ -- run threads
+ parallel.waitForAll(main_thread.p_exec, render_thread.p_exec)
renderer.close_ui()
renderer.close_fp()
sounder.stop()
log_sys("system shutdown")
- if link_failed then println_ts("failed to connect to supervisor") end
- if not ui_ok then println_ts("main UI creation failed") end
+ if crd_state.link_fail then println_ts("failed to connect to supervisor") end
+ if not crd_state.ui_ok then println_ts("main UI creation failed") end
-- close on error exit (such as UI error)
- if coord_comms.is_linked() then coord_comms.close() end
+ if smem_sys.coord_comms.is_linked() then smem_sys.coord_comms.close() end
println_ts("exited")
log.info("exited")
diff --git a/coordinator/threads.lua b/coordinator/threads.lua
new file mode 100644
index 0000000..e7c2d8c
--- /dev/null
+++ b/coordinator/threads.lua
@@ -0,0 +1,363 @@
+local log = require("scada-common.log")
+local mqueue = require("scada-common.mqueue")
+local ppm = require("scada-common.ppm")
+local tcd = require("scada-common.tcd")
+local util = require("scada-common.util")
+
+local coordinator = require("coordinator.coordinator")
+local iocontrol = require("coordinator.iocontrol")
+local renderer = require("coordinator.renderer")
+local sounder = require("coordinator.sounder")
+
+local apisessions = require("coordinator.session.apisessions")
+
+local core = require("graphics.core")
+
+local log_render = coordinator.log_render
+local log_sys = coordinator.log_sys
+local log_comms = coordinator.log_comms
+
+local threads = {}
+
+local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
+local RENDER_SLEEP = 100 -- (100ms, 2 ticks)
+
+local MQ__RENDER_CMD = {
+ START_MAIN_UI = 1
+}
+
+local MQ__RENDER_DATA = {
+ MON_CONNECT = 1,
+ MON_DISCONNECT = 2,
+ MON_RESIZE = 3
+}
+
+-- main thread
+---@nodiscard
+---@param smem crd_shared_memory
+function threads.thread__main(smem)
+ ---@class parallel_thread
+ local public = {}
+
+ -- execute thread
+ function public.exec()
+ iocontrol.fp_rt_status("main", true)
+ log.debug("main thread start")
+
+ local loop_clock = util.new_clock(MAIN_CLOCK)
+
+ -- start clock
+ loop_clock.start()
+
+ log_sys("system started successfully")
+
+ -- load in from shared memory
+ local crd_state = smem.crd_state
+ local nic = smem.crd_sys.nic
+ local coord_comms = smem.crd_sys.coord_comms
+ local conn_watchdog = smem.crd_sys.conn_watchdog
+
+ -- event loop
+ while true do
+ local event, param1, param2, param3, param4, param5 = util.pull_event()
+
+ -- handle event
+ if event == "peripheral_detach" then
+ local type, device = ppm.handle_unmount(param1)
+
+ if type ~= nil and device ~= nil then
+ if type == "modem" then
+ -- we only really care if this is our wireless modem
+ -- if it is another modem, handle other peripheral losses separately
+ if nic.is_modem(device) then
+ nic.disconnect()
+ log_sys("comms modem disconnected")
+
+ local other_modem = ppm.get_wireless_modem()
+ if other_modem then
+ log_sys("found another wireless modem, using it for comms")
+ nic.connect(other_modem)
+ else
+ -- close out main UI
+ renderer.close_ui()
+
+ -- alert user to status
+ log_sys("awaiting comms modem reconnect...")
+
+ iocontrol.fp_has_modem(false)
+ end
+ else
+ log_sys("non-comms modem disconnected")
+ end
+ elseif type == "monitor" then
+ smem.q.mq_render.push_data(MQ__RENDER_DATA.MON_DISCONNECT, device)
+ elseif type == "speaker" then
+ log_sys("lost alarm sounder speaker")
+ iocontrol.fp_has_speaker(false)
+ end
+ end
+ elseif event == "peripheral" then
+ local type, device = ppm.mount(param1)
+
+ if type ~= nil and device ~= nil then
+ if type == "modem" then
+ if device.isWireless() and not nic.is_connected() then
+ -- reconnected modem
+ log_sys("comms modem reconnected")
+ nic.connect(device)
+ iocontrol.fp_has_modem(true)
+ elseif device.isWireless() then
+ log.info("unused wireless modem reconnected")
+ else
+ log_sys("wired modem reconnected")
+ end
+ elseif type == "monitor" then
+ smem.q.mq_render.push_data(MQ__RENDER_DATA.MON_CONNECT, { name = param1, device = device })
+ elseif type == "speaker" then
+ log_sys("alarm sounder speaker reconnected")
+ sounder.reconnect(device)
+ iocontrol.fp_has_speaker(true)
+ end
+ end
+ elseif event == "monitor_resize" then
+ smem.q.mq_render.push_data(MQ__RENDER_DATA.MON_RESIZE, param1)
+ elseif event == "timer" then
+ if loop_clock.is_clock(param1) then
+ -- main loop tick
+
+ -- toggle heartbeat
+ iocontrol.heartbeat()
+
+ -- maintain connection
+ if nic.is_connected() then
+ local ok, start_ui = coord_comms.try_connect()
+ if not ok then
+ crd_state.link_fail = true
+ crd_state.shutdown = true
+ log_sys("supervisor connection failed, shutting down...")
