work on PLC comms

reactor-plc/plc.lua

@@ -1,8 +1,8 @@
-function scada_link(comms)
+function scada_link(plc_comms)
     local linked = false
     local link_timeout = os.startTimer(5)
 
-    comms.send_link_req()
+    plc_comms.send_link_req()
     print_ts("sent link request")
     
     repeat
@@ -12,31 +12,40 @@ function scada_link(comms)
         if event == "timer" and param1 == link_timeout then
             -- no response yet
             print("...no response");
-            comms.send_link_req()
-            print_ts("sent link request")
-            link_timeout = os.startTimer(5)
         elseif event == "modem_message" then
             -- server response? cancel timeout
             if link_timeout ~= nil then
                 os.cancelTimer(link_timeout)
             end
 
-            local packet = comms.make_packet(p1, p2, p3, p4, p5)
-
-            -- handle response
-            local response = comms.handle_link(packet)
-            if response == nil then
-                print_ts("invalid link response, bad channel?\n")
-                return
-            elseif response == true then
-                print_ts("...linked!\n")
-                linked = true
-            else
-                print_ts("...denied, exiting\n")
-                return
+            local s_packet = comms.scada_packet()
+            s_packet.receive(p1, p2, p3, p4, p5)
+            local packet = s_packet.as_rplc()
+            if packet then
+                -- handle response
+                local response = plc_comms.handle_link(packet)
+                if response == nil then
+                    print_ts("invalid link response, bad channel?\n")
+                    break
+                elseif response == comms.RPLC_LINKING.COLLISION then
+                    print_ts("...reactor PLC ID collision (check config), exiting...\n")
+                    break
+                elseif response == comms.RPLC_LINKING.ALLOW then
+                    print_ts("...linked!\n")
+                    linked = true
+                    plc_comms.send_rs_io_conns()
+                    plc_comms.send_struct()
+                    plc_comms.send_status()
+                    print_ts("sent initial data\n")
+                else
+                    print_ts("...denied, exiting...\n")
+                    break
+                end
             end
         end
     until linked
+
+    return linked
 end
 
 -- Internal Safety System
@@ -44,13 +53,15 @@ end
 -- autonomous from main control
 function iss_init(reactor)
     local self = {
-        _reactor = reactor,
-        _tripped = false,
-        _trip_cause = ""
+        reactor = reactor,
+        timed_out = false,
+        tripped = false,
+        trip_cause = ""
     }
 
     local check = function ()
         local status = "ok"
+        local was_tripped = self.tripped
         
         -- check system states in order of severity
         if self.damage_critical() then
@@ -63,59 +74,100 @@ function iss_init(reactor)
             status = "full_waste"
         elseif self.insufficient_fuel() then
             status = "no_fuel"
-        elseif self._tripped then
-            status = self._trip_cause
+        elseif self.tripped then
+            status = self.trip_cause
         else
-            self._tripped = false
+            self.tripped = false
         end
     
         if status ~= "ok" then
-            self._tripped = true
-            self._trip_cause = status
-            self._reactor.scram()
+            self.tripped = true
+            self.trip_cause = status
+            self.reactor.scram()
         end
+
+        local first_trip = ~was_tripped and self.tripped
     
-        return self._tripped, status
+        return self.tripped, status, first_trip
+    end
+
+    local trip_timeout = function ()
+        self.tripped = false
+        self.trip_cause = "timeout"
+        self.timed_out = true
+        self.reactor.scram()
     end
 
     local reset = function ()
-        self._tripped = false
-        self._trip_cause = ""
+        self.timed_out = false
+        self.tripped = false
+        self.trip_cause = ""
+    end
+
+    local status = function (named)
+        if named then
+            return {
+                damage_critical = damage_critical(),
+                excess_heated_coolant = excess_heated_coolant(),
+                excess_waste = excess_waste(),
+                high_temp = high_temp(),
+                insufficient_fuel = insufficient_fuel(),
+                no_coolant = no_coolant(),
+                timed_out = timed_out()
+            }
+        else
+            return {
+                damage_critical(),
+                excess_heated_coolant(),
+                excess_waste(),
+                high_temp(),
+                insufficient_fuel(),
+                no_coolant(),
+                timed_out()
+            }
+        end
     end
     
