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#47 reactor plc docs and bugfixes

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This commit is contained in:
Mikayla Fischler 2022-05-10 21:49:14 -04:00
parent 22a6159520
commit faac421b63
3 changed files with 219 additions and 175 deletions
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148
reactor-plc/plc.lua
View File

@ -1,3 +1,4 @@
---@diagnostic disable: redefined-local
local comms = require("scada-common.comms")
local log = require("scada-common.log")
local ppm = require("scada-common.ppm")
@ -18,9 +19,11 @@ local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
-- Reactor Protection System
-- identifies dangerous states and SCRAMs reactor if warranted
-- autonomous from main SCADA supervisor/coordinator control
--- RPS: Reactor Protection System
---
--- identifies dangerous states and SCRAMs reactor if warranted
---
--- autonomous from main SCADA supervisor/coordinator control
plc.rps_init = function (reactor)
local state_keys = {
dmg_crit = 1,
@ -42,6 +45,9 @@ plc.rps_init = function (reactor)
trip_cause = ""
}
---@class rps
local public = {}
-- PRIVATE FUNCTIONS --
-- set reactor access fault flag
@ -136,22 +142,28 @@ plc.rps_init = function (reactor)
-- PUBLIC FUNCTIONS --
-- re-link a reactor after a peripheral re-connect
local reconnect_reactor = function (reactor)
public.reconnect_reactor = function (reactor)
self.reactor = reactor
end
-- report a PLC comms timeout
local trip_timeout = function ()
-- trip for lost peripheral
public.trip_fault = function ()
_set_fault()
end
-- trip for a PLC comms timeout
public.trip_timeout = function ()
self.state[state_keys.timed_out] = true
end
-- manually SCRAM the reactor
local trip_manual = function ()
public.trip_manual = function ()
self.state[state_keys.manual] = true
end
-- SCRAM the reactor now
local scram = function ()
---@return boolean success
public.scram = function ()
log.info("RPS: reactor SCRAM")
self.reactor.scram()
@ -165,7 +177,8 @@ plc.rps_init = function (reactor)
end
-- start the reactor
local activate = function ()
---@return boolean success
public.activate = function ()
if not self.tripped then
log.info("RPS: reactor start")
@ -182,7 +195,8 @@ plc.rps_init = function (reactor)
end
-- check all safety conditions
local check = function ()
---@return boolean tripped, rps_status_t trip_status, boolean first_trip
public.check = function ()
local status = rps_status_t.ok
local was_tripped = self.tripped
local first_trip = false
@ -237,38 +251,37 @@ plc.rps_init = function (reactor)
self.tripped = true
self.trip_cause = status
scram()
public.scram()
end
return self.tripped, status, first_trip
end
-- get the RPS status
local status = function () return self.state end
local is_tripped = function () return self.tripped end
local is_active = function () return self.reactor_enabled end
public.status = function () return self.state end
public.is_tripped = function () return self.tripped end
public.is_active = function () return self.reactor_enabled end
-- reset the RPS
local reset = function ()
public.reset = function ()
self.tripped = false
self.trip_cause = rps_status_t.ok
for i = 1, #self.state do
self.state[i] = false
end
end
return {
reconnect_reactor = reconnect_reactor,
trip_timeout = trip_timeout,
trip_manual = trip_manual,
scram = scram,
activate = activate,
check = check,
status = status,
is_tripped = is_tripped,
is_active = is_active,
reset = reset
}
return public
end
-- reactor PLC communications
-- Reactor PLC Communications
---@param id integer
---@param modem table
---@param local_port integer
---@param server_port integer
---@param reactor table
---@param rps rps
---@param conn_watchdog watchdog
plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_watchdog)
local self = {
id = id,
@ -286,6 +299,9 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
max_burn_rate = nil
}
---@class plc_comms
local public = {}
-- open modem
if not self.modem.isOpen(self.l_port) then
self.modem.open(self.l_port)
@ -293,6 +309,9 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
-- PRIVATE FUNCTIONS --
-- send an RPLC packet
---@param msg_type RPLC_TYPES
---@param msg string
local _send = function (msg_type, msg)
local s_pkt = comms.scada_packet()
local r_pkt = comms.rplc_packet()
@ -304,6 +323,9 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
