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678dafa62f
cc-mek-scada/supervisor/session/coordinator.lua
Mikayla Fischler 678dafa62f #152 supervisor cleanups and improvements to alarms
2023-02-07 17:51:55 -05:00

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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 coordinator = {}
local PROTOCOLS = comms.PROTOCOLS
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local SCADA_CRDN_TYPES = comms.SCADA_CRDN_TYPES
local UNIT_COMMANDS = comms.UNIT_COMMANDS
local FAC_COMMANDS = comms.FAC_COMMANDS
local SV_Q_CMDS = svqtypes.SV_Q_CMDS
local SV_Q_DATA = svqtypes.SV_Q_DATA
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 CRD_S_CMDS = {
RESEND_BUILDS = 1
}
local CRD_S_DATA = {
CMD_ACK = 1
}
coordinator.CRD_S_CMDS = CRD_S_CMDS
coordinator.CRD_S_DATA = CRD_S_DATA
local PERIODICS = {
KEEP_ALIVE = 2000,
STATUS = 500
}
-- coordinator supervisor session
---@param id integer
---@param in_queue mqueue
---@param out_queue mqueue
---@param facility facility
function coordinator.new_session(id, in_queue, out_queue, facility)
local log_header = "crdn_session(" .. id .. "): "
local self = {
in_q = in_queue,
out_q = out_queue,
units = facility.get_units(),
-- connection properties
seq_num = 0,
r_seq_num = nil,
connected = true,
conn_watchdog = util.new_watchdog(5),
last_rtt = 0,
-- periodic messages
periodics = {
last_update = 0,
keep_alive = 0,
status_packet = 0
},
-- when to next retry one of these messages
retry_times = {
f_builds_packet = 0,
u_builds_packet = 0
},
-- message acknowledgements
acks = {
fac_builds = false,
unit_builds = false
}
}
-- mark this coordinator session as closed, stop watchdog
local function _close()
self.conn_watchdog.cancel()
self.connected = false
end
-- send a CRDN packet
---@param msg_type SCADA_CRDN_TYPES
---@param msg table
local function _send(msg_type, msg)
local s_pkt = comms.scada_packet()
local c_pkt = comms.crdn_packet()
c_pkt.make(msg_type, msg)
s_pkt.make(self.seq_num, PROTOCOLS.SCADA_CRDN, c_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
-- send facility builds
local function _send_fac_builds()
self.acks.fac_builds = false
_send(SCADA_CRDN_TYPES.FAC_BUILDS, { facility.get_build() })
end
-- send unit builds
local function _send_unit_builds()
self.acks.unit_builds = false
local builds = {}
for i = 1, #self.units do
local unit = self.units[i] ---@type reactor_unit
builds[unit.get_id()] = unit.get_build()
end
_send(SCADA_CRDN_TYPES.UNIT_BUILDS, builds)
end
-- send facility status
local function _send_fac_status()
local status = {
facility.get_control_status(),
facility.get_rtu_statuses()
}
_send(SCADA_CRDN_TYPES.FAC_STATUS, status)
end
-- send unit statuses
local function _send_unit_statuses()
local status = {}
for i = 1, #self.units do
local unit = self.units[i] ---@type reactor_unit
local auto_ctl = {}
status[unit.get_id()] = {
unit.get_reactor_status(),
unit.get_rtu_statuses(),
unit.get_annunciator(),
unit.get_alarms(),
unit.get_state(),
auto_ctl
}
end
_send(SCADA_CRDN_TYPES.UNIT_STATUSES, status)
end
-- handle a packet
---@param pkt crdn_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
-- feed watchdog
self.conn_watchdog.feed()
-- process packet
if 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 coord_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 .. "COORD KEEP_ALIVE round trip time > 500ms (" .. self.last_rtt .. "ms)")
end
-- log.debug(log_header .. "COORD RTT = " .. self.last_rtt .. "ms")
-- log.debug(log_header .. "COORD TT = " .. (srv_now - coord_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
elseif pkt.scada_frame.protocol() == PROTOCOLS.SCADA_CRDN then
if pkt.type == SCADA_CRDN_TYPES.FAC_BUILDS then
-- acknowledgement to coordinator receiving builds
self.acks.fac_builds = true
elseif pkt.type == SCADA_CRDN_TYPES.FAC_CMD then
if pkt.length >= 1 then
local cmd = pkt.data[1]
if cmd == FAC_COMMANDS.SCRAM_ALL then
facility.scram_all()
_send(SCADA_CRDN_TYPES.FAC_CMD, { cmd, true })
elseif cmd == FAC_COMMANDS.STOP then
facility.auto_stop()
_send(SCADA_CRDN_TYPES.FAC_CMD, { cmd, true })
elseif cmd == FAC_COMMANDS.START then
if pkt.length == 6 then
---@type coord_auto_config
local config = {
mode = pkt.data[2],
burn_target = pkt.data[3],
charge_target = pkt.data[4],
gen_target = pkt.data[5],
limits = pkt.data[6]
}
_send(SCADA_CRDN_TYPES.FAC_CMD, { cmd, table.unpack(facility.auto_start(config)) })
else
