cc-mek-scada/reactor-plc/plc.lua

local comms = require("scada-common.comms")
local log   = require("scada-common.log")
local ppm   = require("scada-common.ppm")
local types = require("scada-common.types")
local util  = require("scada-common.util")

local plc = {}

local rps_status_t = types.rps_status_t

local PROTOCOLS = comms.PROTOCOLS
local DEVICE_TYPES = comms.DEVICE_TYPES
local ESTABLISH_ACK = comms.ESTABLISH_ACK
local RPLC_TYPES = comms.RPLC_TYPES
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
local AUTO_ACK = comms.PLC_AUTO_ACK

local print = util.print
local println = util.println
local print_ts = util.print_ts
local println_ts = util.println_ts

-- I sure hope the devs don't change this error message, not that it would have safety implications
-- I wish they didn't change it to be like this
local PCALL_SCRAM_MSG = "pcall: Scram requires the reactor to be active."
local PCALL_START_MSG = "pcall: Reactor is already active."

local AUTO_TOGGLE_DELAY_MS = 5000

-- RPS SAFETY CONSTANTS

local MAX_DAMAGE_PERCENT      = 90
local MAX_DAMAGE_TEMPERATURE  = 1200
local MIN_COOLANT_FILL        = 0.02
local MAX_WASTE_FILL          = 0.8
local MAX_HEATED_COLLANT_FILL = 0.95

-- END RPS SAFETY CONSTANTS

--- RPS: Reactor Protection System
---
--- identifies dangerous states and SCRAMs reactor if warranted
---
--- autonomous from main SCADA supervisor/coordinator control
---@param reactor table
---@param is_formed boolean
function plc.rps_init(reactor, is_formed)
    local state_keys = {
        dmg_crit = 1,
        high_temp = 2,
        no_coolant = 3,
        ex_waste = 4,
        ex_hcoolant = 5,
        no_fuel = 6,
        fault = 7,
        timeout = 8,
        manual = 9,
        automatic = 10,
        sys_fail = 11,
        force_disabled = 12
    }

    local self = {
        reactor = reactor,
        state = { false, false, false, false, false, false, false, false, false, false, false, false },
        reactor_enabled = false,
        enabled_at = 0,
        formed = is_formed,
        force_disabled = false,
        tripped = false,
        trip_cause = "ok"   ---@type rps_trip_cause
    }

    ---@class rps
    local public = {}

    -- PRIVATE FUNCTIONS --

    -- set reactor access fault flag
    local function _set_fault()
        if self.reactor.__p_last_fault() ~= "Terminated" then
            self.state[state_keys.fault] = true
        end
    end

    -- clear reactor access fault flag
    local function _clear_fault()
        self.state[state_keys.fault] = false
    end

    -- check if the reactor is formed
    local function _is_formed()
        local formed = self.reactor.isFormed()
        if formed == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        else
            self.formed = formed

            if not self.state[state_keys.sys_fail] then
                self.state[state_keys.sys_fail] = not formed
            end
        end
    end

    -- check if the reactor is force disabled
    local function _is_force_disabled()
        local disabled = self.reactor.isForceDisabled()
        if disabled == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        else
            self.force_disabled = disabled

            if not self.state[state_keys.force_disabled] then
                self.state[state_keys.force_disabled] = disabled
            end
        end
    end

    -- check for critical damage
    local function _damage_critical()
        local damage_percent = self.reactor.getDamagePercent()
        if damage_percent == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        elseif not self.state[state_keys.dmg_crit] then
            self.state[state_keys.dmg_crit] = damage_percent >= MAX_DAMAGE_PERCENT
        end
    end

    -- check if the reactor is at a critically high temperature
    local function _high_temp()
        -- mekanism: MAX_DAMAGE_TEMPERATURE = 1_200
        local temp = self.reactor.getTemperature()
        if temp == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        elseif not self.state[state_keys.high_temp] then
            self.state[state_keys.high_temp] = temp >= MAX_DAMAGE_TEMPERATURE
        end
    end

