mirror of
https://github.com/MikaylaFischler/cc-mek-scada.git
synced 2024-08-30 18:22:34 +00:00
517 lines
23 KiB
Lua
517 lines
23 KiB
Lua
local log = require("scada-common.log")
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local mqueue = require("scada-common.mqueue")
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local ppm = require("scada-common.ppm")
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local types = require("scada-common.types")
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local util = require("scada-common.util")
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local databus = require("rtu.databus")
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local modbus = require("rtu.modbus")
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local renderer = require("rtu.renderer")
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local boilerv_rtu = require("rtu.dev.boilerv_rtu")
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local envd_rtu = require("rtu.dev.envd_rtu")
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local imatrix_rtu = require("rtu.dev.imatrix_rtu")
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local sna_rtu = require("rtu.dev.sna_rtu")
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local sps_rtu = require("rtu.dev.sps_rtu")
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local turbinev_rtu = require("rtu.dev.turbinev_rtu")
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local core = require("graphics.core")
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local threads = {}
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local RTU_UNIT_TYPE = types.RTU_UNIT_TYPE
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local UNIT_HW_STATE = databus.RTU_UNIT_HW_STATE
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local MAIN_CLOCK = 2 -- (2Hz, 40 ticks)
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local COMMS_SLEEP = 100 -- (100ms, 2 ticks)
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-- main thread
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---@nodiscard
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---@param smem rtu_shared_memory
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function threads.thread__main(smem)
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-- print a log message to the terminal as long as the UI isn't running
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local function println_ts(message) if not smem.rtu_state.fp_ok then util.println_ts(message) end end
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---@class parallel_thread
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local public = {}
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-- execute thread
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function public.exec()
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databus.tx_rt_status("main", true)
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log.debug("main thread start")
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-- main loop clock
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local loop_clock = util.new_clock(MAIN_CLOCK)
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-- load in from shared memory
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local rtu_state = smem.rtu_state
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local rtu_dev = smem.rtu_dev
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local rtu_comms = smem.rtu_sys.rtu_comms
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local conn_watchdog = smem.rtu_sys.conn_watchdog
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local units = smem.rtu_sys.units
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-- start unlinked (in case of restart)
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rtu_comms.unlink(rtu_state)
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-- start clock
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loop_clock.start()
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-- event loop
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while true do
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local event, param1, param2, param3, param4, param5 = util.pull_event()
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if event == "timer" and loop_clock.is_clock(param1) then
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-- blink heartbeat indicator
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databus.heartbeat()
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-- start next clock timer
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loop_clock.start()
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-- period tick, if we are not linked send establish request
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if not rtu_state.linked then
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-- advertise units
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rtu_comms.send_establish(units)
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end
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elseif event == "modem_message" then
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-- got a packet
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local packet = rtu_comms.parse_packet(param1, param2, param3, param4, param5)
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if packet ~= nil then
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-- pass the packet onto the comms message queue
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smem.q.mq_comms.push_packet(packet)
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end
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elseif event == "timer" and conn_watchdog.is_timer(param1) then
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-- haven't heard from server recently? unlink
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rtu_comms.unlink(rtu_state)
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elseif event == "peripheral_detach" then
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-- handle loss of a device
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local type, device = ppm.handle_unmount(param1)
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if type ~= nil and device ~= nil then
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if type == "modem" then
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-- we only care if this is our wireless modem
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if device == rtu_dev.modem then
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println_ts("wireless modem disconnected!")
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log.warning("comms modem disconnected!")
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databus.tx_hw_modem(false)
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else
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log.warning("non-comms modem disconnected")
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end
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else
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for i = 1, #units do
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-- find disconnected device
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if units[i].device == device then
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-- we are going to let the PPM prevent crashes
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-- return fault flags/codes to MODBUS queries
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local unit = units[i] ---@type rtu_unit_registry_entry
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local type_name = types.rtu_type_to_string(unit.type)
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println_ts(util.c("lost the ", type_name, " on interface ", unit.name))
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log.warning(util.c("lost the ", type_name, " unit peripheral on interface ", unit.name))
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.OFFLINE)
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break
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end
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end
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end
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end
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elseif event == "peripheral" then
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-- peripheral connect
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local type, device = ppm.mount(param1)
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if type ~= nil and device ~= nil then
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if type == "modem" then
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if device.isWireless() then
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-- reconnected modem
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rtu_dev.modem = device
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rtu_comms.reconnect_modem(rtu_dev.modem)
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println_ts("wireless modem reconnected.")
