-- -- RTU: Remote Terminal Unit -- require("/initenv").init_env() local audio = require("scada-common.audio") 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 rsio = require("scada-common.rsio") local types = require("scada-common.types") local util = require("scada-common.util") local configure = require("rtu.configure") local databus = require("rtu.databus") local modbus = require("rtu.modbus") local renderer = require("rtu.renderer") local rtu = require("rtu.rtu") local threads = require("rtu.threads") local boilerv_rtu = require("rtu.dev.boilerv_rtu") local dynamicv_rtu = require("rtu.dev.dynamicv_rtu") local envd_rtu = require("rtu.dev.envd_rtu") local imatrix_rtu = require("rtu.dev.imatrix_rtu") local redstone_rtu = require("rtu.dev.redstone_rtu") 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 = "v1.10.0" local RTU_UNIT_TYPE = types.RTU_UNIT_TYPE local RTU_UNIT_HW_STATE = databus.RTU_UNIT_HW_STATE local println = util.println local println_ts = util.println_ts ---------------------------------------- -- get configuration ---------------------------------------- if not rtu.load_config() then -- try to reconfigure (user action) local success, error = configure.configure(true) if success then if not rtu.load_config() then println("failed to load a valid configuration, please reconfigure") return end else println("configuration error: " .. error) return end end local config = rtu.config ---------------------------------------- -- log init ---------------------------------------- log.init(config.LogPath, config.LogMode, config.LogDebug) log.info("========================================") log.info("BOOTING rtu.startup " .. RTU_VERSION) log.info("========================================") println(">> RTU GATEWAY " .. RTU_VERSION .. " <<") crash.set_env("rtu", RTU_VERSION) crash.dbg_log_env() ---------------------------------------- -- main application ---------------------------------------- local function main() ---------------------------------------- -- startup ---------------------------------------- -- record firmware versions and ID databus.tx_versions(RTU_VERSION, comms.version) -- mount connected devices ppm.mount_all() -- message authentication init if type(config.AuthKey) == "string" and string.len(config.AuthKey) > 0 then network.init_mac(config.AuthKey) end -- get modem local modem = ppm.get_wireless_modem() if modem == nil then println("boot> wireless modem not found") log.fatal("no wireless modem on startup") return end -- generate alarm tones audio.generate_tones() ---@class rtu_shared_memory local __shared_memory = { -- RTU system state flags ---@class rtu_state rtu_state = { fp_ok = false, linked = false, shutdown = false }, -- RTU gateway devices (not RTU units) rtu_dev = { sounders = {} }, -- system objects rtu_sys = { nic = network.nic(modem), rtu_comms = nil, ---@type rtu_comms conn_watchdog = nil, ---@type watchdog units = {} }, -- message queues q = { mq_comms = mqueue.new() } } local smem_sys = __shared_memory.rtu_sys databus.tx_hw_modem(true) ---------------------------------------- -- interpret config and init units ---------------------------------------- local units = __shared_memory.rtu_sys.units local rtu_redstone = config.Redstone local rtu_devices = config.Peripherals -- configure RTU gateway based on settings file definitions local function sys_config() -- redstone interfaces local rs_rtus = {} -- go through redstone definitions list for entry_idx = 1, #rtu_redstone do local entry = rtu_redstone[entry_idx] ---@type rtu_rs_definition local assignment local for_reactor = entry.unit local iface_name = util.trinary(entry.color ~= nil, util.c(entry.side, "/", rsio.color_name(entry.color)), entry.side) if util.is_int(entry.unit) and entry.unit > 0 and entry.unit < 5 then ---@cast for_reactor integer assignment = "reactor unit " .. entry.unit if rs_rtus[for_reactor] == nil then log.debug(util.c("sys_config> allocated redstone RTU for reactor unit ", entry.unit)) rs_rtus[for_reactor] = { rtu = redstone_rtu.new(), capabilities = {} } end elseif entry.unit == nil then assignment = "facility" for_reactor = 0 if rs_rtus[for_reactor] == nil