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#7 work on PLC session comms, bugfixes with comms, general supervisor bugfixes

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This commit is contained in:
Mikayla Fischler 2022-04-25 21:00:50 -04:00
parent 19a4b3c0ef
commit f7f723829c
9 changed files with 158 additions and 134 deletions
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157
reactor-plc/plc.lua
View File

@ -6,6 +6,11 @@ local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
local RPLC_LINKING = comms.RPLC_LINKING
local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
-- Internal Safety System
-- identifies dangerous states and SCRAMs reactor if warranted
-- autonomous from main SCADA supervisor/coordinator control
@ -167,6 +172,10 @@ function iss_init(reactor)
return self.tripped, status, first_trip
end
-- get the ISS status
local status = function () return self.cache end
local is_tripped = function () return self.tripped end
-- reset the ISS
local reset = function ()
self.timed_out = false
@ -174,17 +183,13 @@ function iss_init(reactor)
self.trip_cause = ""
end
-- get the ISS status
local status = function ()
return self.cache
end
return {
reconnect_reactor = reconnect_reactor,
trip_timeout = trip_timeout,
check = check,
reset = reset,
status = status
status = status,
is_tripped = is_tripped,
reset = reset
}
end
@ -225,7 +230,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- variable reactor status information, excluding heating rate
local _reactor_status = function ()
ppm.clear_fault()
return {
self.reactor.getStatus(),
self.reactor.getBurnRate(),
@ -249,20 +253,24 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.reactor.getHeatedCoolant()['amount'],
self.reactor.getHeatedCoolantNeeded(),
self.reactor.getHeatedCoolantFilledPercentage()
}, ppm.faulted()
}, self.reactor.__p_is_faulted()
end
local _update_status_cache = function ()
local status, faulted = _reactor_status()
local changed = false
if not faulted then
for i = 1, #status do
if status[i] ~= self.status_cache[i] then
changed = true
break
if self.status_cache ~= nil then
if not faulted then
for i = 1, #status do
if status[i] ~= self.status_cache[i] then
changed = true
break
end
end
end
else
changed = true
end
if changed then
@ -285,8 +293,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- send structure properties (these should not change)
-- (server will cache these)
local _send_struct = function ()
ppm.clear_fault()
local mek_data = {
self.reactor.getHeatCapacity(),
self.reactor.getFuelAssemblies(),
@ -298,7 +304,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
self.reactor.getMaxBurnRate()
}
if not ppm.is_faulted() then
if not self.reactor.__p_is_faulted() then
_send(RPLC_TYPES.MEK_STRUCT, mek_data)
else
log._error("failed to send structure: PPM fault")
@ -323,10 +329,48 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
_update_status_cache()
end
-- attempt to establish link with supervisor
local send_link_req = function ()
_send(RPLC_TYPES.LINK_REQ, { self.id })
end
-- send live status information
local send_status = function (degraded)
local mek_data = nil
if _update_status_cache() then
mek_data = self.status_cache
end
local sys_status = {
util.time(),
(not self.scrammed),
iss.is_tripped(),
degraded,
self.reactor.getHeatingRate(),
mek_data
}
_send(RPLC_TYPES.STATUS, sys_status)
end
local send_iss_status = function ()
_send(RPLC_TYPES.ISS_STATUS, iss.status())
end
local send_iss_alarm = function (cause)
local iss_alarm = {
cause,
iss.status()
}
_send(RPLC_TYPES.ISS_ALARM, iss_alarm)
end
-- parse an RPLC packet
local parse_packet = function(side, sender, reply_to, message, distance)
local pkt = nil
local s_pkt = scada_packet()
local s_pkt = comms.scada_packet()
-- parse packet as generic SCADA packet
