Minecraft/cc-mek-scada
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cc-mek-scada/supervisor/session/plc.lua

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local comms = require("scada-common.comms")
local log = require("scada-common.log")
local mqueue = require("scada-common.mqueue")
local util = require("scada-common.util")
local svqtypes = require("supervisor.session.svqtypes")
local plc = {}
local PROTOCOLS = comms.PROTOCOLS
local RPLC_TYPES = comms.RPLC_TYPES
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local CRDN_COMMANDS = comms.CRDN_COMMANDS
local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts
-- retry time constants in ms
local INITIAL_WAIT = 1500
local RETRY_PERIOD = 1000
local PLC_S_CMDS = {
SCRAM = 1,
ASCRAM = 2,
ENABLE = 3,
RPS_RESET = 4
}
local PLC_S_DATA = {
BURN_RATE = 1,
RAMP_BURN_RATE = 2
}
plc.PLC_S_CMDS = PLC_S_CMDS
plc.PLC_S_DATA = PLC_S_DATA
local PERIODICS = {
KEEP_ALIVE = 2000
}
-- PLC supervisor session
---@param id integer
---@param for_reactor integer
---@param in_queue mqueue
---@param out_queue mqueue
function plc.new_session(id, for_reactor, in_queue, out_queue)
local log_header = "plc_session(" .. id .. "): "
local self = {
id = id,
for_reactor = for_reactor,
in_q = in_queue,
out_q = out_queue,
commanded_state = false,
commanded_burn_rate = 0.0,
ramping_rate = false,
auto_scram = false,
-- connection properties
seq_num = 0,
r_seq_num = nil,
connected = true,
received_struct = false,
received_status_cache = false,
plc_conn_watchdog = util.new_watchdog(3),
last_rtt = 0,
-- periodic messages
periodics = {
last_update = 0,
keep_alive = 0
},
-- when to next retry one of these requests
retry_times = {
struct_req = (util.time() + 500),
status_req = (util.time() + 500),
scram_req = 0,
burn_rate_req = 0,
rps_reset_req = 0
},
-- command acknowledgements
acks = {
scram = true,
burn_rate = true,
rps_reset = true
},
-- session database
---@class reactor_db
sDB = {
last_status_update = 0,
control_state = false,
no_reactor = false,
formed = false,
rps_tripped = false,
rps_trip_cause = "ok", ---@type rps_trip_cause
---@class rps_status
rps_status = {
dmg_crit = false,
high_temp = false,
no_cool = false,
ex_waste = false,
ex_hcool = false,
no_fuel = false,
fault = false,
timeout = false,
manual = false,
automatic = false,
sys_fail = false,
force_dis = false
},
---@class mek_status
mek_status = {
heating_rate = 0.0,
status = false,
burn_rate = 0.0,
act_burn_rate = 0.0,
temp = 0.0,
damage = 0.0,
boil_eff = 0.0,
env_loss = 0.0,
fuel = 0,
fuel_need = 0,
fuel_fill = 0.0,
waste = 0,
waste_need = 0,
waste_fill = 0.0,
ccool_type = "?",
ccool_amnt = 0,
ccool_need = 0,
ccool_fill = 0.0,
hcool_type = "?",
hcool_amnt = 0,
hcool_need = 0,
hcool_fill = 0.0
},
---@class mek_struct
mek_struct = {
length = 0,
width = 0,
height = 0,
min_pos = { x = 0, y = 0, z = 0 }, ---@type coordinate
max_pos = { x = 0, y = 0, z = 0 }, ---@type coordinate
heat_cap = 0,
fuel_asm = 0,
fuel_sa = 0,
fuel_cap = 0,
waste_cap = 0,
ccool_cap = 0,
hcool_cap = 0,
max_burn = 0.0
}
}
}
---@class plc_session
local public = {}
-- copy in the RPS status
---@param rps_status table
local function _copy_rps_status(rps_status)
self.sDB.rps_tripped = rps_status[1]
self.sDB.rps_trip_cause = rps_status[2]
self.sDB.rps_status.dmg_crit = rps_status[3]
self.sDB.rps_status.high_temp = rps_status[4]
self.sDB.rps_status.no_cool = rps_status[5]