then log.debug(util.c("sys_config> allocated redstone RTU for the facility")) rs_rtus[for_reactor] = { rtu = redstone_rtu.new(), capabilities = {} } end else local message = util.c("sys_config> invalid unit assignment at block index #", entry_idx) println(message) log.fatal(message) return false end -- verify configuration local valid = false if rsio.is_valid_port(entry.port) and rsio.is_valid_side(entry.side) then valid = util.trinary(entry.color == nil, true, rsio.is_color(entry.color)) end local rs_rtu = rs_rtus[for_reactor].rtu local capabilities = rs_rtus[for_reactor].capabilities if not valid then local message = util.c("sys_config> invalid redstone definition at block index #", entry_idx) println(message) log.fatal(message) return false else -- link redstone in RTU local mode = rsio.get_io_mode(entry.port) if mode == rsio.IO_MODE.DIGITAL_IN then -- can't have duplicate inputs if util.table_contains(capabilities, entry.port) then local message = util.c("sys_config> skipping duplicate input for port ", rsio.to_string(entry.port), " on side ", iface_name) println(message) log.warning(message) else rs_rtu.link_di(entry.side, entry.color) end elseif mode == rsio.IO_MODE.DIGITAL_OUT then rs_rtu.link_do(entry.side, entry.color) elseif mode == rsio.IO_MODE.ANALOG_IN then -- can't have duplicate inputs if util.table_contains(capabilities, entry.port) then local message = util.c("sys_config> skipping duplicate input for port ", rsio.to_string(entry.port), " on side ", iface_name) println(message) log.warning(message) else rs_rtu.link_ai(entry.side) end elseif mode == rsio.IO_MODE.ANALOG_OUT then rs_rtu.link_ao(entry.side) else -- should be unreachable code, we already validated ports log.error("sys_config> fell through if chain attempting to identify IO mode at block index #" .. entry_idx, true) println("sys_config> encountered a software error, check logs") return false end table.insert(capabilities, entry.port) log.debug(util.c("sys_config> linked redstone ", #capabilities, ": ", rsio.to_string(entry.port), " (", iface_name, ") for ", assignment)) end end -- create unit entries for redstone RTUs for for_reactor, def in pairs(rs_rtus) do ---@class rtu_unit_registry_entry local unit = { uid = 0, ---@type integer name = "redstone_io", ---@type string type = RTU_UNIT_TYPE.REDSTONE, ---@type RTU_UNIT_TYPE index = false, ---@type integer|false reactor = for_reactor, ---@type integer device = def.capabilities, ---@type table use device field for redstone ports is_multiblock = false, ---@type boolean formed = nil, ---@type boolean|nil hw_state = RTU_UNIT_HW_STATE.OK, ---@type RTU_UNIT_HW_STATE rtu = def.rtu, ---@type rtu_device|rtu_rs_device modbus_io = modbus.new(def.rtu, false), pkt_queue = nil, ---@type mqueue|nil thread = nil ---@type parallel_thread|nil } table.insert(units, unit) local for_message = "facility" if util.is_int(for_reactor) then for_message = util.c("reactor unit ", for_reactor) end log.info(util.c("sys_config> initialized RTU unit #", #units, ": redstone_io (redstone) [1] for ", for_message)) unit.uid = #units databus.tx_unit_hw_status(unit.uid, unit.hw_state) end -- mounted peripherals for i = 1, #rtu_devices do local entry = rtu_devices[i] ---@type rtu_peri_definition local name = entry.name local index = entry.index local for_reactor = util.trinary(entry.unit == nil, 0, entry.unit) -- CHECK: name is a string if type(name) ~= "string" then local message = util.c("sys_config> device entry #", i, ": device ", name, " isn't a string") println(message) log.fatal(message) return false end -- CHECK: index type if (index ~= nil) and (not util.is_int(index)) then local message = util.c("sys_config> device entry #", i, ": index ", index, " isn't valid") println(message) log.fatal(message) return false end -- CHECK: index range local function validate_index(min, max) if (not util.is_int(index)) or ((index < min) and (max ~= nil and index > max)) then local message = util.c("sys_config> device entry #", i, ": index ", index, " isn't >= ", min) if max ~= nil then message = util.c(message, " and <= ", max) end println(message) log.fatal(message) return