s_pkt.receive(side, sender, reply_to, message, distance)
@ -358,7 +402,7 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
-- check sequence number
if self.r_seq_num == nil then
self.r_seq_num = packet.scada_frame.seq_num()
elseif self.r_seq_num >= packet.scada_frame.seq_num() then
elseif self.linked and self.r_seq_num >= packet.scada_frame.seq_num() then
log._warning("sequence out-of-order: last = " .. self.r_seq_num .. ", new = " .. packet.scada_frame.seq_num())
return
else
@ -388,19 +432,19 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
if link_ack == RPLC_LINKING.ALLOW then
_send_struct()
send_status()
send_status(plc_state.degraded)
log._debug("re-sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
-- @todo: make sure this doesn't become a MITM security risk
print_ts("received unsolicited link denial, unlinking\n")
log._debug("unsolicited rplc link request denied")
println_ts("received unsolicited link denial, unlinking")
log._debug("unsolicited RPLC link request denied")
elseif link_ack == RPLC_LINKING.COLLISION then
-- @todo: make sure this doesn't become a MITM security risk
print_ts("received unsolicited link collision, unlinking\n")
log._warning("unsolicited rplc link request collision")
println_ts("received unsolicited link collision, unlinking")
log._warning("unsolicited RPLC link request collision")
else
print_ts("invalid unsolicited link response\n")
log._error("unsolicited unknown rplc link request response")
println_ts("invalid unsolicited link response")
log._error("unsolicited unknown RPLC link request response")
end
self.linked = link_ack == RPLC_LINKING.ALLOW
@ -452,22 +496,25 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
local link_ack = packet.data[1]
if link_ack == RPLC_LINKING.ALLOW then
print_ts("...linked!\n")
log._debug("rplc link request approved")
println_ts("linked!")
log._debug("RPLC link request approved")
-- reset remote sequence number
self.r_seq_num = nil
_send_struct()
send_status()
send_status(plc_state.degraded)
log._debug("sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
print_ts("...denied, retrying...\n")
log._debug("rplc link request denied")
println_ts("link request denied, retrying...")
log._debug("RPLC link request denied")
elseif link_ack == RPLC_LINKING.COLLISION then
print_ts("reactor PLC ID collision (check config), retrying...\n")
log._warning("rplc link request collision")
println_ts("reactor PLC ID collision (check config), retrying...")
log._warning("RPLC link request collision")
else
print_ts("invalid link response, bad channel? retrying...\n")
log._error("unknown rplc link request response")
println_ts("invalid link response, bad channel? retrying...")
log._error("unknown RPLC link request response")
end
self.linked = link_ack == RPLC_LINKING.ALLOW
@ -480,46 +527,6 @@ function comms_init(id, modem, local_port, server_port, reactor, iss)
end
end
-- attempt to establish link with supervisor
local send_link_req = function ()
_send(RPLC_TYPES.LINK_REQ, {})
end
-- send live status information
-- overridden : if ISS force disabled reactor
-- degraded : if PLC status is degraded
local send_status = function (overridden, degraded)
local mek_data = nil
if _update_status_cache() then
mek_data = self.status_cache
end
local sys_status = {
util.time(),
(not self.scrammed),
overridden,
degraded,
self.reactor.getHeatingRate(),
mek_data
}
_send(RPLC_TYPES.STATUS, sys_status)
end
local send_iss_status = function ()
_send(RPLC_TYPES.ISS_STATUS, iss.status())
end
local send_iss_alarm = function (cause)
local iss_alarm = {
cause,
iss.status()
}
_send(RPLC_TYPES.ISS_ALARM, iss_alarm)
end
local is_scrammed = function () return self.scrammed end
local is_linked = function () return self.linked end
local unlink = function () self.linked = false end