self.sDB.rps_status.ex_waste = rps_status[6]
self.sDB.rps_status.ex_hcool = rps_status[7]
self.sDB.rps_status.no_fuel = rps_status[8]
self.sDB.rps_status.fault = rps_status[9]
self.sDB.rps_status.timeout = rps_status[10]
self.sDB.rps_status.manual = rps_status[11]
self.sDB.rps_status.automatic = rps_status[12]
self.sDB.rps_status.sys_fail = rps_status[13]
self.sDB.rps_status.force_dis = rps_status[14]
end
-- copy in the reactor status
---@param mek_data table
local function _copy_status(mek_data)
-- copy status information
self.sDB.mek_status.status = mek_data[1]
self.sDB.mek_status.burn_rate = mek_data[2]
self.sDB.mek_status.act_burn_rate = mek_data[3]
self.sDB.mek_status.temp = mek_data[4]
self.sDB.mek_status.damage = mek_data[5]
self.sDB.mek_status.boil_eff = mek_data[6]
self.sDB.mek_status.env_loss = mek_data[7]
-- copy container information
self.sDB.mek_status.fuel = mek_data[8]
self.sDB.mek_status.fuel_fill = mek_data[9]
self.sDB.mek_status.waste = mek_data[10]
self.sDB.mek_status.waste_fill = mek_data[11]
self.sDB.mek_status.ccool_type = mek_data[12]
self.sDB.mek_status.ccool_amnt = mek_data[13]
self.sDB.mek_status.ccool_fill = mek_data[14]
self.sDB.mek_status.hcool_type = mek_data[15]
self.sDB.mek_status.hcool_amnt = mek_data[16]
self.sDB.mek_status.hcool_fill = mek_data[17]
-- update computable fields if we have our structure
if self.received_struct then
self.sDB.mek_status.fuel_need = self.sDB.mek_struct.fuel_cap - self.sDB.mek_status.fuel_fill
self.sDB.mek_status.waste_need = self.sDB.mek_struct.waste_cap - self.sDB.mek_status.waste_fill
self.sDB.mek_status.cool_need = self.sDB.mek_struct.ccool_cap - self.sDB.mek_status.ccool_fill
self.sDB.mek_status.hcool_need = self.sDB.mek_struct.hcool_cap - self.sDB.mek_status.hcool_fill
end
end
-- copy in the reactor structure
---@param mek_data table
local function _copy_struct(mek_data)
self.sDB.mek_struct.length = mek_data[1]
self.sDB.mek_struct.width = mek_data[2]
self.sDB.mek_struct.height = mek_data[3]
self.sDB.mek_struct.min_pos = mek_data[4]
self.sDB.mek_struct.max_pos = mek_data[5]
self.sDB.mek_struct.heat_cap = mek_data[6]
self.sDB.mek_struct.fuel_asm = mek_data[7]
self.sDB.mek_struct.fuel_sa = mek_data[8]
self.sDB.mek_struct.fuel_cap = mek_data[9]
self.sDB.mek_struct.waste_cap = mek_data[10]
self.sDB.mek_struct.ccool_cap = mek_data[11]
self.sDB.mek_struct.hcool_cap = mek_data[12]
self.sDB.mek_struct.max_burn = mek_data[13]
end
-- mark this PLC session as closed, stop watchdog
local function _close()
self.plc_conn_watchdog.cancel()
self.connected = false
end
-- send an RPLC packet
---@param msg_type RPLC_TYPES
---@param msg table
local function _send(msg_type, msg)
local s_pkt = comms.scada_packet()
local r_pkt = comms.rplc_packet()
r_pkt.make(self.id, msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable())
self.out_q.push_packet(s_pkt)
self.seq_num = self.seq_num + 1
end
-- send a SCADA management packet
---@param msg_type SCADA_MGMT_TYPES
---@param msg table
local function _send_mgmt(msg_type, msg)
local s_pkt = comms.scada_packet()
local m_pkt = comms.mgmt_packet()
m_pkt.make(msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.SCADA_MGMT, m_pkt.raw_sendable())
self.out_q.push_packet(s_pkt)
self.seq_num = self.seq_num + 1
end
-- get an ACK status
---@param pkt rplc_frame
---@return boolean|nil ack
local function _get_ack(pkt)
if pkt.length == 1 then
return pkt.data[1]