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log.info("comms modem reconnected")
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databus.tx_hw_modem(true)
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else
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log.info("wired modem reconnected")
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end
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else
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-- relink lost peripheral to correct unit entry
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for i = 1, #units do
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local unit = units[i] ---@type rtu_unit_registry_entry
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-- find disconnected device to reconnect
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-- note: cannot check isFormed as that would yield this coroutine and consume events
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if unit.name == param1 then
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local resend_advert = false
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-- found, re-link
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unit.device = device
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if unit.type == RTU_UNIT_TYPE.VIRTUAL then
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resend_advert = true
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if type == "boilerValve" then
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-- boiler multiblock
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unit.type = RTU_UNIT_TYPE.BOILER_VALVE
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elseif type == "turbineValve" then
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-- turbine multiblock
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unit.type = RTU_UNIT_TYPE.TURBINE_VALVE
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elseif type == "inductionPort" then
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-- induction matrix multiblock
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unit.type = RTU_UNIT_TYPE.IMATRIX
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elseif type == "spsPort" then
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-- SPS multiblock
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unit.type = RTU_UNIT_TYPE.SPS
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elseif type == "solarNeutronActivator" then
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-- SNA
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unit.type = RTU_UNIT_TYPE.SNA
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elseif type == "environmentDetector" then
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-- advanced peripherals environment detector
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unit.type = RTU_UNIT_TYPE.ENV_DETECTOR
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else
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resend_advert = false
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log.error(util.c("virtual device '", unit.name, "' cannot init to an unknown type (", type, ")"))
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end
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databus.tx_unit_hw_type(unit.uid, unit.type)
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end
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if unit.type == RTU_UNIT_TYPE.BOILER_VALVE then
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unit.rtu = boilerv_rtu.new(device)
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-- if not formed, indexing the multiblock functions would have resulted in a PPM fault
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unit.formed = util.trinary(device.__p_is_faulted(), false, nil)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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elseif unit.type == RTU_UNIT_TYPE.TURBINE_VALVE then
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unit.rtu = turbinev_rtu.new(device)
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-- if not formed, indexing the multiblock functions would have resulted in a PPM fault
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unit.formed = util.trinary(device.__p_is_faulted(), false, nil)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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elseif unit.type == RTU_UNIT_TYPE.IMATRIX then
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unit.rtu = imatrix_rtu.new(device)
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-- if not formed, indexing the multiblock functions would have resulted in a PPM fault
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unit.formed = util.trinary(device.__p_is_faulted(), false, nil)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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elseif unit.type == RTU_UNIT_TYPE.SPS then
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unit.rtu = sps_rtu.new(device)
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-- if not formed, indexing the multiblock functions would have resulted in a PPM fault
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unit.formed = util.trinary(device.__p_is_faulted(), false, nil)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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elseif unit.type == RTU_UNIT_TYPE.SNA then
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unit.rtu = sna_rtu.new(device)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.OK)
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elseif unit.type == RTU_UNIT_TYPE.ENV_DETECTOR then
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unit.rtu = envd_rtu.new(device)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.OK)
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else
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log.error(util.c("failed to identify reconnected RTU unit type (", unit.name, ")"), true)
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end
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if unit.is_multiblock then
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if (unit.formed == false) then
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log.info(util.c("assuming ", unit.name, " is not formed due to PPM faults while initializing"))
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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end
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elseif device.__p_is_faulted() then
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.FAULTED)
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else
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.OK)
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end
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unit.modbus_io = modbus.new(unit.rtu, true)
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local type_name = types.rtu_type_to_string(unit.type)
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local message = util.c("reconnected the ", type_name, " on interface ", unit.name)
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println_ts(message)
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log.info(message)
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if resend_advert then
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rtu_comms.send_advertisement(units)
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else
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rtu_comms.send_remounted(unit.uid)
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end
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end
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end
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end
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end
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elseif event == "mouse_click" then
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-- handle a monitor touch event
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renderer.handle_mouse(core.events.click(param1, param2, param3))
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end
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-- check for termination request
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if event == "terminate" or ppm.should_terminate() then
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rtu_state.shutdown = true
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log.info("terminate requested, main thread exiting")
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break
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end
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end
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end
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-- execute the thread in a protected mode, retrying it on return if not shutting down
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function public.p_exec()
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local rtu_state = smem.rtu_state
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while not rtu_state.shutdown do
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local status, result = pcall(public.exec)
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if status == false then
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log.fatal(util.strval(result))
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end
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databus.tx_rt_status("main", false)
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if not rtu_state.shutdown then
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log.info("main thread restarting in 5 seconds...")