self.seq_num = self.seq_num + 1
end
-- send a SCADA management packet
---@param msg_type SCADA_MGMT_TYPES
---@param msg string
local _send_mgmt = function (msg_type, msg)
local s_pkt = comms.scada_packet()
local m_pkt = comms.mgmt_packet()
@ -316,6 +338,7 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
-- variable reactor status information, excluding heating rate
---@return table data_table, boolean faulted
local _reactor_status = function ()
local coolant = nil
local hcoolant = nil
@ -373,6 +396,8 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
return data_table, self.reactor.__p_is_faulted()
end
-- update the status cache if changed
---@return boolean changed
local _update_status_cache = function ()
local status, faulted = _reactor_status()
local changed = false
@ -398,11 +423,14 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
-- keep alive ack
---@param srv_time integer
local _send_keep_alive_ack = function (srv_time)
_send(SCADA_MGMT_TYPES.KEEP_ALIVE, { srv_time, util.time() })
end
-- general ack
---@param msg_type RPLC_TYPES
---@param succeeded boolean
local _send_ack = function (msg_type, succeeded)
_send(msg_type, { succeeded })
end
@ -434,7 +462,8 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
-- PUBLIC FUNCTIONS --
-- reconnect a newly connected modem
local reconnect_modem = function (modem)
---@param modem table
public.reconnect_modem = function (modem)
self.modem = modem
-- open modem
@ -444,32 +473,34 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
-- reconnect a newly connected reactor
local reconnect_reactor = function (reactor)
---@param reactor table
public.reconnect_reactor = function (reactor)
self.reactor = reactor
self.status_cache = nil
end
-- unlink from the server
local unlink = function ()
public.unlink = function ()
self.linked = false
self.r_seq_num = nil
self.status_cache = nil
end
-- close the connection to the server
local close = function ()
public.close = function ()
self.conn_watchdog.cancel()
unlink()
public.unlink()
_send_mgmt(SCADA_MGMT_TYPES.CLOSE, {})
end
-- attempt to establish link with supervisor
local send_link_req = function ()
public.send_link_req = function ()
_send(RPLC_TYPES.LINK_REQ, { self.id })
end
-- send live status information
local send_status = function (degraded)
---@param degraded boolean
public.send_status = function (degraded)
if self.linked then
local mek_data = nil
@ -495,14 +526,15 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
-- send reactor protection system status
local send_rps_status = function ()
public.send_rps_status = function ()
if self.linked then
_send(RPLC_TYPES.RPS_STATUS, rps.status())
end
end
-- send reactor protection system alarm
local send_rps_alarm = function (cause)
---@param cause rps_status_t
public.send_rps_alarm = function (cause)
if self.linked then
local rps_alarm = {
cause,
@ -514,7 +546,13 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
-- parse an RPLC packet
local parse_packet = function(side, sender, reply_to, message, distance)
---@param side string
---@param sender integer
---@param reply_to integer
---@param message any
---@param distance integer
---@return rplc_frame|mgmt_frame|nil packet
public.parse_packet = function(side, sender, reply_to, message, distance)
local pkt = nil
local s_pkt = comms.scada_packet()
@ -543,7 +581,10 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
-- handle an RPLC packet
local handle_packet = function (packet, plc_state, setpoints)
---@param packet rplc_frame|mgmt_frame
---@param plc_state plc_state
---@param setpoints setpoints
public.handle_packet = function (packet, plc_state, setpoints)
if packet ~= nil then
-- check sequence number
if self.r_seq_num == nil then
@ -573,7 +614,7 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
if link_ack == RPLC_LINKING.ALLOW then
self.status_cache = nil
_send_struct()
send_status(plc_state.degraded)
public.send_status(plc_state.degraded)
log.debug("re-sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
println_ts("received unsolicited link denial, unlinking")
@ -593,7 +634,7 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
elseif packet.type == RPLC_TYPES.STATUS then
-- request of full status, clear cache first
self.status_cache = nil
send_status(plc_state.degraded)
public.send_status(plc_state.degraded)
log.debug("sent out status cache again, did supervisor miss it?")