+ log.fatal("failed to connect to supervisor")
+ break
+ elseif start_ui then
+ log_sys("supervisor connected, dispatching main UI start")
+ smem.q.mq_render.push_command(MQ__RENDER_CMD.START_MAIN_UI)
+ end
+ end
+
+ -- iterate sessions and free any closed ones
+ apisessions.iterate_all()
+ apisessions.free_all_closed()
+
+ if renderer.ui_ready() then
+ -- update clock used on main and flow monitors
+ iocontrol.get_db().facility.ps.publish("date_time", os.date(smem.date_format))
+ end
+
+ loop_clock.start()
+ elseif conn_watchdog.is_timer(param1) then
+ -- supervisor watchdog timeout
+ log_comms("supervisor server timeout")
+
+ -- close connection, main UI, and stop sounder
+ coord_comms.close()
+ renderer.close_ui()
+ sounder.stop()
+ else
+ -- a non-clock/main watchdog timer event
+
+ -- check API watchdogs
+ apisessions.check_all_watchdogs(param1)
+
+ -- notify timer callback dispatcher
+ tcd.handle(param1)
+ end
+ elseif event == "modem_message" then
+ -- got a packet
+ local packet = coord_comms.parse_packet(param1, param2, param3, param4, param5)
+
+ -- handle then check if it was a disconnect
+ if coord_comms.handle_packet(packet) then
+ log_comms("supervisor closed connection")
+
+ -- close connection, main UI, and stop sounder
+ coord_comms.close()
+ renderer.close_ui()
+ sounder.stop()
+ end
+ elseif event == "monitor_touch" or event == "mouse_click" or event == "mouse_up" or
+ event == "mouse_drag" or event == "mouse_scroll" or event == "double_click" then
+ -- handle a mouse event
+ renderer.handle_mouse(core.events.new_mouse_event(event, param1, param2, param3))
+ elseif event == "speaker_audio_empty" then
+ -- handle speaker buffer emptied
+ sounder.continue()
+ end
+
+ -- check for termination request or UI crash
+ if event == "terminate" or ppm.should_terminate() then
+ crd_state.shutdown = true
+ log.info("terminate requested, main thread exiting")
+ elseif not crd_state.ui_ok then
+ crd_state.shutdown = true
+ log.info("terminating due to fatal UI error")
+ end
+
+ if crd_state.shutdown then
+ -- handle closing supervisor connection
+ coord_comms.try_connect(true)
+
+ if coord_comms.is_linked() then
+ log_comms("closing supervisor connection...")
+ else crd_state.link_fail = true end
+
+ coord_comms.close()
+ log_comms("supervisor connection closed")
+
+ -- handle API sessions
+ log_comms("closing api sessions...")
+ apisessions.close_all()
+ log_comms("api sessions closed")
+ break
+ end
+ end
+ end
+
+ -- execute the thread in a protected mode, retrying it on return if not shutting down
+ function public.p_exec()
+ local crd_state = smem.crd_state
+
+ while not crd_state.shutdown do
+ local status, result = pcall(public.exec)
+ if status == false then
+ log.fatal(util.strval(result))
+ end
+
+ iocontrol.fp_rt_status("main", false)
+
+ -- if status is true, then we are probably exiting, so this won't matter
+ -- this thread cannot be slept because it will miss events (namely "terminate")
+ if not crd_state.shutdown then
+ log.info("main thread restarting now...")
+ end
+ end
+ end
+
+ return public
+end
+
+-- coordinator renderer thread, tasked with long duration re-draws
+---@nodiscard
+---@param smem crd_shared_memory
+function threads.thread__render(smem)
+ ---@class parallel_thread
+ local public = {}
+
+ -- execute thread
+ function public.exec()
+ iocontrol.fp_rt_status("render", true)
+ log.debug("render thread start")
+
+ -- load in from shared memory
+ local crd_state = smem.crd_state
+ local render_queue = smem.q.mq_render
+
+ local last_update = util.time()
+
+ -- thread loop
+ while true do
+ -- check for messages in the message queue
+ while render_queue.ready() and not crd_state.shutdown do
+ local msg = render_queue.pop()
+
+ if msg ~= nil then
+ if msg.qtype == mqueue.TYPE.COMMAND then
+ -- received a command
+ if msg.message == MQ__RENDER_CMD.START_MAIN_UI then
+ -- stop the UI if it was already started
+ -- this may occur on a quick supervisor disconnect -> connect
+ if renderer.ui_ready() then
+ log_render("closing main UI before executing new request to start")
+ renderer.close_ui()
+ end
+
+ -- start up the main UI
+ log_render("starting main UI...")
+
+ local draw_start = util.time_ms()
+
+ local ui_message
+ crd_state.ui_ok, ui_message = renderer.try_start_ui()
+ if not crd_state.ui_ok then
+ log_render(util.c("main UI error: ", ui_message))
+ log.fatal(util.c("main GUI render failed with error ", ui_message))
+ else
+ log_render("main UI draw took " .. (util.time_ms() - draw_start) .. "ms")
+ end
+ end
+ elseif msg.qtype == mqueue.TYPE.DATA then
+ -- received data
+ local cmd = msg.message ---@type queue_data
+
+ if cmd.key == MQ__RENDER_DATA.MON_CONNECT then
+ -- monitor connected
+ if renderer.handle_reconnect(cmd.val.name, cmd.val.device) then
+ log_sys(util.c("configured monitor ", cmd.val.name, " reconnected"))
+ else
+ log_sys(util.c("unused monitor ", cmd.val.name, " connected"))
+ end
+ elseif cmd.key == MQ__RENDER_DATA.MON_DISCONNECT then
+ -- monitor disconnected
+ if renderer.handle_disconnect(cmd.val) then
+ log_sys("lost a configured monitor")
+ else
+ log_sys("lost an unused monitor")
+ end
+ elseif cmd.key == MQ__RENDER_DATA.MON_RESIZE then
+ -- monitor resized
+ local is_used, is_ok = renderer.handle_resize(cmd.val)
+ if is_used then
+ log_sys(util.c("configured monitor ", cmd.val, " resized, ", util.trinary(is_ok, "display fits", "display does not fit")))
+ end
+ end
+ elseif msg.qtype == mqueue.TYPE.PACKET then
+ -- received a packet
+ end
+ end
+
+ -- quick yield
+ util.nop()
+ end
+
+ -- check for termination request
+ if crd_state.shutdown then
+ log.info("render thread exiting")
+ break
+ end
+
+ -- delay before next check
+ last_update = util.adaptive_delay(RENDER_SLEEP, last_update)
+ end
+ end
+
+ -- execute the thread in a protected mode, retrying it on return if not shutting down
+ function public.p_exec()
+ local crd_state = smem.crd_state
+
+ while not crd_state.shutdown do
+ local status, result = pcall(public.exec)
+ if status == false then
+ log.fatal(util.strval(result))
+ end
+
+ iocontrol.fp_rt_status("render", false)
+
+ if not crd_state.shutdown then
+ log.info("render thread restarting in 5 seconds...")