     local damage_critical = function ()
-        return self._reactor.getDamagePercent() >= 100
+        return self.reactor.getDamagePercent() >= 100
     end
     
     local excess_heated_coolant = function ()
-        return self._reactor.getHeatedCoolantNeeded() == 0
+        return self.reactor.getHeatedCoolantNeeded() == 0
     end
     
     local excess_waste = function ()
-        return self._reactor.getWasteNeeded() == 0
+        return self.reactor.getWasteNeeded() == 0
     end
 
     local high_temp = function ()
         -- mekanism: MAX_DAMAGE_TEMPERATURE = 1_200
-        return self._reactor.getTemperature() >= 1200
+        return self.reactor.getTemperature() >= 1200
     end
     
     local insufficient_fuel = function ()
-        return self._reactor.getFuel() == 0
+        return self.reactor.getFuel() == 0
     end
 
-    local no_coolant = function()
-        return self._reactor.getCoolantFilledPercentage() < 2
+    local no_coolant = function ()
+        return self.reactor.getCoolantFilledPercentage() < 2
+    end
+
+    local timed_out = function ()
+        return self.timed_out
     end
 
     return {
         check = check,
+        trip_timeout = trip_timeout,
         reset = reset,
+        status = status,
         damage_critical = damage_critical,
         excess_heated_coolant = excess_heated_coolant,
         excess_waste = excess_waste,
         high_temp = high_temp,
         insufficient_fuel = insufficient_fuel,
-        no_coolant = no_coolant
+        no_coolant = no_coolant,
+        timed_out = timed_out
     }
 end

reactor-plc/startup.lua

@@ -37,11 +37,13 @@ if not modem.isOpen(config.LISTEN_PORT) then
     modem.open(config.LISTEN_PORT)
 end
 
-local comms = comms.rplc_comms(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor)
+local plc_comms = comms.rplc_comms(config.REACTOR_ID, modem, config.LISTEN_PORT, config.SERVER_PORT, reactor)
 
 -- attempt server connection
--- exits application if connection is denied
-plc.scada_link(comms)
+-- exit application if connection is denied
+if ~plc.scada_link(plc_comms) then
+    return
+end
 
 -- comms watchdog, 3 second timeout
 local conn_watchdog = watchdog.new_watchdog(3)
@@ -51,28 +53,47 @@ local conn_watchdog = watchdog.new_watchdog(3)
 local loop_tick = os.startTimer(0.05)
 local ticks_to_update = 5
 
+-- runtime variables
+local control_state = false
+
 -- event loop
 while true do
     local event, param1, param2, param3, param4, param5 = os.pullEvent()
 
+    if event == "peripheral_detach" then
+        print_ts("[fatal] lost a peripheral, stopping...\n")
+        -- todo: determine which disconnected and what is left
+        -- hopefully it wasn't the reactor
+        reactor.scram()
+        -- send an alarm: plc_comms.send_alarm(ALARMS.PLC_DC) ?
+        return
+    end
+
     -- check safety (SCRAM occurs if tripped)
-    local iss_status, iss_tripped = iss.check()
+    local iss_status, iss_tripped, iss_first = iss.check()
+    if iss_first then
+        plc_comms.send_iss_alarm(iss_status)
+    end
 
     -- handle event
     if event == "timer" and param1 == loop_tick then
-        -- basic event tick, send updated data if it is time
+        -- basic event tick, send updated data if it is time (4Hz)
         ticks_to_update = ticks_to_update - 1
         if ticks_to_update == 0 then
+            plc_comms.send_status(control_state, iss_tripped)
             ticks_to_update = 5
         end
     elseif event == "modem_message" then
         -- got a packet
-        -- feed the watchdog first so it doesn't eat our packets
+        -- feed the watchdog first so it doesn't uhh,,,eat our packets
         conn_watchdog.feed()
 
