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Merge pull request #35 from MikaylaFischler/32-mek-api-parallel-exec

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32 mek api parallel exec
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Mikayla 2022-04-27 15:58:27 -04:00 committed by GitHub
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10 changed files with 442 additions and 227 deletions
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34
reactor-plc/startup.lua
View File

@ -6,12 +6,13 @@ os.loadAPI("scada-common/log.lua")
os.loadAPI("scada-common/util.lua")
os.loadAPI("scada-common/ppm.lua")
os.loadAPI("scada-common/comms.lua")
os.loadAPI("scada-common/mqueue.lua")
os.loadAPI("config.lua")
os.loadAPI("plc.lua")
os.loadAPI("threads.lua")
local R_PLC_VERSION = "alpha-v0.3.3"
local R_PLC_VERSION = "alpha-v0.4.2"
local print = util.print
local println = util.println
@ -28,30 +29,41 @@ ppm.mount_all()
-- shared memory across threads
local __shared_memory = {
-- networked setting
networked = config.NETWORKED,
-- PLC system state flags
plc_state = {
init_ok = true,
shutdown = false,
scram = true,
degraded = false,
no_reactor = false,
no_modem = false
},
plc_devices = {
-- core PLC devices
plc_dev = {
reactor = ppm.get_fission_reactor(),
modem = ppm.get_wireless_modem()
},
system = {
-- system objects
plc_sys = {
iss = nil,
plc_comms = nil,
conn_watchdog = nil
},
-- message queues
q = {
mq_iss = mqueue.new(),
mq_comms = mqueue.new()
}
}
local smem_dev = __shared_memory.plc_devices
local smem_sys = __shared_memory.system
local smem_dev = __shared_memory.plc_dev
local smem_sys = __shared_memory.plc_sys
local plc_state = __shared_memory.plc_state
@ -112,12 +124,16 @@ end
init()
-- init threads
local main_thread = threads.thread__main(__shared_memory, init)
local iss_thread = threads.thread__iss(__shared_memory)
-- local comms_thread = plc.thread__comms(__shared_memory)
local main_thread = threads.thread__main(__shared_memory, init)
local iss_thread = threads.thread__iss(__shared_memory)
local comms_thread = threads.thread__comms(__shared_memory)
-- run threads
parallel.waitForAll(main_thread.exec, iss_thread.exec)
if __shared_memory.networked then
parallel.waitForAll(main_thread.exec, iss_thread.exec, comms_thread.exec)
else
parallel.waitForAll(main_thread.exec, iss_thread.exec)
end
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_SHUTDOWN) ?
println_ts("exited")