+ util.psleep(5)
+ end
+ end
+ end
+
+ return public
+end
+
+return threads
diff --git a/coordinator/ui/components/process_ctl.lua b/coordinator/ui/components/process_ctl.lua
index fb0c939..430409b 100644
--- a/coordinator/ui/components/process_ctl.lua
+++ b/coordinator/ui/components/process_ctl.lua
@@ -145,7 +145,7 @@ local function new_view(root, x, y)
local cur_charge = DataIndicator{parent=targets,x=9,y=9,label="",format="%19d",value=0,unit="MFE",commas=true,lu_colors=black,width=23,fg_bg=blk_brn}
c_target.register(facility.ps, "process_charge_target", c_target.set_value)
- cur_charge.register(facility.induction_ps_tbl[1], "energy", function (j) cur_charge.update(util.joules_to_fe(j) / 1000000) end)
+ cur_charge.register(facility.induction_ps_tbl[1], "avg_charge", function (fe) cur_charge.update(fe / 1000000) end)
local gen_tag = Div{parent=targets,x=1,y=11,width=8,height=4,fg_bg=blk_pur}
TextBox{parent=gen_tag,x=2,y=2,text="Gen. Target",width=7,height=2}
diff --git a/coordinator/ui/components/unit_detail.lua b/coordinator/ui/components/unit_detail.lua
index 2264b00..fe36a85 100644
--- a/coordinator/ui/components/unit_detail.lua
+++ b/coordinator/ui/components/unit_detail.lua
@@ -352,6 +352,8 @@ local function init(parent, id)
t3_trp.register(t_ps[3], "TurbineTrip", t3_trp.update)
end
+ util.nop()
+
----------------------
-- reactor controls --
----------------------
diff --git a/coordinator/ui/layout/flow_view.lua b/coordinator/ui/layout/flow_view.lua
index 98d16e9..06edf27 100644
--- a/coordinator/ui/layout/flow_view.lua
+++ b/coordinator/ui/layout/flow_view.lua
@@ -250,6 +250,7 @@ local function init(main)
local y_offset = y_ofs(i)
unit_flow(main, flow_x, 5 + y_offset, #water_pipes == 0, units[i])
table.insert(po_pipes, pipe(0, 3 + y_offset, 4, 0, colors.cyan, true, true))
+ util.nop()
end
PipeNetwork{parent=main,x=139,y=15,pipes=po_pipes,bg=style.theme.bg}
@@ -335,6 +336,8 @@ local function init(main)
end
end
+ util.nop()
+
---------
-- SPS --
---------
diff --git a/coordinator/ui/layout/front_panel.lua b/coordinator/ui/layout/front_panel.lua
index 7124083..7f2738a 100644
--- a/coordinator/ui/layout/front_panel.lua
+++ b/coordinator/ui/layout/front_panel.lua
@@ -100,6 +100,14 @@ local function init(panel, num_units)
local speaker = LED{parent=system,label="SPEAKER",colors=led_grn}
speaker.register(ps, "has_speaker", speaker.update)
+ system.line_break()
+
+ local rt_main = LED{parent=system,label="RT MAIN",colors=led_grn}
+ local rt_render = LED{parent=system,label="RT RENDER",colors=led_grn}
+
+ rt_main.register(ps, "routine__main", rt_main.update)
+ rt_render.register(ps, "routine__render", rt_render.update)
+
---@diagnostic disable-next-line: undefined-field
local comp_id = util.sprintf("(%d)", os.getComputerID())
TextBox{parent=system,x=9,y=4,width=6,height=1,text=comp_id,fg_bg=style.fp.disabled_fg}
diff --git a/coordinator/ui/layout/main_view.lua b/coordinator/ui/layout/main_view.lua
index f31c200..5343139 100644
--- a/coordinator/ui/layout/main_view.lua
+++ b/coordinator/ui/layout/main_view.lua
@@ -2,6 +2,8 @@
-- Main SCADA Coordinator GUI
--
+local util = require("scada-common.util")
+
local iocontrol = require("coordinator.iocontrol")
local style = require("coordinator.ui.style")
@@ -53,6 +55,8 @@ local function init(main)
cnc_y_start = cnc_y_start + row_1_height + 1
+ util.nop()
+
if facility.num_units >= 3 then
-- base offset 3, spacing 1, max height of units 1 and 2
local row_2_offset = cnc_y_start
@@ -64,6 +68,8 @@ local function init(main)
uo_4 = unit_overview(main, 84, row_2_offset, units[4])
cnc_y_start = math.max(cnc_y_start, row_2_offset + uo_4.get_height() + 1)
end
+
+ util.nop()
end
-- command & control
@@ -79,6 +85,8 @@ local function init(main)
process_ctl(main, 2, cnc_bottom_align_start)
+ util.nop()
+
imatrix(main, 131, cnc_bottom_align_start, facility.induction_data_tbl[1], facility.induction_ps_tbl[1])
end
diff --git a/reactor-plc/plc.lua b/reactor-plc/plc.lua
index b5c299d..fb906a3 100644
--- a/reactor-plc/plc.lua
+++ b/reactor-plc/plc.lua
@@ -74,7 +74,7 @@ function plc.load_config()
if type(config.AuthKey) == "string" then
local len = string.len(config.AuthKey)
- cfv.assert_eq(len == 0 or len >= 8, true)
+ cfv.assert(len == 0 or len >= 8)
end
end
diff --git a/reactor-plc/startup.lua b/reactor-plc/startup.lua
index 6ad612b..09994cb 100644
--- a/reactor-plc/startup.lua
+++ b/reactor-plc/startup.lua
@@ -18,7 +18,7 @@ local plc = require("reactor-plc.plc")
local renderer = require("reactor-plc.renderer")
local threads = require("reactor-plc.threads")
-local R_PLC_VERSION = "v1.7.4"
+local R_PLC_VERSION = "v1.7.7"
local println = util.println
local println_ts = util.println_ts
diff --git a/reactor-plc/threads.lua b/reactor-plc/threads.lua
index afe6acb..6ccf43e 100644
--- a/reactor-plc/threads.lua
+++ b/reactor-plc/threads.lua
@@ -368,9 +368,9 @@ function threads.thread__rps(smem)
end
end
- -- if we are in standalone mode, continuously reset RPS
+ -- if we are in standalone mode and the front panel isn't working, continuously reset RPS
-- RPS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
- if not networked then rps.reset(true) end
+ if not (networked or smem.plc_state.fp_ok) then rps.reset(true) end
-- check safety (SCRAM occurs if tripped)
if not plc_state.no_reactor then
@@ -662,8 +662,9 @@ function threads.thread__setpoint_control(smem)
if (type(cur_burn_rate) == "number") and (setpoints.burn_rate ~= cur_burn_rate) and rps.is_active() then