elseif packet.type == RPLC_TYPES.MEK_STRUCT then
-- request for physical structure
@ -659,7 +700,7 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
self.status_cache = nil
_send_struct()
send_status(plc_state.degraded)
public.send_status(plc_state.degraded)
log.debug("sent initial status data")
elseif link_ack == RPLC_LINKING.DENY then
@ -700,7 +741,7 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
-- handle session close
self.conn_watchdog.cancel()
unlink()
public.unlink()
println_ts("server connection closed by remote host")
log.warning("server connection closed by remote host")
else
@ -713,23 +754,10 @@ plc.comms = function (id, modem, local_port, server_port, reactor, rps, conn_wat
end
end
local is_scrammed = function () return self.scrammed end
local is_linked = function () return self.linked end
public.is_scrammed = function () return self.scrammed end
public.is_linked = function () return self.linked end
return {
reconnect_modem = reconnect_modem,
reconnect_reactor = reconnect_reactor,
unlink = unlink,
close = close,
send_link_req = send_link_req,
send_status = send_status,
send_rps_status = send_rps_status,
send_rps_alarm = send_rps_alarm,
parse_packet = parse_packet,
handle_packet = handle_packet,
is_scrammed = is_scrammed,
is_linked = is_linked
}
return public
end
return plc

12
reactor-plc/startup.lua
View File

@ -29,11 +29,13 @@ println(">> Reactor PLC " .. R_PLC_VERSION .. " <<")
ppm.mount_all()
-- shared memory across threads
---@class plc_shared_memory
local __shared_memory = {
-- networked setting
networked = config.NETWORKED,
networked = config.NETWORKED, ---@type boolean
-- PLC system state flags
---@class plc_state
plc_state = {
init_ok = true,
shutdown = false,
@ -42,6 +44,8 @@ local __shared_memory = {
no_modem = false
},
-- control setpoints
---@class setpoints
setpoints = {
burn_rate_en = false,
burn_rate = 0.0
@ -55,9 +59,9 @@ local __shared_memory = {
-- system objects
plc_sys = {
rps = nil,
plc_comms = nil,
conn_watchdog = nil
rps = nil, ---@type rps
plc_comms = nil, ---@type plc_comms
conn_watchdog = nil ---@type watchdog
},
-- message queues

44
reactor-plc/threads.lua
View File

@ -10,8 +10,6 @@ local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
local psleep = util.psleep
local MAIN_CLOCK = 1 -- (1Hz, 20 ticks)
local RPS_SLEEP = 250 -- (250ms, 5 ticks)
local COMMS_SLEEP = 150 -- (150ms, 3 ticks)
@ -30,6 +28,8 @@ local MQ__COMM_CMD = {
}
-- main thread
---@param smem plc_shared_memory
---@param init function
threads.thread__main = function (smem, init)
-- execute thread
local exec = function ()
@ -47,7 +47,7 @@ threads.thread__main = function (smem, init)
local plc_dev = smem.plc_dev
local rps = smem.plc_sys.rps
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog ---@type watchdog
local conn_watchdog = smem.plc_sys.conn_watchdog
-- event loop
while true do
@ -187,6 +187,7 @@ threads.thread__main = function (smem, init)
end
-- RPS operation thread
---@param smem plc_shared_memory
threads.thread__rps = function (smem)
-- execute thread
local exec = function ()
@ -224,6 +225,7 @@ threads.thread__rps = function (smem)
-- 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)
---@diagnostic disable-next-line: need-check-nil
if not plc_state.no_reactor and rps.is_tripped() and reactor.getStatus() then
rps.scram()
end
@ -249,6 +251,7 @@ threads.thread__rps = function (smem)
while rps_queue.ready() and not plc_state.shutdown do
local msg = rps_queue.pop()
if msg ~= nil then
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
if plc_state.init_ok then
@ -257,7 +260,7 @@ threads.thread__rps = function (smem)
rps.scram()
elseif msg.message == MQ__RPS_CMD.DEGRADED_SCRAM then
-- lost peripheral(s)
rps.trip_degraded()
rps.trip_fault()
elseif msg.message == MQ__RPS_CMD.TRIP_TIMEOUT then
-- watchdog tripped
rps.trip_timeout()
@ -270,6 +273,7 @@ threads.thread__rps = function (smem)
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
end
end
-- quick yield
util.nop()
@ -301,6 +305,7 @@ threads.thread__rps = function (smem)
end