288
reactor-plc/threads.lua
View File

@ -1,6 +1,6 @@
-- #REQUIRES comms.lua
-- #REQUIRES log.lua
-- #REQUIRES ppm.lua
-- #REQUIRES plc.lua
-- #REQUIRES util.lua
local print = util.print
@ -8,36 +8,41 @@ local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
local async_wait = util.async_wait
local psleep = util.psleep
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 MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
local ISS_CLOCK = 0.5 -- (2Hz, 10 ticks)
local COMMS_CLOCK = 0.25 -- (4Hz, 5 ticks)
local ISS_EVENT = {
local MQ__ISS_CMD = {
SCRAM = 1,
DEGRADED_SCRAM = 2,
TRIP_TIMEOUT = 3
}
local MQ__COMM_CMD = {
SEND_STATUS = 1
}
-- main thread
function thread__main(shared_memory, init)
function thread__main(smem, init)
-- execute thread
local exec = function ()
log._debug("main thread init, clock inactive")
-- send status updates at 2Hz (every 10 server ticks) (every loop tick)
-- send link requests at 0.5Hz (every 40 server ticks) (every 4 loop ticks)
local LINK_TICKS = 4
local loop_clock = nil
local ticks_to_update = 0
local loop_clock = nil
-- load in from shared memory
local networked = shared_memory.networked
local plc_state = shared_memory.plc_state
local plc_devices = shared_memory.plc_devices
local iss = shared_memory.system.iss
local plc_comms = shared_memory.system.plc_comms
local conn_watchdog = shared_memory.system.conn_watchdog
local networked = smem.networked
local plc_state = smem.plc_state
local plc_dev = smem.plc_dev
local iss = smem.plc_sys.iss
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog
-- debug
local last_update = util.time()
@ -56,10 +61,7 @@ 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)
smem.q.mq_comms.push_command(MQ__COMM_CMD.SEND_STATUS)
else
if ticks_to_update == 0 then
plc_comms.send_link_req()
@ -80,15 +82,15 @@ function thread__main(shared_memory, init)
-- feed the watchdog first so it doesn't uhh...eat our packets
conn_watchdog.feed()
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
async_wait(function ()
local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
plc_comms.handle_packet(packet, plc_state)
end)
-- handle the packet
local packet = plc_comms.parse_packet(param1, param2, param3, param4, param5)
if packet ~= nil then
smem.q.mq_comms.push_packet(packet)
end
elseif event == "timer" and networked and param1 == conn_watchdog.get_timer() then
-- haven't heard from server recently? shutdown reactor
plc_comms.unlink()
os.queueEvent("iss_command", ISS_EVENT.TRIP_TIMEOUT)
smem.q.mq_iss.push_command(MQ__ISS_CMD.TRIP_TIMEOUT)
elseif event == "peripheral_detach" then
-- peripheral disconnect
local device = ppm.handle_unmount(param1)
@ -108,7 +110,7 @@ function thread__main(shared_memory, init)
if plc_state.init_ok then
-- try to scram reactor if it is still connected
os.queueEvent("iss_command", ISS_EVENT.DEGRADED_SCRAM)
smem.q.mq_iss.push_command(MQ__ISS_CMD.DEGRADED_SCRAM)
end
plc_state.degraded = true
@ -122,18 +124,18 @@ function thread__main(shared_memory, init)
if type == "fissionReactor" then
-- reconnected reactor
plc_devices.reactor = device
plc_dev.reactor = device
os.queueEvent("iss_command", ISS_EVENT.SCRAM)
smem.q.mq_iss.push_command(MQ__ISS_CMD.SCRAM)
println_ts("reactor reconnected.")
log._info("reactor reconnected.")
plc_state.no_reactor = false
if plc_state.init_ok then
iss.reconnect_reactor(plc_devices.reactor)
iss.reconnect_reactor(plc_dev.reactor)
if networked then
plc_comms.reconnect_reactor(plc_devices.reactor)
plc_comms.reconnect_reactor(plc_dev.reactor)
end
end
@ -144,10 +146,10 @@ function thread__main(shared_memory, init)
elseif networked and type == "modem" then
if device.isWireless() then
-- reconnected modem
plc_devices.modem = device
plc_dev.modem = device
if plc_state.init_ok then
plc_comms.reconnect_modem(plc_devices.modem)
plc_comms.reconnect_modem(plc_dev.modem)
end
println_ts("wireless modem reconnected.")
@ -170,12 +172,13 @@ function thread__main(shared_memory, init)
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(MAIN_CLOCK)
log._debug("main thread started")
log._debug("main thread clock started")
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
-- iss handles reactor shutdown
plc_state.shutdown = true
log._warning("terminate requested, main thread exiting")
break
end
@ -186,80 +189,68 @@ function thread__main(shared_memory, init)
end
-- ISS monitor thread
function thread__iss(shared_memory)
function thread__iss(smem)
-- execute thread
local exec = function ()
local loop_clock = nil
log._debug("iss thread start")
-- load in from shared memory
local networked = shared_memory.networked
local plc_state = shared_memory.plc_state
local plc_devices = shared_memory.plc_devices
local networked = smem.networked
local plc_state = smem.plc_state
local plc_dev = smem.plc_dev
local iss = smem.plc_sys.iss
local plc_comms = smem.plc_sys.plc_comms
local iss = shared_memory.system.iss
local plc_comms = shared_memory.system.plc_comms
local iss_queue = smem.q.mq_iss
-- debug
-- local last_update = util.time()
local last_update = util.time()
-- event loop
-- thread loop
while true do
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
local reactor = smem.plc_dev.reactor
local reactor = shared_memory.plc_devices.reactor
if event == "timer" and param1 == loop_clock then
-- ISS checks
if plc_state.init_ok then
-- if we tried to SCRAM but failed, keep trying