last_burn_sp = setpoints.burn_rate
- -- update without ramp if <= 2.5 mB/t change
- running = math.abs(setpoints.burn_rate - cur_burn_rate) > 2.5
+ -- update without ramp if <= 2.5 mB/t increase
+ -- no need to ramp down, as the ramp up poses the safety risks
+ running = (setpoints.burn_rate - cur_burn_rate) > 2.5
if running then
log.debug(util.c("SPCTL: starting burn rate ramp from ", cur_burn_rate, " mB/t to ", setpoints.burn_rate, " mB/t"))
diff --git a/rtu/rtu.lua b/rtu/rtu.lua
index 7e00b98..71cea40 100644
--- a/rtu/rtu.lua
+++ b/rtu/rtu.lua
@@ -60,7 +60,7 @@ function rtu.load_config()
if type(config.AuthKey) == "string" then
local len = string.len(config.AuthKey)
- cfv.assert_eq(len == 0 or len >= 8, true)
+ cfv.assert(len == 0 or len >= 8)
end
cfv.assert_type_int(config.LogMode)
diff --git a/rtu/startup.lua b/rtu/startup.lua
index 4d7ecbd..9470124 100644
--- a/rtu/startup.lua
+++ b/rtu/startup.lua
@@ -31,7 +31,7 @@ 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 = "v1.9.3"
+local RTU_VERSION = "v1.9.4"
local RTU_UNIT_TYPE = types.RTU_UNIT_TYPE
local RTU_UNIT_HW_STATE = databus.RTU_UNIT_HW_STATE
diff --git a/scada-common/constants.lua b/scada-common/constants.lua
index eaf6dd3..20925bd 100644
--- a/scada-common/constants.lua
+++ b/scada-common/constants.lua
@@ -68,19 +68,32 @@ constants.ALARM_LIMITS = alarms
--#region Supervisor Constants
--- milliseconds until turbine flow is assumed to be stable enough to enable coolant checks
-constants.FLOW_STABILITY_DELAY_MS = 15000
+-- milliseconds until coolant flow is assumed to be stable enough to enable certain coolant checks
+constants.FLOW_STABILITY_DELAY_MS = 10000
-- Notes on Radiation
-- - background radiation 0.0000001 Sv/h (99.99 nSv/h)
-- - "green tint" radiation 0.00001 Sv/h (10 uSv/h)
-- - damaging radiation 0.00006 Sv/h (60 uSv/h)
-constants.LOW_RADIATION = 0.00001
-constants.HAZARD_RADIATION = 0.00006
-constants.HIGH_RADIATION = 0.001
+constants.LOW_RADIATION = 0.00001
+constants.HAZARD_RADIATION = 0.00006
+constants.HIGH_RADIATION = 0.001
constants.VERY_HIGH_RADIATION = 0.1
-constants.SEVERE_RADIATION = 8.0
-constants.EXTREME_RADIATION = 100.0
+constants.SEVERE_RADIATION = 8.0
+constants.EXTREME_RADIATION = 100.0
+
+--#endregion
+
+--#region Mekanism Configuration Constants
+
+---@class _mek_constants
+local mek = {}
+
+mek.TURBINE_GAS_PER_TANK = 64000 -- mekanism: turbineGasPerTank
+mek.TURBINE_DISPERSER_FLOW = 1280 -- mekanism: turbineDisperserGasFlow
+mek.TURBINE_VENT_FLOW = 32000 -- mekanism: turbineVentGasFlow
+
+constants.mek = mek
--#endregion
diff --git a/supervisor/configure.lua b/supervisor/configure.lua
index cd790e7..8cad070 100644
--- a/supervisor/configure.lua
+++ b/supervisor/configure.lua
@@ -91,6 +91,7 @@ local tmp_cfg = {
CoolingConfig = {},
FacilityTankMode = 0,
FacilityTankDefs = {},
+ ExtChargeIdling = false,
SVR_Channel = nil, ---@type integer
PLC_Channel = nil, ---@type integer
RTU_Channel = nil, ---@type integer
@@ -120,6 +121,7 @@ local fields = {
{ "CoolingConfig", "Cooling Configuration", {} },
{ "FacilityTankMode", "Facility Tank Mode", 0 },
{ "FacilityTankDefs", "Facility Tank Definitions", {} },
+ { "ExtChargeIdling", "Extended Charge Idling", false },
{ "SVR_Channel", "SVR Channel", 16240 },
{ "PLC_Channel", "PLC Channel", 16241 },
{ "RTU_Channel", "RTU Channel", 16242 },
@@ -222,8 +224,9 @@ local function config_view(display)
local svr_c_4 = Div{parent=svr_cfg,x=2,y=4,width=49}
local svr_c_5 = Div{parent=svr_cfg,x=2,y=4,width=49}
local svr_c_6 = Div{parent=svr_cfg,x=2,y=4,width=49}
+ local svr_c_7 = Div{parent=svr_cfg,x=2,y=4,width=49}
- local svr_pane = MultiPane{parent=svr_cfg,x=1,y=4,panes={svr_c_1,svr_c_2,svr_c_3,svr_c_4,svr_c_5,svr_c_6}}
+ local svr_pane = MultiPane{parent=svr_cfg,x=1,y=4,panes={svr_c_1,svr_c_2,svr_c_3,svr_c_4,svr_c_5,svr_c_6,svr_c_7}}
TextBox{parent=svr_cfg,x=1,y=2,height=1,text=" Facility Configuration",fg_bg=cpair(colors.black,colors.yellow)}
@@ -329,7 +332,7 @@ local function config_view(display)
else
tmp_cfg.FacilityTankMode = 0
tmp_cfg.FacilityTankDefs = {}
- main_pane.set_value(3)
+ svr_pane.set_value(7)
end
end
@@ -563,7 +566,7 @@ local function config_view(display)
local function submit_mode()
tmp_cfg.FacilityTankMode = tank_mode.get_value()
- main_pane.set_value(3)
+ svr_pane.set_value(7)
end
PushButton{parent=svr_c_5,x=1,y=14,text="\x1b Back",callback=function()svr_pane.set_value(4)end,fg_bg=nav_fg_bg,active_fg_bg=btn_act_fg_bg}
@@ -577,6 +580,23 @@ local function config_view(display)
PushButton{parent=svr_c_6,x=1,y=14,text="\x1b Back",callback=function()svr_pane.set_value(5)end,fg_bg=nav_fg_bg,active_fg_bg=btn_act_fg_bg}
+ TextBox{parent=svr_c_7,height=6,text="Charge control provides automatic control to maintain an induction matrix charge level. In order to have smoother control, reactors that were activated will be held on at 0.01 mB/t for a short period before allowing them to turn off. This minimizes overshooting the charge target."}
+ TextBox{parent=svr_c_7,y=8,height=3,text="You can extend this to a full minute to minimize reactors flickering on/off, but there may be more overshoot of the target."}
+
+ local ext_idling = CheckBox{parent=svr_c_7,x=1,y=12,label="Enable Extended Idling",default=ini_cfg.ExtChargeIdling,box_fg_bg=cpair(colors.yellow,colors.black)}
+
+ local function back_from_idling()
+ svr_pane.set_value(util.trinary(tmp_cfg.FacilityTankMode == 0, 3, 5))