2
reactor-plc/startup.lua
View File

@ -11,7 +11,7 @@ os.loadAPI("config.lua")
os.loadAPI("plc.lua")
os.loadAPI("threads.lua")
local R_PLC_VERSION = "alpha-v0.3.1"
local R_PLC_VERSION = "alpha-v0.3.3"
local print = util.print
local println = util.println

42
reactor-plc/threads.lua
View File

@ -10,8 +10,8 @@ local println_ts = util.println_ts
local async_wait = util.async_wait
local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
local ISS_CLOCK = 0.5 -- (2Hz, 10 ticks)
local MAIN_CLOCK = 0.5 -- (2Hz, 10 ticks)
local ISS_CLOCK = 0.25 -- (4Hz, 5 ticks) however this is AFTER all the ISS checks, so it is a pause between calls, not start-to-start
local ISS_EVENT = {
SCRAM = 1,
@ -28,7 +28,7 @@ function thread__main(shared_memory, init)
local LINK_TICKS = 4
local loop_clock = nil
local ticks_to_update = LINK_TICKS -- start by linking
local ticks_to_update = 0
-- load in from shared memory
local networked = shared_memory.networked
@ -40,7 +40,7 @@ function thread__main(shared_memory, init)
local conn_watchdog = shared_memory.system.conn_watchdog
-- debug
-- local last_update = util.time()
local last_update = util.time()
-- event loop
while true do
@ -55,26 +55,25 @@ function thread__main(shared_memory, init)
-- send updated data
if not plc_state.no_modem then
if plc_comms.is_linked() then
async_wait(function ()
plc_comms.send_status(iss_tripped, plc_state.degraded)
plc_comms.send_iss_status()
end)
else
ticks_to_update = ticks_to_update - 1
if ticks_to_update <= 0 then
if ticks_to_update == 0 then
plc_comms.send_link_req()
ticks_to_update = LINK_TICKS
else
ticks_to_update = ticks_to_update - 1
end
end
end
-- debug
-- print(util.time() - last_update)
-- println("ms")
-- last_update = util.time()
print(util.time() - last_update)
println("ms")
last_update = util.time()
end
elseif event == "modem_message" and networked and not plc_state.no_modem then
-- got a packet
@ -82,8 +81,10 @@ function thread__main(shared_memory, init)
conn_watchdog.feed()
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
local packet = plc_comms.parse_packet(p1, p2, p3, p4, p5)
async_wait(function () plc_comms.handle_packet(packet, plc_state) end)
async_wait(function ()
local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
plc_comms.handle_packet(packet, plc_state)
end)
elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
-- haven't heard from server recently? shutdown reactor
plc_comms.unlink()
@ -169,7 +170,7 @@ function thread__main(shared_memory, init)
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(MAIN_CLOCK)
log._debug("loop clock started")
log._debug("main thread started")
end
-- check for termination request
@ -208,9 +209,6 @@ function thread__iss(shared_memory)
local reactor = shared_memory.plc_devices.reactor
if event == "timer" and param1 == loop_clock then
-- start next clock timer
loop_clock = os.startTimer(ISS_CLOCK)
-- ISS checks
if plc_state.init_ok then
-- if we tried to SCRAM but failed, keep trying
@ -244,6 +242,10 @@ function thread__iss(shared_memory)
end)
end
-- start next clock timer after all the long operations
-- otherwise we will never get around to other events
loop_clock = os.startTimer(ISS_CLOCK)
-- debug
-- print(util.time() - last_update)
-- println("ms")
@ -270,13 +272,13 @@ function thread__iss(shared_memory)
-- watchdog tripped
plc_state.scram = true
iss.trip_timeout()
println_ts("server timeout, reactor disabled")
log._warning("server timeout, reactor disabled")
println_ts("server timeout")
log._warning("server timeout")
end
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(ISS_CLOCK)
log._debug("loop clock started")
log._debug("iss thread started")
end
-- check for termination request

4
rtu/startup.lua
View File

@ -17,7 +17,7 @@ os.loadAPI("dev/boiler_rtu.lua")
os.loadAPI("dev/imatrix_rtu.lua")
os.loadAPI("dev/turbine_rtu.lua")
local RTU_VERSION = "alpha-v0.3.1"
local RTU_VERSION = "alpha-v0.3.2"
local print = util.print
local println = util.println
@ -233,7 +233,7 @@ while true do
elseif event == "modem_message" then
-- got a packet
local link_ref = { linked = linked }
local packet = rtu_comms.parse_packet(p1, p2, p3, p4, p5)
local packet = rtu_comms.parse_packet(param1, param2, param3, param4, param5)
async_wait(function () rtu_comms.handle_packet(packet, units, link_ref) end)