-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
async_wait(function ()
if not plc_state.no_reactor and plc_state.scram and reactor.getStatus() then
reactor.scram()
end
end)
-- if we are in standalone mode, continuously reset ISS
-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
if not networked then
plc_state.scram = false
iss.reset()
end
-- check safety (SCRAM occurs if tripped)
async_wait(function ()
if not plc_state.degraded then
local iss_tripped, iss_status_string, iss_first = iss.check()
plc_state.scram = plc_state.scram or iss_tripped
if iss_first then
println_ts("[ISS] SCRAM! safety trip: " .. iss_status_string)
if networked then
plc_comms.send_iss_alarm(iss_status_string)
end
end
end
end)
-- ISS checks
if plc_state.init_ok then
-- if we tried to SCRAM but failed, keep trying
-- in that case, SCRAM won't be called until it reconnects (this is the expected use of this check)
if not plc_state.no_reactor and plc_state.scram and reactor.getStatus() then
reactor.scram()
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)
-- if we are in standalone mode, continuously reset ISS
-- ISS will trip again if there are faults, but if it isn't cleared, the user can't re-enable
if not networked then
plc_state.scram = false
iss.reset()
end
-- debug
-- print(util.time() - last_update)
-- println("ms")
-- last_update = util.time()
elseif event == "iss_command" then
-- handle ISS commands
if param1 == ISS_EVENT.SCRAM then
-- basic SCRAM
plc_state.scram = true
async_wait(reactor.scram)
elseif param1 == ISS_EVENT.DEGRADED_SCRAM then
-- SCRAM with print
plc_state.scram = true
async_wait(function ()
-- check safety (SCRAM occurs if tripped)
if not plc_state.degraded then
local iss_tripped, iss_status_string, iss_first = iss.check()
plc_state.scram = plc_state.scram or iss_tripped
if iss_first then
println_ts("[ISS] SCRAM! safety trip: " .. iss_status_string)
if networked then
plc_comms.send_iss_alarm(iss_status_string)
end
end
end
end
-- check for messages in the message queue
while iss_queue.ready() do
local msg = iss_queue.pop()
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
if msg.message == MQ__ISS_CMD.SCRAM then
-- basic SCRAM
plc_state.scram = true
reactor.scram()
elseif msg.message == MQ__ISS_CMD.DEGRADED_SCRAM then
-- SCRAM with print
plc_state.scram = true
if reactor.scram() then
println_ts("successful reactor SCRAM")
log._error("successful reactor SCRAM")
@ -267,36 +258,115 @@ function thread__iss(shared_memory)
println_ts("failed reactor SCRAM")
log._error("failed reactor SCRAM")
end
end)
elseif param1 == ISS_EVENT.TRIP_TIMEOUT then
-- watchdog tripped
plc_state.scram = true
iss.trip_timeout()
println_ts("server timeout")
log._warning("server timeout")
elseif msg.message == MQ__ISS_CMD.TRIP_TIMEOUT then
-- watchdog tripped
plc_state.scram = true
iss.trip_timeout()
println_ts("server timeout")
log._warning("server timeout")
end
elseif msg.qtype == mqueue.TYPE.DATA then
-- received data
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
end
elseif event == "clock_start" then
-- start loop clock
loop_clock = os.startTimer(ISS_CLOCK)
log._debug("iss thread started")
-- quick yield if we are looping right back
if iss_queue.ready() then util.nop() end
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
if plc_state.shutdown then
-- safe exit
log._warning("terminate requested, iss thread shutdown")
log._warning("iss thread shutdown initiated")
if plc_state.init_ok then
plc_state.scram = true
async_wait(reactor.scram)
reactor.scram()
if reactor.__p_is_ok() then
println_ts("reactor disabled")
log._info("iss thread reactor SCRAM OK")
else
-- send an alarm: plc_comms.send_alarm(ALARMS.PLC_LOST_CONTROL) ?
println_ts("exiting, reactor failed to disable")
log._error("iss thread failed to SCRAM reactor on exit")
end
end
log._warning("iss thread exiting")
break
end
-- debug
-- print(util.time() - last_update)
-- println("ms")
-- last_update = util.time()
-- delay before next check
local sleep_for = ISS_CLOCK - (util.time() - last_update)
last_update = util.time()
if sleep_for > 0 then
psleep(sleep_for)
else
psleep(0.05)
end
end
end
return { exec = exec }
end
-- communications handler thread
function thread__comms(smem)
-- execute thread
local exec = function ()
log._debug("comms thread start")
-- load in from shared memory
local plc_state = smem.plc_state
local plc_comms = smem.plc_sys.plc_comms
local comms_queue = smem.q.mq_comms
local last_update = util.time()
-- thread loop
while true do
-- check for messages in the message queue
while comms_queue.ready() do
local msg = comms_queue.pop()
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
if msg.message == MQ__COMM_CMD.SEND_STATUS then
-- send PLC/ISS status
plc_comms.send_status(plc_state.degraded)
plc_comms.send_iss_status()
end
elseif msg.qtype == mqueue.TYPE.DATA then
-- received data
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
-- handle the packet (plc_state passed to allow clearing SCRAM flag)
plc_comms.handle_packet(msg.message, plc_state)
end
-- quick yield if we are looping right back
if comms_queue.ready() then util.nop() end
end
-- check for termination request
if plc_state.shutdown then
log._warning("comms thread exiting")
break
end
-- delay before next check
local sleep_for = COMMS_CLOCK - (util.time() - last_update)
last_update = util.time()
if sleep_for > 0 then
psleep(sleep_for)
else
psleep(0.05)
end
end
end