-- communications sender thread
---@param smem plc_shared_memory
threads.thread__comms_tx = function (smem)
-- execute thread
local exec = function ()
@ -320,6 +325,7 @@ threads.thread__comms_tx = function (smem)
while comms_queue.ready() and not plc_state.shutdown do
local msg = comms_queue.pop()
if msg ~= nil then
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
if msg.message == MQ__COMM_CMD.SEND_STATUS then
@ -332,6 +338,7 @@ threads.thread__comms_tx = function (smem)
elseif msg.qtype == mqueue.TYPE.PACKET then
-- received a packet
end
end
-- quick yield
util.nop()
@ -352,6 +359,7 @@ threads.thread__comms_tx = function (smem)
end
-- communications handler thread
---@param smem plc_shared_memory
threads.thread__comms_rx = function (smem)
-- execute thread
local exec = function ()
@ -360,10 +368,7 @@ threads.thread__comms_rx = function (smem)
-- load in from shared memory
local plc_state = smem.plc_state
local setpoints = smem.setpoints
local plc_dev = smem.plc_dev
local rps = smem.plc_sys.rps
local plc_comms = smem.plc_sys.plc_comms
local conn_watchdog = smem.plc_sys.conn_watchdog
local comms_queue = smem.q.mq_comms_rx
@ -375,6 +380,7 @@ threads.thread__comms_rx = function (smem)
while comms_queue.ready() and not plc_state.shutdown do
local msg = comms_queue.pop()
if msg ~= nil then
if msg.qtype == mqueue.TYPE.COMMAND then
-- received a command
elseif msg.qtype == mqueue.TYPE.DATA then
@ -383,8 +389,8 @@ threads.thread__comms_rx = function (smem)
-- received a packet
-- handle the packet (setpoints passed to update burn rate setpoint)
-- (plc_state passed to check if degraded)
-- (conn_watchdog passed to allow feeding the watchdog)
plc_comms.handle_packet(msg.message, setpoints, plc_state, conn_watchdog)
plc_comms.handle_packet(msg.message, setpoints, plc_state)
end
end
-- quick yield
@ -406,6 +412,7 @@ threads.thread__comms_rx = function (smem)
end
-- apply setpoints
---@param smem plc_shared_memory
threads.thread__setpoint_control = function (smem)
-- execute thread
local exec = function ()
@ -420,18 +427,24 @@ threads.thread__setpoint_control = function (smem)
local last_update = util.time()
local running = false
local last_sp_burn = 0
local last_sp_burn = 0.0
-- do not use the actual elapsed time, it could spike
-- we do not want to have big jumps as that is what we are trying to avoid in the first place
local min_elapsed_s = SP_CTRL_SLEEP / 1000.0
-- thread loop
while true do
local reactor = plc_dev.reactor
if plc_state.init_ok and not plc_state.no_reactor then
-- check if we should start ramping
if setpoints.burn_rate_en and setpoints.burn_rate ~= last_sp_burn then
if rps.is_active() then
if math.abs(setpoints.burn_rate - last_sp_burn) <= 5 then
-- update without ramp if <= 5 mB/t change
log.debug("setting burn rate directly to " .. setpoints.burn_rate .. "mB/t")
---@diagnostic disable-next-line: need-check-nil
reactor.setBurnRate(setpoints.burn_rate)
else
log.debug("starting burn rate ramp from " .. last_sp_burn .. "mB/t to " .. setpoints.burn_rate .. "mB/t")
@ -440,22 +453,19 @@ threads.thread__setpoint_control = function (smem)
last_sp_burn = setpoints.burn_rate
else
last_sp_burn = 0
last_sp_burn = 0.0
end
end
-- only check I/O if active to save on processing time
if running then
-- do not use the actual elapsed time, it could spike
-- we do not want to have big jumps as that is what we are trying to avoid in the first place
local min_elapsed_s = SP_CTRL_SLEEP / 1000.0
-- clear so we can later evaluate if we should keep running
running = false
-- adjust burn rate (setpoints.burn_rate)
if setpoints.burn_rate_en then
if rps.is_active() then
---@diagnostic disable-next-line: need-check-nil
local current_burn_rate = reactor.getBurnRate()
-- we yielded, check enable again
@ -478,12 +488,14 @@ threads.thread__setpoint_control = function (smem)
end
-- set the burn rate
---@diagnostic disable-next-line: need-check-nil
reactor.setBurnRate(new_burn_rate)
running = running or (new_burn_rate ~= setpoints.burn_rate)
end
else
last_sp_burn = 0
last_sp_burn = 0.0
end
end
end
end