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util.psleep(5)
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end
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end
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end
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return public
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end
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-- communications handler thread
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---@nodiscard
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---@param smem rtu_shared_memory
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function threads.thread__comms(smem)
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---@class parallel_thread
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local public = {}
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-- execute thread
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function public.exec()
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databus.tx_rt_status("comms", true)
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log.debug("comms thread start")
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-- load in from shared memory
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local rtu_state = smem.rtu_state
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local rtu_comms = smem.rtu_sys.rtu_comms
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local units = smem.rtu_sys.units
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local comms_queue = smem.q.mq_comms
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local last_update = util.time()
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-- thread loop
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while true do
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-- check for messages in the message queue
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while comms_queue.ready() and not rtu_state.shutdown do
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local msg = comms_queue.pop()
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if msg ~= nil then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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-- handle the packet (rtu_state passed to allow setting link flag)
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rtu_comms.handle_packet(msg.message, units, rtu_state)
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end
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end
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-- quick yield
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util.nop()
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end
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-- check for termination request
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if rtu_state.shutdown then
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rtu_comms.close(rtu_state)
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log.info("comms thread exiting")
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break
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end
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-- delay before next check
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last_update = util.adaptive_delay(COMMS_SLEEP, last_update)
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end
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end
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-- execute the thread in a protected mode, retrying it on return if not shutting down
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function public.p_exec()
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local rtu_state = smem.rtu_state
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while not rtu_state.shutdown do
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local status, result = pcall(public.exec)
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if status == false then
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log.fatal(util.strval(result))
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end
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databus.tx_rt_status("comms", false)
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if not rtu_state.shutdown then
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log.info("comms thread restarting in 5 seconds...")
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util.psleep(5)
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end
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end
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end
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return public
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end
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-- per-unit communications handler thread
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---@nodiscard
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---@param smem rtu_shared_memory
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---@param unit rtu_unit_registry_entry
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function threads.thread__unit_comms(smem, unit)
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---@class parallel_thread
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local public = {}
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-- execute thread
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function public.exec()
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databus.tx_rt_status("unit_" .. unit.uid, true)
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log.debug(util.c("rtu unit thread start -> ", types.rtu_type_to_string(unit.type), " (", unit.name, ")"))
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-- load in from shared memory
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local rtu_state = smem.rtu_state
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local rtu_comms = smem.rtu_sys.rtu_comms
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local packet_queue = unit.pkt_queue
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local last_update = util.time()
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local last_f_check = 0
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local detail_name = util.c(types.rtu_type_to_string(unit.type), " (", unit.name, ") [", unit.index, "] for reactor ", unit.reactor)
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local short_name = util.c(types.rtu_type_to_string(unit.type), " (", unit.name, ")")
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if packet_queue == nil then
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log.error("rtu unit thread created without a message queue, exiting...", true)
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return
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end
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-- thread loop
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while true do
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-- check for messages in the message queue
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while packet_queue.ready() and not rtu_state.shutdown do
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local msg = packet_queue.pop()
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if msg ~= nil then
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if msg.qtype == mqueue.TYPE.COMMAND then
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-- received a command
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elseif msg.qtype == mqueue.TYPE.DATA then
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-- received data
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elseif msg.qtype == mqueue.TYPE.PACKET then
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-- received a packet