+ end
+
+ local function submit_idling()
+ tmp_cfg.ExtChargeIdling = ext_idling.get_value()
+ main_pane.set_value(3)
+ end
+
+ PushButton{parent=svr_c_7,x=1,y=14,text="\x1b Back",callback=back_from_idling,fg_bg=nav_fg_bg,active_fg_bg=btn_act_fg_bg}
+ PushButton{parent=svr_c_7,x=44,y=14,text="Next \x1a",callback=submit_idling,fg_bg=nav_fg_bg,active_fg_bg=btn_act_fg_bg}
+
--#endregion
--#region Network
diff --git a/supervisor/facility.lua b/supervisor/facility.lua
index 43c6cc4..33cd267 100644
--- a/supervisor/facility.lua
+++ b/supervisor/facility.lua
@@ -23,7 +23,7 @@ local RTU_UNIT_TYPE = types.RTU_UNIT_TYPE
local WASTE_MODE = types.WASTE_MODE
local WASTE = types.WASTE_PRODUCT
-local IO = rsio.IO
+local IO = rsio.IO
local DTV_RTU_S_DATA = qtypes.DTV_RTU_S_DATA
@@ -50,9 +50,9 @@ local START_STATUS = {
BLADE_MISMATCH = 2
}
-local charge_Kp = 0.275
+local charge_Kp = 0.15
local charge_Ki = 0.0
-local charge_Kd = 4.5
+local charge_Kd = 0.6
local rate_Kp = 2.45
local rate_Ki = 0.4825
@@ -63,9 +63,9 @@ local facility = {}
-- create a new facility management object
---@nodiscard
----@param num_reactors integer number of reactor units
+---@param config svr_config supervisor configuration
---@param cooling_conf sv_cooling_conf cooling configurations of reactor units
-function facility.new(num_reactors, cooling_conf)
+function facility.new(config, cooling_conf)
local self = {
units = {},
status_text = { "START UP", "initializing..." },
@@ -134,8 +134,8 @@ function facility.new(num_reactors, cooling_conf)
}
-- create units
- for i = 1, num_reactors do
- table.insert(self.units, unit.new(i, cooling_conf.r_cool[i].BoilerCount, cooling_conf.r_cool[i].TurbineCount))
+ for i = 1, config.UnitCount do
+ table.insert(self.units, unit.new(i, cooling_conf.r_cool[i].BoilerCount, cooling_conf.r_cool[i].TurbineCount, config.ExtChargeIdling))
table.insert(self.group_map, 0)
end
@@ -225,6 +225,14 @@ function facility.new(num_reactors, cooling_conf)
return unallocated, false
end
+ -- set idle state of all assigned reactors
+ ---@param idle boolean idle state
+ local function _set_idling(idle)
+ for i = 1, #self.prio_defs do
+ for _, u in pairs(self.prio_defs[i]) do u.auto_set_idle(idle) end
+ end
+ end
+
-- PUBLIC FUNCTIONS --
---@class facility
@@ -325,10 +333,11 @@ function facility.new(num_reactors, cooling_conf)
--#region
- local avg_charge = self.avg_charge.compute()
- local avg_inflow = self.avg_inflow.compute()
+ local avg_charge = self.avg_charge.compute()
+ local avg_inflow = self.avg_inflow.compute()
+ local avg_outflow = self.avg_outflow.compute()
- local now = util.time_s()
+ local now = os.clock()
local state_changed = self.mode ~= self.last_mode
local next_mode = self.mode
@@ -390,6 +399,7 @@ function facility.new(num_reactors, cooling_conf)
-- disable reactors and disengage auto control
for _, u in pairs(self.prio_defs[i]) do
u.disable()
+ u.auto_set_idle(false)
u.auto_disengage()
end
end
@@ -460,6 +470,9 @@ function facility.new(num_reactors, cooling_conf)
self.last_error = 0
self.accumulator = 0
+ -- enabling idling on all assigned units
+ _set_idling(true)
+
self.status_text = { "CHARGE MODE", "running control loop" }
log.info("FAC: CHARGE mode starting PID control")
elseif self.last_update ~= charge_update then
@@ -475,9 +488,9 @@ function facility.new(num_reactors, cooling_conf)
local integral = self.accumulator
local derivative = (error - self.last_error) / (now - self.last_time)
- local P = (charge_Kp * error)
- local I = (charge_Ki * integral)
- local D = (charge_Kd * derivative)
+ local P = charge_Kp * error
+ local I = charge_Ki * integral
+ local D = charge_Kd * derivative
local output = P + I + D
@@ -486,7 +499,12 @@ function facility.new(num_reactors, cooling_conf)
self.saturated = output ~= out_c
- -- log.debug(util.sprintf("CHARGE[%f] { CHRG[%f] ERR[%f] INT[%f] => OUT[%f] OUT_C[%f] <= P[%f] I[%f] D[%d] }",
+ if not config.ExtChargeIdling then
+ -- stop idling early if the output is zero, we are at or above the setpoint, and are not losing charge
+ _set_idling(not ((out_c == 0) and (error <= 0) and (avg_outflow <= 0)))
+ end
+
+ -- log.debug(util.sprintf("CHARGE[%f] { CHRG[%f] ERR[%f] INT[%f] => OUT[%f] OUT_C[%f] <= P[%f] I[%f] D[%f] }",
-- runtime, avg_charge, error, integral, output, out_c, P, I, D))
_allocate_burn_rate(out_c, true)
@@ -544,9 +562,9 @@ function facility.new(num_reactors, cooling_conf)
local integral = self.accumulator
local derivative = (error - self.last_error) / (now - self.last_time)
- local P = (rate_Kp * error)
- local I = (rate_Ki * integral)
- local D = (rate_Kd * derivative)
+ local P = rate_Kp * error
+ local I = rate_Ki * integral
+ local D = rate_Kd * derivative
-- velocity (rate) (derivative of charge level => rate) feed forward
local FF = self.gen_rate_setpoint / self.charge_conversion
@@ -936,41 +954,41 @@ function facility.new(num_reactors, cooling_conf)
function public.auto_stop() self.mode = PROCESS.INACTIVE end
-- set automatic control configuration and start the process
- ---@param config coord_auto_config configuration
+ ---@param auto_cfg coord_auto_config configuration
---@return table response ready state (successfully started) and current configuration (after updating)
- function public.auto_start(config)
+ function public.auto_start(auto_cfg)
local charge_scaler = 1000000 -- convert MFE to FE
local gen_scaler = 1000 -- convert kFE to FE
local ready = false
-- load up current limits