log.debug(log_header .. "CRDN auto start (with configuration) packet length mismatch")
end
else
log.debug(log_header .. "CRDN facility command unknown")
end
else
log.debug(log_header .. "CRDN facility command packet length mismatch")
end
elseif pkt.type == SCADA_CRDN_TYPES.UNIT_BUILDS then
-- acknowledgement to coordinator receiving builds
self.acks.unit_builds = true
elseif pkt.type == SCADA_CRDN_TYPES.UNIT_CMD then
if pkt.length >= 2 then
-- get command and unit id
local cmd = pkt.data[1]
local uid = pkt.data[2]
-- pkt.data[3] will be nil except for some commands
local data = { uid, pkt.data[3] }
-- continue if valid unit id
if util.is_int(uid) and uid > 0 and uid <= #self.units then
local unit = self.units[uid] ---@type reactor_unit
if cmd == UNIT_COMMANDS.START then
self.out_q.push_data(SV_Q_DATA.START, data)
elseif cmd == UNIT_COMMANDS.SCRAM then
self.out_q.push_data(SV_Q_DATA.SCRAM, data)
elseif cmd == UNIT_COMMANDS.RESET_RPS then
self.out_q.push_data(SV_Q_DATA.RESET_RPS, data)
elseif cmd == UNIT_COMMANDS.SET_BURN then
if pkt.length == 3 then
self.out_q.push_data(SV_Q_DATA.SET_BURN, data)
else
log.debug(log_header .. "CRDN unit command burn rate missing option")
end
elseif cmd == UNIT_COMMANDS.SET_WASTE then
if (pkt.length == 3) and (type(pkt.data[3]) == "number") and (pkt.data[3] > 0) and (pkt.data[3] <= 4) then
unit.set_waste(pkt.data[3])
else
log.debug(log_header .. "CRDN unit command set waste missing option")
end
elseif cmd == UNIT_COMMANDS.ACK_ALL_ALARMS then
unit.ack_all()
_send(SCADA_CRDN_TYPES.UNIT_CMD, { cmd, uid, true })
elseif cmd == UNIT_COMMANDS.ACK_ALARM then
if pkt.length == 3 then
unit.ack_alarm(pkt.data[3])
else
log.debug(log_header .. "CRDN unit command ack alarm missing alarm id")
end
elseif cmd == UNIT_COMMANDS.RESET_ALARM then
if pkt.length == 3 then
unit.reset_alarm(pkt.data[3])
else
log.debug(log_header .. "CRDN unit command reset alarm missing alarm id")
end
elseif cmd == UNIT_COMMANDS.SET_GROUP then
if (pkt.length == 3) and (type(pkt.data[3]) == "number") and (pkt.data[3] >= 0) and (pkt.data[3] <= 4) then
facility.set_group(unit.get_id(), pkt.data[3])
_send(SCADA_CRDN_TYPES.UNIT_CMD, { cmd, uid, pkt.data[3] })
else
log.debug(log_header .. "CRDN unit command set group missing group id")
end
else
log.debug(log_header .. "CRDN unit command unknown")
end
else
log.debug(log_header .. "CRDN unit command invalid")
end
else
log.debug(log_header .. "CRDN unit command packet length mismatch")
end
else
log.debug(log_header .. "handler received unexpected SCADA_CRDN packet type " .. pkt.type)
end
end
end
---@class coord_session
local public = {}
-- get the session ID
function public.get_id() return id end
-- check if a timer matches this session's watchdog
function public.check_wd(timer)
return self.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 coordinator " .. id .. " 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 == CRD_S_CMDS.RESEND_BUILDS then
-- re-send builds
self.retry_times.builds_packet = util.time() + RETRY_PERIOD
_send_fac_builds()
_send_unit_builds()
else
log.warning(log_header .. "unsupported command received in in_queue (this is a bug)")
end
elseif message.qtype == mqueue.TYPE.DATA then
-- instruction with body
local cmd = message.message ---@type queue_data
if cmd.key == CRD_S_DATA.CMD_ACK then
local ack = cmd.val ---@type coord_ack
_send(SCADA_CRDN_TYPES.UNIT_CMD, { ack.cmd, ack.unit, ack.ack })
else
log.warning(log_header .. "unsupported data command received in in_queue (this is a bug)")
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 coordinator 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
-- statuses to coordinator
periodics.status_packet = periodics.status_packet + elapsed
if periodics.status_packet >= PERIODICS.STATUS then
_send_fac_status()
_send_unit_statuses()
periodics.status_packet = 0
end
self.periodics.last_update = util.time()
---------------------
-- attempt retries --
---------------------
local rtimes = self.retry_times
-- builds packet retries
if not self.acks.fac_builds then
if rtimes.f_builds_packet - util.time() <= 0 then
_send_fac_builds()
rtimes.f_builds_packet = util.time() + RETRY_PERIOD
end
end
if not self.acks.unit_builds then
if rtimes.u_builds_packet - util.time() <= 0 then
_send_unit_builds()
rtimes.u_builds_packet = util.time() + RETRY_PERIOD
end
end
end
return self.connected
end
return public
end
return coordinator
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