+        local packet = comms.make_packet(p1, p2, p3, p4, p5)
+        plc_comms.handle_packet(packet)
+
     elseif event == "timer" and param1 == conn_watchdog.get_timer() then
         -- haven't heard from server recently? shutdown
-        reactor.scram()
+        iss.trip_timeout()
         print_ts("[alert] server timeout, reactor disabled\n")
     end
 end

scada-common/comms.lua

@@ -5,16 +5,47 @@ PROTOCOLS = {
     COORD_DATA = 3  -- data packets for coordinators to/from supervisory controller
 }
 
+RPLC_TYPES = {
+    KEEP_ALIVE = 0,     -- keep alive packets
+    LINK_REQ = 1,       -- linking requests
+    STATUS = 2,         -- reactor/system status
+    MEK_STRUCT = 3,     -- mekanism build structure
+    RS_IO_CONNS = 4,    -- redstone I/O connections
+    RS_IO_SET = 5,      -- set redstone outputs
+    RS_IO_GET = 6,      -- get redstone inputs
+    MEK_SCRAM = 7,      -- SCRAM reactor
+    MEK_ENABLE = 8,     -- enable reactor
+    MEK_BURN_RATE = 9,  -- set burn rate
+    ISS_ALARM = 10,     -- ISS alarm broadcast
+    ISS_GET = 11,       -- get ISS status
+    ISS_CLEAR = 12      -- clear ISS trip (if in bad state, will trip immideatly)
+}
+
+RPLC_LINKING = {
+    ALLOW = 0,
+    DENY = 1,
+    COLLISION = 2
+}
+
 -- generic SCADA packet object
 function scada_packet()
     local self = {
         modem_msg_in = nil,
-        raw = nil
+        valid = false,
         seq_id = nil,
         protocol = nil,
-        length = nil
+        length = nil,
+        raw = nil
     }
 
+    local make = function (seq_id, protocol, payload)
+        self.valid = true
+        self.seq_id = seq_id
+        self.protocol = protocol
+        self.length = #payload
+        self.raw = { self.seq_id, self.protocol, self.length, payload }
+    end
+
     local receive = function (side, sender, reply_to, message, distance)
         self.modem_msg_in = {
             iface = side,
@@ -30,9 +61,10 @@ function scada_packet()
             -- malformed
             return false
         else
-            self.seq_id = self.raw[0]
-            self.protocol = self.raw[1]
-            self.length = self.raw[2]
+            self.valid = true
+            self.seq_id = self.raw[1]
+            self.protocol = self.raw[2]
+            self.length = self.raw[3]
         end
     end
 
@@ -48,6 +80,14 @@ function scada_packet()
         return self.length
     end
 
+    local data = function (packet)
+        local subset = nil
+        if self.valid then
+            subset = { table.unpack(self.raw, 4, 3 + self.length) }
+        end
+        return subset
+    end
+
     local raw = function (packet)
         return self.raw
     end
@@ -56,7 +96,24 @@ function scada_packet()
         return self.modem_msg_in
     end
 
+    local as_rplc = function ()
+        local pkt = nil
+        if self.valid and self.protocol == PROTOCOLS.RPLC then
+            local body = data()
+            if #body > 2 then
+                pkt = {
+                    id = body[1],
+                    type = body[2],
+                    length = #body - 2,
+                    body = { table.unpack(body, 3, 2 + #body) }
+                }
+            end
+        end
+        return pkt
+    end
+
     return {
+        make = make,
         receive = receive,
         seq_id = seq_id,
         protocol = protocol,
@@ -83,65 +140,77 @@ end
 -- reactor PLC communications
 function rplc_comms(id, modem, local_port, server_port, reactor)
     local self = {
-        _id = id,
-        _modem = modem,
-        _server = server_port,
-        _local = local_port,
-        _reactor = reactor,
-        _status_cache = nil
+        id = id,
+        seq_id = 0,
+        modem = modem,
+        s_port = server_port,
+        l_port = local_port,
+        reactor = reactor,
+        status_cache = nil
     }
 
+    -- PRIVATE FUNCTIONS --
+
     local _send = function (msg)
-        self._modem.transmit(self._server, self._local, msg)
+        local packet = scada_packet()
+        packet.make(self.seq_id, PROTOCOLS.RPLC, msg)
+        self.modem.transmit(self.s_port, self.l_port, packet.raw())
+        self.seq_id = self.seq_id + 1
     end
 