local limits = {}
- for i = 1, num_reactors do
+ for i = 1, config.UnitCount do
local u = self.units[i] ---@type reactor_unit
limits[i] = u.get_control_inf().lim_br100 * 100
end
-- only allow changes if not running
if self.mode == PROCESS.INACTIVE then
- if (type(config.mode) == "number") and (config.mode > PROCESS.INACTIVE) and (config.mode <= PROCESS.GEN_RATE) then
- self.mode_set = config.mode
+ if (type(auto_cfg.mode) == "number") and (auto_cfg.mode > PROCESS.INACTIVE) and (auto_cfg.mode <= PROCESS.GEN_RATE) then
+ self.mode_set = auto_cfg.mode
end
- if (type(config.burn_target) == "number") and config.burn_target >= 0.1 then
- self.burn_target = config.burn_target
+ if (type(auto_cfg.burn_target) == "number") and auto_cfg.burn_target >= 0.1 then
+ self.burn_target = auto_cfg.burn_target
end
- if (type(config.charge_target) == "number") and config.charge_target >= 0 then
- self.charge_setpoint = config.charge_target * charge_scaler
+ if (type(auto_cfg.charge_target) == "number") and auto_cfg.charge_target >= 0 then
+ self.charge_setpoint = auto_cfg.charge_target * charge_scaler
end
- if (type(config.gen_target) == "number") and config.gen_target >= 0 then
- self.gen_rate_setpoint = config.gen_target * gen_scaler
+ if (type(auto_cfg.gen_target) == "number") and auto_cfg.gen_target >= 0 then
+ self.gen_rate_setpoint = auto_cfg.gen_target * gen_scaler
end
- if (type(config.limits) == "table") and (#config.limits == num_reactors) then
- for i = 1, num_reactors do
- local limit = config.limits[i]
+ if (type(auto_cfg.limits) == "table") and (#auto_cfg.limits == config.UnitCount) then
+ for i = 1, config.UnitCount do
+ local limit = auto_cfg.limits[i]
if (type(limit) == "number") and (limit >= 0.1) then
limits[i] = limit
@@ -1010,7 +1028,7 @@ function facility.new(num_reactors, cooling_conf)
---@param unit_id integer unit ID
---@param group integer group ID or 0 for independent
function public.set_group(unit_id, group)
- if (group >= 0 and group <= 4) and (unit_id > 0 and unit_id <= num_reactors) and self.mode == PROCESS.INACTIVE then
+ if (group >= 0 and group <= 4) and (unit_id > 0 and unit_id <= config.UnitCount) and self.mode == PROCESS.INACTIVE then
-- remove from old group if previously assigned
local old_group = self.group_map[unit_id]
if old_group ~= 0 then
diff --git a/supervisor/session/coordinator.lua b/supervisor/session/coordinator.lua
index 98edaca..c0e6482 100644
--- a/supervisor/session/coordinator.lua
+++ b/supervisor/session/coordinator.lua
@@ -17,9 +17,6 @@ local FAC_COMMAND = comms.FAC_COMMAND
local SV_Q_DATA = svqtypes.SV_Q_DATA
--- grace period in seconds for coordinator to finish UI draw to prevent timeout
-local WATCHDOG_GRACE = 20.0
-
-- retry time constants in ms
-- local INITIAL_WAIT = 1500
local RETRY_PERIOD = 1000
@@ -360,15 +357,7 @@ function coordinator.new_session(id, s_addr, in_queue, out_queue, timeout, facil
-- check if a timer matches this session's watchdog
---@nodiscard
function public.check_wd(timer)
- local is_wd = self.conn_watchdog.is_timer(timer) and self.connected
-
- -- if we are waiting for initial coordinator UI draw, don't close yet
- if is_wd and (util.time_s() - self.establish_time) <= WATCHDOG_GRACE then
- self.conn_watchdog.feed()
- is_wd = false
- end
-
- return is_wd
+ return self.conn_watchdog.is_timer(timer) and self.connected
end
-- close the connection
diff --git a/supervisor/session/svsessions.lua b/supervisor/session/svsessions.lua
index e191db6..7300162 100644
--- a/supervisor/session/svsessions.lua
+++ b/supervisor/session/svsessions.lua
@@ -201,7 +201,7 @@ function svsessions.init(nic, fp_ok, config, cooling_conf)
self.nic = nic
self.fp_ok = fp_ok
self.config = config
- self.facility = facility.new(config.UnitCount, cooling_conf)
+ self.facility = facility.new(config, cooling_conf)
end
-- find an RTU session by the computer ID
diff --git a/supervisor/startup.lua b/supervisor/startup.lua
index 806f7b0..1694ebe 100644
--- a/supervisor/startup.lua
+++ b/supervisor/startup.lua
@@ -21,7 +21,7 @@ local supervisor = require("supervisor.supervisor")
local svsessions = require("supervisor.session.svsessions")
-local SUPERVISOR_VERSION = "v1.3.4"
+local SUPERVISOR_VERSION = "v1.3.6"
local println = util.println
local println_ts = util.println_ts
diff --git a/supervisor/supervisor.lua b/supervisor/supervisor.lua
index 3d6d7c7..1d79e72 100644
--- a/supervisor/supervisor.lua
+++ b/supervisor/supervisor.lua
@@ -26,6 +26,7 @@ function supervisor.load_config()
config.CoolingConfig = settings.get("CoolingConfig")
config.FacilityTankMode = settings.get("FacilityTankMode")
config.FacilityTankDefs = settings.get("FacilityTankDefs")
+ config.ExtChargeIdling = settings.get("ExtChargeIdling")
config.SVR_Channel = settings.get("SVR_Channel")
config.PLC_Channel = settings.get("PLC_Channel")
@@ -58,6 +59,8 @@ function supervisor.load_config()
cfv.assert_type_int(config.FacilityTankMode)
cfv.assert_range(config.FacilityTankMode, 0, 8)
+ cfv.assert_type_bool(config.ExtChargeIdling)
+
cfv.assert_channel(config.SVR_Channel)
cfv.assert_channel(config.PLC_Channel)
cfv.assert_channel(config.RTU_Channel)
@@ -78,7 +81,7 @@ function supervisor.load_config()
if type(config.AuthKey) == "string" then
local len = string.len(config.AuthKey)
- cfv.assert_eq(len == 0 or len >= 8, true)
+ cfv.assert(len == 0 or len >= 8)
end
cfv.assert_type_int(config.LogMode)
diff --git a/supervisor/unit.lua b/supervisor/unit.lua