else
log.warning(log_header .. "RPLC ACK length mismatch")
return nil
end
end
-- handle a packet
---@param pkt rplc_frame
local function _handle_packet(pkt)
-- check sequence number
if self.r_seq_num == nil then
self.r_seq_num = pkt.scada_frame.seq_num()
elseif self.r_seq_num >= pkt.scada_frame.seq_num() then
log.warning(log_header .. "sequence out-of-order: last = " .. self.r_seq_num .. ", new = " .. pkt.scada_frame.seq_num())
return
else
self.r_seq_num = pkt.scada_frame.seq_num()
end
-- process packet
if pkt.scada_frame.protocol() == PROTOCOLS.RPLC then
-- check reactor ID
if pkt.id ~= for_reactor then
log.warning(log_header .. "RPLC packet with ID not matching reactor ID: reactor " .. self.for_reactor .. " != " .. pkt.id)
return
end
-- feed watchdog
self.plc_conn_watchdog.feed()
-- handle packet by type
if pkt.type == RPLC_TYPES.STATUS then
-- status packet received, update data
if pkt.length >= 4 then
self.sDB.last_status_update = pkt.data[1]
self.sDB.control_state = pkt.data[2]
self.sDB.no_reactor = pkt.data[3]
self.sDB.formed = pkt.data[4]
if not self.sDB.no_reactor and self.sDB.formed then
self.sDB.mek_status.heating_rate = pkt.data[5] or 0.0
-- attempt to read mek_data table
if pkt.data[6] ~= nil then
local status = pcall(_copy_status, pkt.data[6])
if status then
-- copied in status data OK
self.received_status_cache = true
else
-- error copying status data
log.error(log_header .. "failed to parse status packet data")
end
end
end
else
log.debug(log_header .. "RPLC status packet length mismatch")
end
elseif pkt.type == RPLC_TYPES.MEK_STRUCT then
-- received reactor structure, record it
if pkt.length == 14 then
local status = pcall(_copy_struct, pkt.data)
if status then
-- copied in structure data OK
self.received_struct = true
self.out_q.push_command(svqtypes.SV_Q_CMDS.BUILD_CHANGED)
else
-- error copying structure data
log.error(log_header .. "failed to parse struct packet data")
end
else
log.debug(log_header .. "RPLC struct packet length mismatch")
end
elseif pkt.type == RPLC_TYPES.MEK_BURN_RATE then
-- burn rate acknowledgement
local ack = _get_ack(pkt)
if ack then
self.acks.burn_rate = true
elseif ack == false then
log.debug(log_header .. "burn rate update failed!")
end
-- send acknowledgement to coordinator
self.out_q.push_data(svqtypes.SV_Q_DATA.CRDN_ACK, {
unit = self.for_reactor,
cmd = CRDN_COMMANDS.SET_BURN,
ack = ack
})
elseif pkt.type == RPLC_TYPES.RPS_ENABLE then
-- enable acknowledgement
local ack = _get_ack(pkt)
if ack then
self.sDB.control_state = true
elseif ack == false then
log.debug(log_header .. "enable failed!")
end
-- send acknowledgement to coordinator
self.out_q.push_data(svqtypes.SV_Q_DATA.CRDN_ACK, {
unit = self.for_reactor,
cmd = CRDN_COMMANDS.START,
ack = ack
})
elseif pkt.type == RPLC_TYPES.RPS_SCRAM then
-- manual SCRAM acknowledgement
local ack = _get_ack(pkt)
if ack then
self.acks.scram = true
self.sDB.control_state = false
elseif ack == false then
log.debug(log_header .. "manual SCRAM failed!")
end
-- send acknowledgement to coordinator
self.out_q.push_data(svqtypes.SV_Q_DATA.CRDN_ACK, {
unit = self.for_reactor,
cmd = CRDN_COMMANDS.SCRAM,
ack = ack
})
elseif pkt.type == RPLC_TYPES.RPS_ASCRAM then
-- automatic SCRAM acknowledgement
local ack = _get_ack(pkt)
if ack then
self.acks.scram = true
self.sDB.control_state = false
elseif ack == false then
log.debug(log_header .. " automatic SCRAM failed!")