     -- variable reactor status information, excluding heating rate
     local _reactor_status = function ()
         return {
-            status     = self._reactor.getStatus(),
-            burn_rate  = self._reactor.getBurnRate(),
-            act_burn_r = self._reactor.getActualBurnRate(),
-            temp       = self._reactor.getTemperature(),
-            damage     = self._reactor.getDamagePercent(),
-            boil_eff   = self._reactor.getBoilEfficiency(),
-            env_loss   = self._reactor.getEnvironmentalLoss(),
+            status     = self.reactor.getStatus(),
+            burn_rate  = self.reactor.getBurnRate(),
+            act_burn_r = self.reactor.getActualBurnRate(),
+            temp       = self.reactor.getTemperature(),
+            damage     = self.reactor.getDamagePercent(),
+            boil_eff   = self.reactor.getBoilEfficiency(),
+            env_loss   = self.reactor.getEnvironmentalLoss(),
 
-            fuel       = self._reactor.getFuel(),
-            fuel_need  = self._reactor.getFuelNeeded(),
-            fuel_fill  = self._reactor.getFuelFilledPercentage(),
-            waste      = self._reactor.getWaste(),
-            waste_need = self._reactor.getWasteNeeded(),
-            waste_fill = self._reactor.getWasteFilledPercentage(),
-            cool_type  = self._reactor.getCoolant()['name'],
-            cool_amnt  = self._reactor.getCoolant()['amount'],
-            cool_need  = self._reactor.getCoolantNeeded(),
-            cool_fill  = self._reactor.getCoolantFilledPercentage(),
-            hcool_type = self._reactor.getHeatedCoolant()['name'],
-            hcool_amnt = self._reactor.getHeatedCoolant()['amount'],
-            hcool_need = self._reactor.getHeatedCoolantNeeded(),
-            hcool_fill = self._reactor.getHeatedCoolantFilledPercentage()
+            fuel       = self.reactor.getFuel(),
+            fuel_need  = self.reactor.getFuelNeeded(),
+            fuel_fill  = self.reactor.getFuelFilledPercentage(),
+            waste      = self.reactor.getWaste(),
+            waste_need = self.reactor.getWasteNeeded(),
+            waste_fill = self.reactor.getWasteFilledPercentage(),
+            cool_type  = self.reactor.getCoolant()['name'],
+            cool_amnt  = self.reactor.getCoolant()['amount'],
+            cool_need  = self.reactor.getCoolantNeeded(),
+            cool_fill  = self.reactor.getCoolantFilledPercentage(),
+            hcool_type = self.reactor.getHeatedCoolant()['name'],
+            hcool_amnt = self.reactor.getHeatedCoolant()['amount'],
+            hcool_need = self.reactor.getHeatedCoolantNeeded(),
+            hcool_fill = self.reactor.getHeatedCoolantFilledPercentage()
         }
     end
 
-    local _status_changed = function ()
-        local status = self._reactor_status()
+    local _update_status_cache = function ()
+        local status = _reactor_status()
         local changed = false
 
-        for key, value in pairs() do
-            if value ~= _status_cache[key] then
+        for key, value in pairs(status) do
+            if value ~= self.status_cache[key] then
                 changed = true
                 break
             end
         end
 
+        if changed then
+            self.status_cache = status
+        end
+
         return changed
     end
 
-    -- attempt to establish link with
+    -- PUBLIC FUNCTIONS --
+
+    -- attempt to establish link with supervisor
     local send_link_req = function ()
         local linking_data = {
-            id = self._id,
-            type = "link_req"
+            id = self.id,
+            type = RPLC_TYPES.LINK_REQ
         }
 