4
rtu/rtu.lua
View File

@ -183,7 +183,7 @@ function rtu_comms(modem, local_port, server_port)
end
-- handle a MODBUS/SCADA packet
local handle_packet = function(packet, units, ref)
local handle_packet = function(packet, units, rtu_state)
if packet ~= nil then
local protocol = packet.scada_frame.protocol()
@ -209,7 +209,7 @@ function rtu_comms(modem, local_port, server_port)
-- SCADA management packet
if packet.type == SCADA_MGMT_TYPES.REMOTE_LINKED then
-- acknowledgement
ref.linked = true
rtu_state.linked = true
elseif packet.type == SCADA_MGMT_TYPES.RTU_ADVERT then
-- request for capabilities again
send_advertisement(units)

146
rtu/startup.lua
View File

@ -6,26 +6,26 @@ os.loadAPI("scada-common/log.lua")
os.loadAPI("scada-common/util.lua")
os.loadAPI("scada-common/ppm.lua")
os.loadAPI("scada-common/comms.lua")
os.loadAPI("scada-common/mqueue.lua")
os.loadAPI("scada-common/modbus.lua")
os.loadAPI("scada-common/rsio.lua")
os.loadAPI("config.lua")
os.loadAPI("rtu.lua")
os.loadAPI("threads.lua")
os.loadAPI("dev/redstone_rtu.lua")
os.loadAPI("dev/boiler_rtu.lua")
os.loadAPI("dev/imatrix_rtu.lua")
os.loadAPI("dev/turbine_rtu.lua")
local RTU_VERSION = "alpha-v0.3.2"
local RTU_VERSION = "alpha-v0.4.2"
local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
local async_wait = util.async_wait
log._info("========================================")
log._info("BOOTING rtu.startup " .. RTU_VERSION)
log._info("========================================")
@ -35,26 +35,51 @@ println(">> RTU " .. RTU_VERSION .. " <<")
-- startup
----------------------------------------
local units = {}
local linked = false
-- mount connected devices
ppm.mount_all()
local __shared_memory = {
-- RTU system state flags
rtu_state = {
linked = false,
shutdown = false
},
-- core RTU devices
rtu_dev = {
modem = ppm.get_wireless_modem()
},
-- system objects
rtu_sys = {
rtu_comms = nil,
units = {}
},
-- message queues
q = {
mq_comms = mqueue.new()
}
}
local smem_dev = __shared_memory.rtu_dev
local smem_sys = __shared_memory.rtu_sys
-- get modem
local modem = ppm.get_wireless_modem()
if modem == nil then
if smem_dev.modem == nil then
println("boot> wireless modem not found")
log._warning("no wireless modem on startup")
return
end
local rtu_comms = rtu.rtu_comms(modem, config.LISTEN_PORT, config.SERVER_PORT)
smem_sys.rtu_comms = rtu.rtu_comms(smem_dev.modem, config.LISTEN_PORT, config.SERVER_PORT)
----------------------------------------
-- determine configuration
-- interpret config and init units
----------------------------------------
local units = __shared_memory.rtu_sys.units
local rtu_redstone = config.RTU_REDSTONE
local rtu_devices = config.RTU_DEVICES
@ -69,12 +94,12 @@ for reactor_idx = 1, #rtu_redstone do
for i = 1, #io_table do
local valid = false
local config = io_table[i]
local conf = io_table[i]
-- verify configuration
if rsio.is_valid_channel(config.channel) and rsio.is_valid_side(config.side) then
if config.bundled_color then
valid = rsio.is_color(config.bundled_color)
if rsio.is_valid_channel(conf.channel) and rsio.is_valid_side(conf.side) then
if conf.bundled_color then
valid = rsio.is_color(conf.bundled_color)
else
valid = true
end
@ -87,24 +112,24 @@ for reactor_idx = 1, #rtu_redstone do
log._warning(message)
else
-- link redstone in RTU
local mode = rsio.get_io_mode(config.channel)