end
elseif pkt.type == RPLC_TYPES.RPS_STATUS then
-- RPS status packet received, copy data
if pkt.length == 14 then
local status = pcall(_copy_rps_status, pkt.data)
if status then
-- copied in RPS status data OK
else
-- error copying RPS status data
log.error(log_header .. "failed to parse RPS status packet data")
end
else
log.debug(log_header .. "RPLC RPS status packet length mismatch")
end
elseif pkt.type == RPLC_TYPES.RPS_ALARM then
-- RPS alarm
if pkt.length == 13 then
local status = pcall(_copy_rps_status, { true, table.unpack(pkt.data) })
if status then
-- copied in RPS status data OK
else
-- error copying RPS status data
log.error(log_header .. "failed to parse RPS alarm status data")
end
else
log.debug(log_header .. "RPLC RPS alarm packet length mismatch")
end
elseif pkt.type == RPLC_TYPES.RPS_RESET then
-- RPS reset acknowledgement
local ack = _get_ack(pkt)
if ack then
self.acks.rps_reset = true
self.sDB.rps_tripped = false
self.sDB.rps_trip_cause = "ok"
elseif ack == false then
log.debug(log_header .. "RPS reset failed")
end
-- send acknowledgement to coordinator
self.out_q.push_data(svqtypes.SV_Q_DATA.CRDN_ACK, {
unit = self.for_reactor,
cmd = CRDN_COMMANDS.RESET_RPS,
ack = ack
})
else
log.debug(log_header .. "handler received unsupported RPLC packet type " .. pkt.type)
end
elseif pkt.scada_frame.protocol() == PROTOCOLS.SCADA_MGMT then
if pkt.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
-- keep alive reply
if pkt.length == 2 then
local srv_start = pkt.data[1]
local plc_send = pkt.data[2]
local srv_now = util.time()
self.last_rtt = srv_now - srv_start
if self.last_rtt > 500 then
log.warning(log_header .. "PLC KEEP_ALIVE round trip time > 500ms (" .. self.last_rtt .. "ms)")
end
-- log.debug(log_header .. "PLC RTT = " .. self.last_rtt .. "ms")
-- log.debug(log_header .. "PLC TT = " .. (srv_now - plc_send) .. "ms")
else
log.debug(log_header .. "SCADA keep alive packet length mismatch")
end
elseif pkt.type == SCADA_MGMT_TYPES.CLOSE then
-- close the session
_close()
else
log.debug(log_header .. "handler received unsupported SCADA_MGMT packet type " .. pkt.type)
end
end
end
-- PUBLIC FUNCTIONS --
-- get the session ID
function public.get_id() return self.id end
-- get the session database
function public.get_db() return self.sDB end
-- get the reactor structure
function public.get_struct()
if self.received_struct then
return self.sDB.mek_struct
else
return {}
end
end
-- get the reactor status
function public.get_status()
if self.received_status_cache then
return self.sDB.mek_status
else
return {}
end
end
-- get the reactor RPS status
function public.get_rps()
return self.sDB.rps_status
end
-- get the general status information
function public.get_general_status()
return {
self.sDB.last_status_update,
self.sDB.control_state,
self.sDB.rps_tripped,
self.sDB.rps_trip_cause,
self.sDB.no_reactor,
self.sDB.formed
}
end
-- check if a timer matches this session's watchdog
function public.check_wd(timer)
return self.plc_conn_watchdog.is_timer(timer) and self.connected
end
-- close the connection
function public.close()
_close()
_send_mgmt(SCADA_MGMT_TYPES.CLOSE, {})
println("connection to reactor " .. self.for_reactor .. " PLC closed by server")
log.info(log_header .. "session closed by server")
end
-- iterate the session
---@return boolean connected
function public.iterate()
if self.connected then
------------------
-- handle queue --
------------------
local handle_start = util.time()
while self.in_q.ready() and self.connected do
-- get a new message to process
local message = self.in_q.pop()
if message ~= nil then
if message.qtype == mqueue.TYPE.PACKET then
-- handle a packet
_handle_packet(message.message)
elseif message.qtype == mqueue.TYPE.COMMAND then
-- handle instruction
local cmd = message.message