26
scada-common/comms.lua
View File

@ -74,12 +74,14 @@ function scada_packet()
self.raw = self.modem_msg_in.msg
if #self.raw >= 3 then
self.valid = true
self.seq_num = self.raw[1]
self.protocol = self.raw[2]
self.length = #self.raw[3]
self.payload = self.raw[3]
if type(self.raw) == "table" then
if #self.raw >= 3 then
self.valid = true
self.seq_num = self.raw[1]
self.protocol = self.raw[2]
self.length = #self.raw[3]
self.payload = self.raw[3]
end
end
return self.valid
@ -90,12 +92,12 @@ function scada_packet()
local modem_event = function () return self.modem_msg_in end
local raw_sendable = function () return self.raw end
local sender = function () return self.s_port end
local receiver = function () return self.r_port end
local local_port = function () return self.modem_msg_in.s_port end
local remote_port = function () return self.modem_msg_in.r_port end
local is_valid = function () return self.valid end
local seq_num = function () return self.seq_num end
local seq_num = function () return self.seq_num end
local protocol = function () return self.protocol end
local length = function () return self.length end
local data = function () return self.payload end
@ -107,9 +109,9 @@ function scada_packet()
-- raw access
modem_event = modem_event,
raw_sendable = raw_sendable,
-- sender/receiver
sender = sender,
receiver = receiver,
-- ports
local_port = local_port,
remote_port = remote_port,
-- well-formed
is_valid = is_valid,
-- packet properties

4
supervisor/mqueue.lua
View File

@ -23,11 +23,11 @@ function new()
end
local push_packet = function (message)
push(TYPE.PACKET, message)
_push(TYPE.PACKET, message)
end
local push_command = function (message)
push(TYPE.COMMAND, message)
_push(TYPE.COMMAND, message)
end
local pop = function ()

12
supervisor/session/svsessions.lua
View File

@ -70,6 +70,7 @@ function get_reactor_session(reactor)
end
function establish_plc_session(local_port, remote_port, for_reactor)
util.println(remote_port)
if get_reactor_session(for_reactor) == nil then
local plc_s = {
open = true,
@ -81,9 +82,12 @@ function establish_plc_session(local_port, remote_port, for_reactor)
instance = nil
}
plc_s.instance = plc.new_session(next_plc_id, plc_s.in_queue, plc_s.out_queue)
plc_s.instance = plc.new_session(self.next_plc_id, for_reactor, plc_s.in_queue, plc_s.out_queue)
table.insert(self.plc_sessions, plc_s)
next_plc_id = next_plc_id + 1
log._debug("established new PLC session to " .. remote_port .. " with ID " .. self.next_plc_id)
self.next_plc_id = self.next_plc_id + 1
-- success
return plc_s.instance.get_id()
@ -129,7 +133,7 @@ local function _iterate(sessions)
while not session.out_queue.empty() do
local msg = session.out_queue.pop()
if msg.qtype == mqueue.TYPE.PACKET then
self.modem.transmit(self.r_port, self.l_port, msg.message.raw_sendable())
self.modem.transmit(session.r_port, session.l_port, msg.message.raw_sendable())
end
end
else
@ -163,7 +167,7 @@ local function _free_closed(sessions)
end
move_to = move_to + 1
else
log._debug("free'ing closing session " .. session.instance.get_id() .. " on remote port " .. session.r_port)
log._debug("free'ing closed session " .. session.instance.get_id() .. " on remote port " .. session.r_port)
sessions[i] = nil
end
end

4
supervisor/startup.lua
View File

@ -18,7 +18,7 @@ os.loadAPI("session/svsessions.lua")
os.loadAPI("supervisor.lua")
local SUPERVISOR_VERSION = "alpha-v0.1.4"
local SUPERVISOR_VERSION = "alpha-v0.1.5"
local print = util.print
local println = util.println
@ -93,7 +93,7 @@ while true do
svsessions.check_all_watchdogs(param1)
elseif event == "modem_message" then
-- got a packet
local packet = superv_comms.parse_packet(p1, p2, p3, p4, p5)
local packet = superv_comms.parse_packet(param1, param2, param3, param4, param5)
superv_comms.handle_packet(packet)
end