index afdf6f3..6fa4d0a 100644
--- a/supervisor/unit.lua
+++ b/supervisor/unit.lua
@@ -8,9 +8,6 @@ local logic = require("supervisor.unitlogic")
local plc = require("supervisor.session.plc")
local rsctl = require("supervisor.session.rsctl")
----@class reactor_control_unit
-local unit = {}
-
local WASTE_MODE = types.WASTE_MODE
local WASTE = types.WASTE_PRODUCT
local ALARM = types.ALARM
@@ -55,12 +52,22 @@ local AISTATE = {
---@field id ALARM alarm ID
---@field tier integer alarm urgency tier (0 = highest)
+-- burn rate to idle at
+local IDLE_RATE = 0.01
+
+---@class reactor_control_unit
+local unit = {}
+
-- create a new reactor unit
---@nodiscard
---@param reactor_id integer reactor unit number
---@param num_boilers integer number of boilers expected
---@param num_turbines integer number of turbines expected
-function unit.new(reactor_id, num_boilers, num_turbines)
+---@param ext_idle boolean extended idling mode
+function unit.new(reactor_id, num_boilers, num_turbines, ext_idle)
+ -- time (ms) to idle for auto idling
+ local IDLE_TIME = util.trinary(ext_idle, 60000, 10000)
+
---@class _unit_self
local self = {
r_id = reactor_id,
@@ -83,6 +90,9 @@ function unit.new(reactor_id, num_boilers, num_turbines)
emcool_opened = false,
-- auto control
auto_engaged = false,
+ auto_idle = false,
+ auto_idling = false,
+ auto_idle_start = 0,
auto_was_alarmed = false,
ramp_target_br100 = 0,
-- state tracking
@@ -98,6 +108,8 @@ function unit.new(reactor_id, num_boilers, num_turbines)
status_text = { "UNKNOWN", "awaiting connection..." },
-- logic for alarms
had_reactor = false,
+ turbine_flow_stable = false,
+ turbine_stability_data = {},
last_rate_change_ms = 0,
---@type rps_status
last_rps_trips = {
@@ -251,6 +263,7 @@ function unit.new(reactor_id, num_boilers, num_turbines)
table.insert(self.db.annunciator.TurbineOverSpeed, false)
table.insert(self.db.annunciator.GeneratorTrip, false)
table.insert(self.db.annunciator.TurbineTrip, false)
+ table.insert(self.turbine_stability_data, { time_state = 0, time_tanks = 0, rotation = 1 })
end
-- PRIVATE FUNCTIONS --
@@ -530,6 +543,13 @@ function unit.new(reactor_id, num_boilers, num_turbines)
-- re-engage auto lock if it reconnected without it
if self.auto_engaged and not self.plc_i.is_auto_locked() then self.plc_i.auto_lock(true) end
+
+ -- stop idling when completed
+ if self.auto_idling and (((util.time_ms() - self.auto_idle_start) > IDLE_TIME) or not self.auto_idle) then
+ log.info(util.c("UNIT ", self.r_id, ": completed idling period"))
+ self.auto_idling = false
+ self.plc_i.auto_set_burn(0, false)
+ end
end
-- update deltas
@@ -578,6 +598,23 @@ function unit.new(reactor_id, num_boilers, num_turbines)
end
end
+ -- set automatic control idling mode to change behavior when given a burn rate command of zero
+ -- - enabling it will hold the reactor at 0.01 mB/t for a period when commanded zero before disabling
+ -- - disabling it will stop the reactor when commanded zero
+ ---@param idle boolean true to enable, false to disable (and stop)
+ function public.auto_set_idle(idle)
+ if idle and not self.auto_idle then
+ self.auto_idling = false
+ self.auto_idle_start = 0
+ end
+
+ if idle ~= self.auto_idle then
+ log.debug(util.c("UNIT ", self.r_id, ": idling mode changed to ", idle))
+ end
+
+ self.auto_idle = idle
+ end
+
-- get the actual limit of this unit
-- if it is degraded or not ready, the limit will be 0
---@nodiscard
@@ -597,7 +634,35 @@ function unit.new(reactor_id, num_boilers, num_turbines)
if self.auto_engaged then
if self.plc_i ~= nil then
log.debug(util.c("UNIT ", self.r_id, ": commit br100 of ", self.db.control.br100, " with ramp set to ", ramp))
- self.plc_i.auto_set_burn(self.db.control.br100 / 100, ramp)
+
+ local rate = self.db.control.br100 / 100
+
+ if self.auto_idle then
+ if rate <= IDLE_RATE then
+ if self.auto_idle_start == 0 then
+ self.auto_idling = true
+ self.auto_idle_start = util.time_ms()
+ log.info(util.c("UNIT ", self.r_id, ": started idling at ", IDLE_RATE, " mB/t"))
+
+ rate = IDLE_RATE
+ elseif (util.time_ms() - self.auto_idle_start) > IDLE_TIME then
+ if self.auto_idling then
+ self.auto_idling = false
+ log.info(util.c("UNIT ", self.r_id, ": completed idling period"))
+ end
+ else
+ log.debug(util.c("UNIT ", self.r_id, ": continuing idle at ", IDLE_RATE, " mB/t"))
+
+ rate = IDLE_RATE
+ end
+ else
+ self.auto_idling = false
+ self.auto_idle_start = 0
+ end
+ end
+
+ self.plc_i.auto_set_burn(rate, ramp)
+
if ramp then self.ramp_target_br100 = self.db.control.br100 end
end
end
diff --git a/supervisor/unitlogic.lua b/supervisor/unitlogic.lua
index 134652c..ad2b522 100644
--- a/supervisor/unitlogic.lua
+++ b/supervisor/unitlogic.lua
@@ -39,6 +39,21 @@ local ALARM_LIMS = const.ALARM_LIMITS
---@class unit_logic_extension
local logic = {}
+-- compute Mekanism's rotation rate for a turbine
+---@param turbine turbinev_session_db
+local function turbine_rotation(turbine)
+ local build = turbine.build
+
+ local inner_vol = build.steam_cap / const.mek.TURBINE_GAS_PER_TANK
+ local disp_rate = (build.dispersers * const.mek.TURBINE_DISPERSER_FLOW) * inner_vol
+ local vent_rate = build.vents * const.mek.TURBINE_VENT_FLOW
+
+ local max_rate = math.min(disp_rate, vent_rate)
+ local flow = math.min(max_rate, turbine.tanks.steam.amount)
+
+ return (flow * (turbine.tanks.steam.amount / build.steam_cap)) / max_rate
+end
+
-- update the annunciator
---@param self _unit_self