local mode = rsio.get_io_mode(conf.channel)
if mode == rsio.IO_MODE.DIGITAL_IN then
rs_rtu.link_di(config.channel, config.side, config.bundled_color)
rs_rtu.link_di(conf.channel, conf.side, conf.bundled_color)
elseif mode == rsio.IO_MODE.DIGITAL_OUT then
rs_rtu.link_do(config.channel, config.side, config.bundled_color)
rs_rtu.link_do(conf.channel, conf.side, conf.bundled_color)
elseif mode == rsio.IO_MODE.ANALOG_IN then
rs_rtu.link_ai(config.channel, config.side)
rs_rtu.link_ai(conf.channel, conf.side)
elseif mode == rsio.IO_MODE.ANALOG_OUT then
rs_rtu.link_ao(config.channel, config.side)
rs_rtu.link_ao(conf.channel, conf.side)
else
-- should be unreachable code, we already validated channels
log._error("init> fell through if chain attempting to identify IO mode", true)
break
end
table.insert(capabilities, config.channel)
table.insert(capabilities, conf.channel)
log._debug("init> linked redstone " .. #capabilities .. ": " .. rsio.to_string(config.channel) .. " (" .. config.side ..
log._debug("init> linked redstone " .. #capabilities .. ": " .. rsio.to_string(conf.channel) .. " (" .. conf.side ..
") for reactor " .. rtu_redstone[reactor_idx].for_reactor)
end
end
@ -171,82 +196,15 @@ for i = 1, #rtu_devices do
end
----------------------------------------
-- main loop
-- start system
----------------------------------------
-- advertisement/heartbeat clock (every 2 seconds)
local loop_clock = os.startTimer(2)
-- init threads
local main_thread = threads.thread__main(__shared_memory)
local comms_thread = threads.thread__comms(__shared_memory)
-- event loop
while true do
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
if event == "peripheral_detach" then
-- handle loss of a device
local device = ppm.handle_unmount(param1)
for i = 1, #units do
-- find disconnected device
if units[i].device == device.dev then
-- 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)
end
end
elseif event == "peripheral" then
-- relink lost peripheral to correct unit entry
local type, device = ppm.mount(param1)
for i = 1, #units do
local unit = units[i]
-- find disconnected device to reconnect
if unit.name == param1 then
-- found, re-link
unit.device = device
if unit.type == "boiler" then
unit.rtu = boiler_rtu.new(device)
elseif unit.type == "turbine" then
unit.rtu = turbine_rtu.new(device)
elseif unit.type == "imatrix" then
unit.rtu = imatrix_rtu.new(device)
end
unit.modbus_io = modbus.new(unit.rtu)
println_ts("reconnected the " .. unit.type .. " on interface " .. unit.name)
end
end
elseif event == "timer" and param1 == loop_clock then
-- start next clock timer
loop_clock = os.startTimer(2)
-- period tick, if we are linked send heartbeat, if not send advertisement
if linked then
rtu_comms.send_heartbeat()
else
-- advertise units
rtu_comms.send_advertisement(units)
end
elseif event == "modem_message" then
-- got a packet
local link_ref = { linked = linked }
local packet = rtu_comms.parse_packet(param1, param2, param3, param4, param5)
async_wait(function () rtu_comms.handle_packet(packet, units, link_ref) end)
-- if linked, stop sending advertisements
linked = link_ref.linked
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
log._warning("terminate requested, exiting...")
break
end
end
-- run threads
parallel.waitForAll(main_thread.exec, comms_thread.exec)
println_ts("exited")
log._info("exited")