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local _, reply = unit.modbus_io.handle_packet(msg.message)
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rtu_comms.send_modbus(reply)
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-- check if there was a problem and update the hardware state if so
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local frame = reply.get()
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if unit.formed and (bit.band(frame.func_code, types.MODBUS_FCODE.ERROR_FLAG) ~= 0) and
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(frame.data[1] == types.MODBUS_EXCODE.SERVER_DEVICE_FAIL) then
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.FAULTED)
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end
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end
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end
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-- quick yield
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util.nop()
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end
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-- check if multiblock is still formed if this is a multiblock
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if unit.is_multiblock and (util.time_ms() - last_f_check > 250) then
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local is_formed = unit.device.isFormed()
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last_f_check = util.time_ms()
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if unit.formed == nil then
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unit.formed = is_formed
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if is_formed then databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.OK) end
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end
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if not unit.formed then
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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end
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if (not unit.formed) and is_formed then
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-- newly re-formed
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local iface = ppm.get_iface(unit.device)
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if iface then
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log.info(util.c("unmounting and remounting reformed RTU unit ", detail_name))
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ppm.unmount(unit.device)
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local type, device = ppm.mount(iface)
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local faulted = false
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if device ~= nil then
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if type == "boilerValve" and unit.type == RTU_UNIT_TYPE.BOILER_VALVE then
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-- boiler multiblock
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unit.device = device
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unit.rtu, faulted = boilerv_rtu.new(device)
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unit.formed = device.isFormed()
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unit.modbus_io = modbus.new(unit.rtu, true)
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elseif type == "turbineValve" and unit.type == RTU_UNIT_TYPE.TURBINE_VALVE then
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-- turbine multiblock
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unit.device = device
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unit.rtu, faulted = turbinev_rtu.new(device)
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unit.formed = device.isFormed()
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unit.modbus_io = modbus.new(unit.rtu, true)
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elseif type == "inductionPort" and unit.type == RTU_UNIT_TYPE.IMATRIX then
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-- induction matrix multiblock
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unit.device = device
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unit.rtu, faulted = imatrix_rtu.new(device)
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unit.formed = device.isFormed()
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unit.modbus_io = modbus.new(unit.rtu, true)
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elseif type == "spsPort" and unit.type == RTU_UNIT_TYPE.SPS then
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-- SPS multiblock
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unit.device = device
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unit.rtu, faulted = sps_rtu.new(device)
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unit.formed = device.isFormed()
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unit.modbus_io = modbus.new(unit.rtu, true)
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else
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log.error("illegal remount of non-multiblock RTU or type change attempted for " .. short_name, true)
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end
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if unit.formed and faulted then
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-- something is still wrong = can't mark as formed yet
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unit.formed = false
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log.info(util.c("assuming ", unit.name, " is not formed due to PPM faults while initializing"))
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.UNFORMED)
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else
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rtu_comms.send_remounted(unit.uid)
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databus.tx_unit_hw_status(unit.uid, UNIT_HW_STATE.OK)
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end
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local type_name = types.rtu_type_to_string(unit.type)
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log.info(util.c("reconnected the ", type_name, " on interface ", unit.name))
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else
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-- fully lost the peripheral now :(
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log.error(util.c(unit.name, " lost (failed reconnect)"))
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end
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else
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log.error("failed to get interface of previously connected RTU unit " .. detail_name, true)
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end
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end
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unit.formed = is_formed
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|
end
|
|
|
|
-- check for termination request
|
|
if rtu_state.shutdown then
|
|
log.info("rtu unit thread exiting -> " .. short_name)
|
|
break
|
|
end
|
|
|
|
-- delay before next check
|
|
last_update = util.adaptive_delay(COMMS_SLEEP, last_update)
|
|
end
|
|
end
|
|
|
|
-- execute the thread in a protected mode, retrying it on return if not shutting down
|
|
function public.p_exec()
|
|
local rtu_state = smem.rtu_state
|
|
|
|
while not rtu_state.shutdown do
|
|
local status, result = pcall(public.exec)
|
|
if status == false then
|
|
log.fatal(util.strval(result))
|
|
end
|
|
|
|
databus.tx_rt_status("unit_" .. unit.uid, false)
|
|
|
|
if not rtu_state.shutdown then
|
|
log.info(util.c("rtu unit thread ", types.rtu_type_to_string(unit.type), " (", unit.name, ") restarting in 5 seconds..."))
|
|
util.psleep(5)
|
|
end
|
|
end
|
|
end
|
|
|
|
return public
|
|
end
|
|
|
|
return threads
|