false else return true end end -- CHECK: reactor is an integer >= 0 local function validate_assign(for_facility) if for_facility and for_reactor ~= 0 then local message = util.c("sys_config> device entry #", i, ": must only be for the facility") println(message) log.fatal(message) return false elseif (not for_facility) and ((not util.is_int(for_reactor)) or (for_reactor < 1) or (for_reactor > 4)) then local message = util.c("sys_config> device entry #", i, ": unit assignment ", for_reactor, " isn't vaild") println(message) log.fatal(message) return false else return true end end local device = ppm.get_periph(name) local type ---@type string|nil local rtu_iface ---@type rtu_device local rtu_type ---@type RTU_UNIT_TYPE local is_multiblock = false ---@type boolean local formed = nil ---@type boolean|nil local faulted = nil ---@type boolean|nil if device == nil then local message = util.c("sys_config> '", name, "' not found, using placeholder") println(message) log.warning(message) -- mount a virtual (placeholder) device type, device = ppm.mount_virtual() else type = ppm.get_type(name) end if type == "boilerValve" then -- boiler multiblock if not validate_index(1, 2) then return false end if not validate_assign() then return false end rtu_type = RTU_UNIT_TYPE.BOILER_VALVE rtu_iface, faulted = boilerv_rtu.new(device) is_multiblock = true formed = device.isFormed() if formed == ppm.ACCESS_FAULT then println_ts(util.c("sys_config> failed to check if '", name, "' is formed")) log.fatal(util.c("sys_config> failed to check if '", name, "' is a formed boiler multiblock")) return false end elseif type == "turbineValve" then -- turbine multiblock if not validate_index(1, 3) then return false end if not validate_assign() then return false end rtu_type = RTU_UNIT_TYPE.TURBINE_VALVE rtu_iface, faulted = turbinev_rtu.new(device) is_multiblock = true formed = device.isFormed() if formed == ppm.ACCESS_FAULT then println_ts(util.c("sys_config> failed to check if '", name, "' is formed")) log.fatal(util.c("sys_config> failed to check if '", name, "' is a formed turbine multiblock")) return false end elseif type == "dynamicValve" then -- dynamic tank multiblock if entry.unit == nil then if not validate_index(1, 4) then return false end if not validate_assign(true) then return false end else if not validate_index(1, 1) then return false end if not validate_assign() then return false end end rtu_type = RTU_UNIT_TYPE.DYNAMIC_VALVE rtu_iface, faulted = dynamicv_rtu.new(device) is_multiblock = true formed = device.isFormed() if formed == ppm.ACCESS_FAULT then println_ts(util.c("sys_config> failed to check if '", name, "' is formed")) log.fatal(util.c("sys_config> failed to check if '", name, "' is a formed dynamic tank multiblock")) return false end elseif type == "inductionPort" then -- induction matrix multiblock if not validate_assign(true) then return false end rtu_type = RTU_UNIT_TYPE.IMATRIX rtu_iface, faulted = imatrix_rtu.new(device) is_multiblock = true formed = device.isFormed() if formed == ppm.ACCESS_FAULT then println_ts(util.c("sys_config> failed to check if '", name, "' is formed")) log.fatal(util.c("sys_config> failed to check if '", name, "' is a formed induction matrix multiblock")) return false end elseif type == "spsPort" then -- SPS multiblock if not validate_assign(true) then return false end rtu_type = RTU_UNIT_TYPE.SPS rtu_iface, faulted = sps_rtu.new(device) is_multiblock = true formed = device.isFormed() if formed == ppm.ACCESS_FAULT then println_ts(util.c("sys_config> failed to check if '", name, "' is formed")) log.fatal(util.c("sys_config> failed to check if '", name, "' is a formed SPS multiblock")) return false end elseif type == "solarNeutronActivator" then -- SNA if not validate_assign() then return false end rtu_type = RTU_UNIT_TYPE.SNA rtu_iface, faulted = sna_rtu.new(device) elseif type == "environmentDetector" then -- advanced peripherals environment detector if not validate_index(1) then return false end if not validate_assign(entry.unit == nil) then return false end rtu_type = RTU_UNIT_TYPE.ENV_DETECTOR rtu_iface, faulted = envd_rtu.new(device) elseif