159
rtu/threads.lua Normal file
View File

@ -0,0 +1,159 @@
-- #REQUIRES comms.lua
-- #REQUIRES log.lua
-- #REQUIRES ppm.lua
-- #REQUIRES util.lua
local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
local psleep = util.psleep
local MAIN_CLOCK = 2 -- (2Hz, 40 ticks)
local COMMS_CLOCK = 0.25 -- (4Hz, 5 ticks)
-- main thread
function thread__main(smem)
-- execute thread
local exec = function ()
log._debug("main thread start")
-- advertisement/heartbeat clock
local loop_clock = os.startTimer(MAIN_CLOCK)
-- load in from shared memory
local rtu_state = smem.rtu_state
local rtu_dev = smem.rtu_dev
local rtu_comms = smem.rtu_sys.rtu_comms
local units = smem.rtu_sys.units
-- event loop
while true do
local event, param1, param2, param3, param4, param5 = os.pullEventRaw()
if event == "peripheral_detach" then
-- handle loss of a device
local device = ppm.handle_unmount(param1)
for i = 1, #units do
-- find disconnected device
if units[i].device == device.dev then
-- 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)
end
end
elseif event == "peripheral" then
-- relink lost peripheral to correct unit entry
local type, device = ppm.mount(param1)
for i = 1, #units do
local unit = units[i]
-- find disconnected device to reconnect
if unit.name == param1 then
-- found, re-link
unit.device = device
if unit.type == "boiler" then
unit.rtu = boiler_rtu.new(device)
elseif unit.type == "turbine" then
unit.rtu = turbine_rtu.new(device)
elseif unit.type == "imatrix" then
unit.rtu = imatrix_rtu.new(device)
end
unit.modbus_io = modbus.new(unit.rtu)
println_ts("reconnected the " .. unit.type .. " on interface " .. unit.name)
end
end
elseif event == "timer" and param1 == loop_clock then
-- start next clock timer
loop_clock = os.startTimer(MAIN_CLOCK)
-- period tick, if we are linked send heartbeat, if not send advertisement
if rtu_state.linked then
rtu_comms.send_heartbeat()
else
-- advertise units
rtu_comms.send_advertisement(units)
end
elseif event == "modem_message" then
-- got a packet
local packet = rtu_comms.parse_packet(param1, param2, param3, param4, param5)
if packet ~= nil then
smem.q.mq_comms.push_packet(packet)
end
rtu_comms.handle_packet(packet, units, link_ref)
end
-- check for termination request
if event == "terminate" or ppm.should_terminate() then
rtu_state.shutdown = true
log._warning("terminate requested, main thread exiting")
break
end
end
end
return { exec = exec }
end
-- communications handler thread
function thread__comms(smem)
-- execute thread
local exec = function ()
log._debug("comms thread start")
-- load in from shared memory
local rtu_state = smem.rtu_state
local rtu_comms = smem.rtu_sys.rtu_comms
local units = smem.rtu_sys.units
local comms_queue = smem.q.mq_comms
local last_update = util.time()
-- thread loop
while true do
-- check for messages in the message queue
while comms_queue.ready() do
local msg = comms_queue.pop()
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
elseif msg.qtype == mqueue.TYPE.DATA then
-- received data
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
-- handle the packet (rtu_state passed to allow setting link flag)
rtu_comms.handle_packet(msg.message, units, rtu_state)
end
-- quick yield if we are looping right back
if comms_queue.ready() then util.nop() end
end
-- check for termination request
if rtu_state.shutdown then
log._warning("comms thread exiting")
break
end
-- delay before next check
local sleep_for = COMMS_CLOCK - (util.time() - last_update)
last_update = util.time()
if sleep_for > 0 then
psleep(sleep_for)
else
psleep(0.05)
end
end
end
return { exec = exec }
end