function logic.update_annunciator(self)
@@ -81,6 +96,11 @@ function logic.update_annunciator(self)
-- some alarms wait until the burn rate has stabilized, so keep track of that
if math.abs(_get_dt(DT_KEYS.ReactorBurnR)) > 0 then
self.last_rate_change_ms = util.time_ms()
+ self.turbine_flow_stable = false
+
+ for t = 1, self.num_turbines do
+ self.turbine_stability_data[t] = { time_state = 0, time_tanks = 0, rotation = 1 }
+ end
end
-- record reactor stats
@@ -274,6 +294,7 @@ function logic.update_annunciator(self)
local total_flow_rate = 0
local total_input_rate = 0
local max_water_return_rate = 0
+ local turbines_stable = true
-- recompute blade count on the chance that it may have changed
self.db.control.blade_count = 0
@@ -282,12 +303,14 @@ function logic.update_annunciator(self)
for i = 1, #self.turbines do
local session = self.turbines[i] ---@type unit_session
local turbine = session.get_db() ---@type turbinev_session_db
+ local idx = session.get_device_idx()
annunc.RCSFault = annunc.RCSFault or (not turbine.formed) or session.is_faulted()
+ annunc.TurbineOnline[idx] = true
-- update ready state
- -- - must be formed
- -- - must have received build, state, and tanks at least once
+ -- - must be formed
+ -- - must have received build, state, and tanks at least once
turbines_ready = turbines_ready and turbine.formed and
(turbine.build.last_update > 0) and
(turbine.state.last_update > 0) and
@@ -296,11 +319,56 @@ function logic.update_annunciator(self)
total_flow_rate = total_flow_rate + turbine.state.flow_rate
total_input_rate = total_input_rate + turbine.state.steam_input_rate
max_water_return_rate = max_water_return_rate + turbine.build.max_water_output
+
self.db.control.blade_count = self.db.control.blade_count + turbine.build.blades
- annunc.TurbineOnline[session.get_device_idx()] = true
+ local last = self.turbine_stability_data[i]
+
+ if (not self.turbine_flow_stable) and (turbine.state.steam_input_rate > 0) then
+ local rotation = turbine_rotation(turbine)
+ local rotation_stable = false
+
+ -- see if data updated, and if so, check rotation speed change
+ -- minimal change indicates the turbine is converging on a flow rate
+ if last.time_tanks < turbine.tanks.last_update then
+ if last.time_tanks > 0 then
+ rotation_stable = math.abs(rotation - last.rotation) < 0.00000003
+ end
+
+ last.time_tanks = turbine.tanks.last_update
+ last.rotation = rotation
+ end
+
+ -- flow is stable if the flow rate is at the input rate or at the max (±1 mB/t)
+ local flow_stable = false
+ if last.time_state < turbine.state.last_update then
+ if (last.time_state > 0) and (turbine.state.flow_rate > 0) then
+ flow_stable = math.abs(turbine.state.flow_rate - math.min(turbine.state.steam_input_rate, turbine.build.max_flow_rate)) < 2
+ end
+
+ last.time_state = turbine.state.last_update
+ end
+
+ if rotation_stable then
+ log.debug(util.c("UNIT ", self.r_id, ": turbine ", idx, " reached rotational stability (", rotation, ")"))
+ end
+
+ if flow_stable then
+ log.debug(util.c("UNIT ", self.r_id, ": turbine ", idx, " reached flow stability (", turbine.state.flow_rate, " mB/t)"))
+ end
+
+ turbines_stable = turbines_stable and (rotation_stable or flow_stable)
+ else
+ last.time_state = 0
+ last.time_tanks = 0
+ last.rotation = 1
+
+ turbines_stable = false
+ end
end
+ self.turbine_flow_stable = self.turbine_flow_stable or turbines_stable
+
-- check for boil rate mismatch (> 4% error) either between reactor and turbine or boiler and turbine
annunc.BoilRateMismatch = math.abs(total_boil_rate - total_input_rate) > (0.04 * total_boil_rate)
@@ -508,11 +576,25 @@ function logic.update_alarms(self)
local rcs_trans = any_low or any_over or gen_trip or annunc.RCPTrip or annunc.MaxWaterReturnFeed
- -- annunciator indicators for these states may not indicate a real issue when:
- -- > flow is ramping up right after reactor start
- -- > flow is ramping down after reactor shutdown
- if ((util.time_ms() - self.last_rate_change_ms) > FLOW_STABILITY_DELAY_MS) and plc_cache.active then
- rcs_trans = rcs_trans or annunc.RCSFlowLow or annunc.BoilRateMismatch or annunc.CoolantFeedMismatch or annunc.SteamFeedMismatch
+ if plc_cache.active then
+ -- these conditions may not indicate an issue when flow is changing after a burn rate change
+ if self.num_boilers == 0 then
+ if (util.time_ms() - self.last_rate_change_ms) > FLOW_STABILITY_DELAY_MS then
+ rcs_trans = rcs_trans or annunc.BoilRateMismatch
+ end
+
+ if self.turbine_flow_stable then
+ rcs_trans = rcs_trans or annunc.RCSFlowLow or annunc.CoolantFeedMismatch or annunc.SteamFeedMismatch
+ end
+ else
+ if (util.time_ms() - self.last_rate_change_ms) > FLOW_STABILITY_DELAY_MS then
+ rcs_trans = rcs_trans or annunc.RCSFlowLow or annunc.BoilRateMismatch or annunc.CoolantFeedMismatch
+ end
+
+ if self.turbine_flow_stable then
+ rcs_trans = rcs_trans or annunc.SteamFeedMismatch
+ end
+ end
end
if _update_alarm_state(self, rcs_trans, self.alarms.RCSTransient) then
@@ -666,7 +748,9 @@ function logic.update_status_text(self)
elseif annunc.WasteLineOcclusion then
self.status_text[2] = "insufficient waste output rate"
elseif (util.time_ms() - self.last_rate_change_ms) <= FLOW_STABILITY_DELAY_MS then
- self.status_text[2] = "awaiting flow stability"
+ self.status_text[2] = "awaiting coolant flow stability"
+ elseif not self.turbine_flow_stable then
+ self.status_text[2] = "awaiting turbine flow stability"
else
self.status_text[2] = "system nominal"
end