         _send(linking_data)
@@ -151,19 +220,19 @@ function rplc_comms(id, modem, local_port, server_port, reactor)
     -- server will cache these
     local send_struct = function ()
         local mek_data = {
-            heat_cap  = self._reactor.getHeatCapacity(),
-            fuel_asm  = self._reactor.getFuelAssemblies(),
-            fuel_sa   = self._reactor.getFuelSurfaceArea(),
-            fuel_cap  = self._reactor.getFuelCapacity(),
-            waste_cap = self._reactor.getWasteCapacity(),
-            cool_cap  = self._reactor.getCoolantCapacity(),
-            hcool_cap = self._reactor.getHeatedCoolantCapacity(),
-            max_burn  = self._reactor.getMaxBurnRate()
+            heat_cap  = self.reactor.getHeatCapacity(),
+            fuel_asm  = self.reactor.getFuelAssemblies(),
+            fuel_sa   = self.reactor.getFuelSurfaceArea(),
+            fuel_cap  = self.reactor.getFuelCapacity(),
+            waste_cap = self.reactor.getWasteCapacity(),
+            cool_cap  = self.reactor.getCoolantCapacity(),
+            hcool_cap = self.reactor.getHeatedCoolantCapacity(),
+            max_burn  = self.reactor.getMaxBurnRate()
         }
 
         local struct_packet = {
-            id = self._id,
-            type = "struct_data",
+            id = self.id,
+            type = RPLC_TYPES.MEK_STRUCT,
             mek_data = mek_data
         }
 
@@ -171,49 +240,63 @@ function rplc_comms(id, modem, local_port, server_port, reactor)
     end
 
     -- send live status information
-    local send_status = function ()
-        local mek_data = self._reactor_status()
+    -- control_state: acknowledged control state from supervisor
+    -- overridden: if ISS force disabled reactor
+    local send_status = function (control_state, overridden)
+        local mek_data = nil
 
-        local sys_data = {
-            timestamp = os.time(),
-            control_state = false,
-            overridden = false,
-            faults = {},
-            waste_production = "antimatter" -- "plutonium", "polonium", "antimatter"
-        }
-    end
-
-    local send_keep_alive = function ()
-        -- heating rate is volatile, so it is skipped in status
-        -- send it with keep alive packets
-        local mek_data = {
-            heating_rate  = self._reactor.getHeatingRate()
-        }
-
-        -- basic keep alive packet to server
-        local keep_alive_packet = {
-            id = self._id,
-            type = "keep_alive",
+        if _update_status_cache() then
+            mek_data = self.status_cache
+        end
+
+        local sys_status = {
+            id = self.id,
+            type = RPLC_TYPES.STATUS,
             timestamp = os.time(),
+            control_state = control_state,
+            overridden = overridden,
+            heating_rate = self.reactor.getHeatingRate(),
             mek_data = mek_data
         }
 
-        _send(keep_alive_packet)
+        _send(sys_status)
+    end
+
+    local send_rs_io_conns = function ()
     end
 
     local handle_link = function (packet)
-        if packet.type == "link_response" then
-            return packet.accepted
+        if packet.type == RPLC_TYPES.LINK_REQ then
+            return packet.data[1] == RPLC_LINKING.ALLOW
         else
             return nil
         end
     end
 
+    local handle_packet = function (packet)
+        if packet.type == RPLC_TYPES.KEEP_ALIVE then
+            -- keep alive request received, nothing to do except feed watchdog
+        elseif packet.type == RPLC_TYPES.MEK_STRUCT then
+            -- request for physical structure
+            send_struct()
+        elseif packet.type == RPLC_TYPES.RS_IO_CONNS then
+            -- request for redstone connections
+            send_rs_io_conns()
+        elseif packet.type == RPLC_TYPES.RS_IO_GET then
+        elseif packet.type == RPLC_TYPES.RS_IO_SET then
+        elseif packet.type == RPLC_TYPES.MEK_SCRAM then
+        elseif packet.type == RPLC_TYPES.MEK_ENABLE then
+        elseif packet.type == RPLC_TYPES.MEK_BURN_RATE then
+        elseif packet.type == RPLC_TYPES.ISS_GET then
+        elseif packet.type == RPLC_TYPES.ISS_CLEAR then
+        end
+    end
+
     return {
         send_link_req = send_link_req,
         send_struct = send_struct,
         send_status = send_status,
-        send_keep_alive = send_keep_alive,
+        send_rs_io_conns = send_rs_io_conns,
         handle_link = handle_link
     }
 end