23
supervisor/mqueue.lua → scada-common/mqueue.lua
View File

@ -4,7 +4,8 @@
TYPE = {
COMMAND = 0,
PACKET = 1
DATA = 1,
PACKET = 2
}
function new()
@ -17,19 +18,27 @@ function new()
local empty = function ()
return #queue == 0
end
local ready = function ()
return #queue > 0
end
local _push = function (qtype, message)
table.insert(queue, { qtype = qtype, message = message })
end
local push_packet = function (message)
_push(TYPE.PACKET, message)
end
local push_command = function (message)
_push(TYPE.COMMAND, message)
end
local push_data = function (message)
_push(TYPE.DATA, message)
end
local push_packet = function (message)
_push(TYPE.PACKET, message)
end
local pop = function ()
if #queue > 0 then
return table.remove(queue)
@ -41,7 +50,9 @@ function new()
return {
length = length,
empty = empty,
ready = ready,
push_packet = push_packet,
push_data = push_data,
push_command = push_command,
pop = pop
}

7
scada-common/util.lua
View File

@ -39,9 +39,10 @@ end
-- PARALLELIZATION --
-- block waiting for parallel call
function async_wait(f)
parallel.waitForAll(f)
-- no-op to provide a brief pause (and a yield)
-- EVENT_CONSUMER: this function consumes events
function nop()
sleep(0.05)
end
-- WATCHDOG --

2
supervisor/session/plc.lua
View File

@ -330,7 +330,7 @@ function new_session(id, for_reactor, in_queue, out_queue)
-- handle queue --
------------------
if not self.in_q.empty() then
if self.in_q.ready() then
-- get a new message to process
local message = self.in_q.pop()

2
supervisor/session/svsessions.lua
View File

@ -130,7 +130,7 @@ local function _iterate(sessions)
if ok then
-- send packets in out queue
-- @todo handle commands if that's being used too
while not session.out_queue.empty() do
while session.out_queue.ready() do
local msg = session.out_queue.pop()
if msg.qtype == mqueue.TYPE.PACKET then
self.modem.transmit(session.r_port, session.l_port, msg.message.raw_sendable())

4
supervisor/startup.lua
View File

@ -7,9 +7,9 @@ os.loadAPI("scada-common/util.lua")
os.loadAPI("scada-common/ppm.lua")
os.loadAPI("scada-common/comms.lua")
os.loadAPI("scada-common/modbus.lua")
os.loadAPI("scada-common/mqueue.lua")
os.loadAPI("config.lua")
os.loadAPI("mqueue.lua")
os.loadAPI("session/rtu.lua")
os.loadAPI("session/plc.lua")
@ -18,7 +18,7 @@ os.loadAPI("session/svsessions.lua")
os.loadAPI("supervisor.lua")
local SUPERVISOR_VERSION = "alpha-v0.1.5"
local SUPERVISOR_VERSION = "alpha-v0.1.6"
local print = util.print
local println = util.println