type == ppm.VIRTUAL_DEVICE_TYPE then -- placeholder device rtu_type = RTU_UNIT_TYPE.VIRTUAL rtu_iface = rtu.init_unit().interface() else local message = util.c("sys_config> device '", name, "' is not a known type (", type, ")") println_ts(message) log.fatal(message) return false end if is_multiblock then if not formed then log.info(util.c("sys_config> device '", name, "' is not formed")) elseif faulted then -- sometimes there is a race condition on server boot where it reports formed, but -- the other functions are not yet defined (that's the theory at least). mark as unformed to attempt connection later formed = false log.warning(util.c("sys_config> device '", name, "' is formed, but initialization had one or more faults: marked as unformed")) end end ---@class rtu_unit_registry_entry local rtu_unit = { uid = 0, ---@type integer name = name, ---@type string type = rtu_type, ---@type RTU_UNIT_TYPE index = index or false, ---@type integer|false reactor = for_reactor, ---@type integer device = device, ---@type table is_multiblock = is_multiblock, ---@type boolean formed = formed, ---@type boolean|nil hw_state = RTU_UNIT_HW_STATE.OFFLINE, ---@type RTU_UNIT_HW_STATE rtu = rtu_iface, ---@type rtu_device|rtu_rs_device modbus_io = modbus.new(rtu_iface, true), pkt_queue = mqueue.new(), ---@type mqueue|nil thread = nil ---@type parallel_thread|nil } rtu_unit.thread = threads.thread__unit_comms(__shared_memory, rtu_unit) table.insert(units, rtu_unit) local for_message = "facility" if for_reactor > 0 then for_message = util.c("reactor ", for_reactor) end local index_str = util.trinary(index ~= nil, util.c(" [", index, "]"), "") log.info(util.c("sys_config> initialized RTU unit #", #units, ": ", name, " (", types.rtu_type_to_string(rtu_type), ")", index_str, " for ", for_message)) rtu_unit.uid = #units -- determine hardware status if rtu_unit.type == RTU_UNIT_TYPE.VIRTUAL then rtu_unit.hw_state = RTU_UNIT_HW_STATE.OFFLINE else if rtu_unit.is_multiblock then rtu_unit.hw_state = util.trinary(rtu_unit.formed == true, RTU_UNIT_HW_STATE.OK, RTU_UNIT_HW_STATE.UNFORMED) elseif faulted then rtu_unit.hw_state = RTU_UNIT_HW_STATE.FAULTED else rtu_unit.hw_state = RTU_UNIT_HW_STATE.OK end end -- report hardware status databus.tx_unit_hw_status(rtu_unit.uid, rtu_unit.hw_state) end return true end ---------------------------------------- -- start system ---------------------------------------- local rtu_state = __shared_memory.rtu_state log.debug("boot> running sys_config()") if sys_config() then -- start UI local message rtu_state.fp_ok, message = renderer.try_start_ui(units, config.FrontPanelTheme, config.ColorMode) if not rtu_state.fp_ok then println_ts(util.c("UI error: ", message)) println("startup> running without front panel") log.error(util.c("front panel GUI render failed with error ", message)) log.info("startup> running in headless mode without front panel") end -- find and setup all speakers local speakers = ppm.get_all_devices("speaker") for _, s in pairs(speakers) do local sounder = rtu.init_sounder(s) table.insert(__shared_memory.rtu_dev.sounders, sounder) log.debug(util.c("startup> added speaker, attached as ", sounder.name)) end databus.tx_hw_spkr_count(#__shared_memory.rtu_dev.sounders) -- start connection watchdog smem_sys.conn_watchdog = util.new_watchdog(config.ConnTimeout) log.debug("startup> conn watchdog started") -- setup comms smem_sys.rtu_comms = rtu.comms(RTU_VERSION, smem_sys.nic, smem_sys.conn_watchdog) log.debug("startup> comms init") -- init threads local main_thread = threads.thread__main(__shared_memory) local comms_thread = threads.thread__comms(__shared_memory) -- assemble thread list local _threads = { main_thread.p_exec, comms_thread.p_exec } for i = 1, #units do if units[i].thread ~= nil then table.insert(_threads, units[i].thread.p_exec) end end log.info("startup> completed") -- run threads parallel.waitForAll(table.unpack(_threads)) else println("configuration failed, exiting...") end renderer.close_ui() println_ts("exited") log.info("exited") end if not xpcall(main, crash.handler) then pcall(renderer.close_ui) crash.exit() else log.close() end