if cmd == PLC_S_CMDS.ENABLE then
-- enable reactor
_send(RPLC_TYPES.RPS_ENABLE, {})
elseif cmd == PLC_S_CMDS.SCRAM then
-- SCRAM reactor
self.auto_scram = false
self.acks.scram = false
self.retry_times.scram_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.RPS_SCRAM, {})
elseif cmd == PLC_S_CMDS.ASCRAM then
-- SCRAM reactor
self.auto_scram = true
self.acks.scram = false
self.retry_times.scram_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.RPS_ASCRAM, {})
elseif cmd == PLC_S_CMDS.RPS_RESET then
-- reset RPS
self.acks.rps_reset = false
self.retry_times.rps_reset_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.RPS_RESET, {})
end
elseif message.qtype == mqueue.TYPE.DATA then
-- instruction with body
local cmd = message.message ---@type queue_data
if cmd.key == PLC_S_DATA.BURN_RATE then
-- update burn rate
cmd.val = math.floor(cmd.val * 10) / 10 -- round to 10ths place
if cmd.val > 0 and cmd.val <= self.sDB.mek_struct.max_burn then
self.commanded_burn_rate = cmd.val
self.ramping_rate = false
self.acks.burn_rate = false
self.retry_times.burn_rate_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.MEK_BURN_RATE, { self.commanded_burn_rate, self.ramping_rate })
end
elseif cmd.key == PLC_S_DATA.RAMP_BURN_RATE then
-- ramp to burn rate
cmd.val = math.floor(cmd.val * 10) / 10 -- round to 10ths place
if cmd.val > 0 and cmd.val <= self.sDB.mek_struct.max_burn then
self.commanded_burn_rate = cmd.val
self.ramping_rate = true
self.acks.burn_rate = false
self.retry_times.burn_rate_req = util.time() + INITIAL_WAIT
_send(RPLC_TYPES.MEK_BURN_RATE, { self.commanded_burn_rate, self.ramping_rate })
end
end
end
end
-- max 100ms spent processing queue
if util.time() - handle_start > 100 then
log.warning(log_header .. "exceeded 100ms queue process limit")
break
end
end
-- exit if connection was closed
if not self.connected then
println("connection to reactor " .. self.for_reactor .. " PLC closed by remote host")
log.info(log_header .. "session closed by remote host")
return self.connected
end
----------------------
-- update periodics --
----------------------
local elapsed = util.time() - self.periodics.last_update
local periodics = self.periodics
-- keep alive
periodics.keep_alive = periodics.keep_alive + elapsed
if periodics.keep_alive >= PERIODICS.KEEP_ALIVE then
_send_mgmt(SCADA_MGMT_TYPES.KEEP_ALIVE, { util.time() })
periodics.keep_alive = 0
end
self.periodics.last_update = util.time()
---------------------
-- attempt retries --
---------------------
local rtimes = self.retry_times
if (not self.sDB.no_reactor) and self.sDB.formed then
-- struct request retry
if not self.received_struct then
if rtimes.struct_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_STRUCT, {})
rtimes.struct_req = util.time() + RETRY_PERIOD
end
end
-- status cache request retry
if not self.received_status_cache then
if rtimes.status_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_STATUS, {})
rtimes.status_req = util.time() + RETRY_PERIOD
end
end
-- burn rate request retry
if not self.acks.burn_rate then
if rtimes.burn_rate_req - util.time() <= 0 then
_send(RPLC_TYPES.MEK_BURN_RATE, { self.commanded_burn_rate, self.ramping_rate })
rtimes.burn_rate_req = util.time() + RETRY_PERIOD
end
end
end
-- SCRAM request retry
if not self.acks.scram then
if rtimes.scram_req - util.time() <= 0 then
if self.auto_scram then
_send(RPLC_TYPES.RPS_ASCRAM, {})
else
_send(RPLC_TYPES.RPS_SCRAM, {})
end
rtimes.scram_req = util.time() + RETRY_PERIOD
end
end
-- RPS reset request retry
if not self.acks.rps_reset then
if rtimes.rps_reset_req - util.time() <= 0 then
_send(RPLC_TYPES.RPS_RESET, {})
rtimes.rps_reset_req = util.time() + RETRY_PERIOD
end
end
end
return self.connected
end
return public
end
return plc
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