41
supervisor/supervisor.lua
View File

@ -5,6 +5,7 @@
local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
local RPLC_LINKING = comms.RPLC_LINKING
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local RTU_ADVERT_TYPES = comms.RTU_ADVERT_TYPES
@ -64,7 +65,7 @@ function superv_comms(num_reactors, modem, dev_listen, coord_listen)
-- parse a packet
local parse_packet = function(side, sender, reply_to, message, distance)
local pkt = nil
local s_pkt = scada_packet()
local s_pkt = comms.scada_packet()
-- parse packet as generic SCADA packet
s_pkt.receive(side, sender, reply_to, message, distance)
@ -104,21 +105,22 @@ function superv_comms(num_reactors, modem, dev_listen, coord_listen)
local handle_packet = function(packet)
if packet ~= nil then
local sender = packet.scada_frame.sender()
local receiver = packet.scada_frame.receiver()
local l_port = packet.scada_frame.local_port()
local r_port = packet.scada_frame.remote_port()
local protocol = packet.scada_frame.protocol()
-- device (RTU/PLC) listening channel
if receiver == self.dev_listen then
if l_port == self.dev_listen then
if protocol == PROTOCOLS.MODBUS_TCP then
-- MODBUS response
elseif protocol == PROTOCOLS.RPLC then
-- reactor PLC packet
local session = svsessions.find_session(SESSION_TYPE.PLC_SESSION, sender)
local session = svsessions.find_session(SESSION_TYPE.PLC_SESSION, r_port)
if session then
if packet.type == RPLC_TYPES.LINK_REQ then
-- new device on this port? that's a collision
_send_plc_linking(sender, { RPLC_LINKING.COLLISION })
log._debug("PLC_LNK: request from existing connection received on " .. r_port .. ", responding with collision")
_send_plc_linking(r_port, { RPLC_LINKING.COLLISION })
else
-- pass the packet onto the session handler
session.in_queue.push_packet(packet)
@ -126,18 +128,25 @@ function superv_comms(num_reactors, modem, dev_listen, coord_listen)
else
-- unknown session, is this a linking request?
if packet.type == RPLC_TYPES.LINK_REQ then
-- this is a linking request
local plc_id = svsessions.establish_plc_session(sender)
if plc_id == false then
-- reactor already has a PLC assigned
_send_plc_linking(sender, { RPLC_LINKING.COLLISION })
if packet.length == 1 then
-- this is a linking request
local plc_id = svsessions.establish_plc_session(l_port, r_port, packet.data[1])
if plc_id == false then
-- reactor already has a PLC assigned
log._debug("PLC_LNK: assignment collision with reactor " .. packet.data[1])
_send_plc_linking(r_port, { RPLC_LINKING.COLLISION })
else
-- got an ID; assigned to a reactor successfully
log._debug("PLC_LNK: allowed for device at " .. r_port)
_send_plc_linking(r_port, { RPLC_LINKING.ALLOW })
end
else
-- got an ID; assigned to a reactor successfully
_send_plc_linking(sender, { RPLC_LINKING.ALLOW })
log._debug("PLC_LNK: new linking packet length mismatch")
end
else
-- force a re-link
_send_plc_linking(sender, { RPLC_LINKING.DENY })
log._debug("PLC_LNK: no session but not a link, force relink")
_send_plc_linking(r_port, { RPLC_LINKING.DENY })
end
end
elseif protocol == PROTOCOLS.SCADA_MGMT then
@ -146,7 +155,7 @@ function superv_comms(num_reactors, modem, dev_listen, coord_listen)
log._debug("illegal packet type " .. protocol .. " on device listening channel")
end
-- coordinator listening channel
elseif receiver == self.coord_listen then
elseif l_port == self.coord_listen then
if protocol == PROTOCOLS.SCADA_MGMT then
-- SCADA management packet
elseif protocol == PROTOCOLS.COORD_DATA then
@ -155,7 +164,7 @@ function superv_comms(num_reactors, modem, dev_listen, coord_listen)
log._debug("illegal packet type " .. protocol .. " on coordinator listening channel")
end
else
log._error("received packet on unused channel " .. receiver, true)
log._error("received packet on unused channel " .. l_port, true)
end
end
end