    -- check if there is no coolant (<2% filled)
    local function _no_coolant()
        local coolant_filled = self.reactor.getCoolantFilledPercentage()
        if coolant_filled == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        elseif not self.state[state_keys.no_coolant] then
            self.state[state_keys.no_coolant] = coolant_filled < MIN_COOLANT_FILL
        end
    end

    -- check for excess waste (>80% filled)
    local function _excess_waste()
        local w_filled = self.reactor.getWasteFilledPercentage()
        if w_filled == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        elseif not self.state[state_keys.ex_waste] then
            self.state[state_keys.ex_waste] = w_filled > MAX_WASTE_FILL
        end
    end

    -- check for heated coolant backup (>95% filled)
    local function _excess_heated_coolant()
        local hc_filled = self.reactor.getHeatedCoolantFilledPercentage()
        if hc_filled == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        elseif not self.state[state_keys.ex_hcoolant] then
            self.state[state_keys.ex_hcoolant] = hc_filled > MAX_HEATED_COLLANT_FILL
        end
    end

    -- check if there is no fuel
    local function _insufficient_fuel()
        local fuel = self.reactor.getFuel()
        if fuel == ppm.ACCESS_FAULT then
            -- lost the peripheral or terminated, handled later
            _set_fault()
        elseif not self.state[state_keys.no_fuel] then
            self.state[state_keys.no_fuel] = fuel == 0
        end
    end

    -- PUBLIC FUNCTIONS --

    -- re-link a reactor after a peripheral re-connect
---@diagnostic disable-next-line: redefined-local
    function public.reconnect_reactor(reactor)
        self.reactor = reactor
    end

    -- trip for lost peripheral
    function public.trip_fault()
        _set_fault()
    end

    -- trip for a PLC comms timeout
    function public.trip_timeout()
        self.state[state_keys.timeout] = true
    end

    -- manually SCRAM the reactor
    function public.trip_manual()
        self.state[state_keys.manual] = true
    end

    -- automatic SCRAM commanded by supervisor/coordinator
    function public.trip_auto()
        self.state[state_keys.automatic] = true
    end

    -- trip for unformed reactor
    function public.trip_sys_fail()
        self.state[state_keys.fault] = true
        self.state[state_keys.sys_fail] = true
    end

    -- SCRAM the reactor now (blocks waiting for server tick)
    ---@return boolean success
    function public.scram()
        log.info("RPS: reactor SCRAM")

        self.reactor.scram()
        if self.reactor.__p_is_faulted() and (self.reactor.__p_last_fault() ~= PCALL_SCRAM_MSG) then
            log.error("RPS: failed reactor SCRAM")
            return false
        else
            self.reactor_enabled = false
            self.last_runtime = util.time_ms() - self.enabled_at
            return true
        end
    end

    -- start the reactor now (blocks waiting for server tick)
    ---@return boolean success
    function public.activate()
        if not self.tripped then
            log.info("RPS: reactor start")

            self.reactor.activate()
            if self.reactor.__p_is_faulted() and (self.reactor.__p_last_fault() ~= PCALL_START_MSG) then
                log.error("RPS: failed reactor start")
            else
                self.reactor_enabled = true
                self.enabled_at = util.time_ms()
                return true
            end
        else
            log.debug(util.c("RPS: failed start, RPS tripped: ", self.trip_cause))
        end

        return false
    end

    -- automatic control activate/re-activate
    ---@return boolean success
    function public.auto_activate()
        -- clear automatic SCRAM if it was the cause
        if self.tripped and self.trip_cause == "automatic" then
            self.state[state_keys.automatic] = true
            self.trip_cause = rps_status_t.ok
            self.tripped = false

            log.debug("RPS: cleared automatic SCRAM for re-activation")
        end

        return public.activate()
    end

    -- check all safety conditions
    ---@return boolean tripped, rps_status_t trip_status, boolean first_trip
    function public.check()
        local status = rps_status_t.ok
        local was_tripped = self.tripped
        local first_trip = false

        if self.formed then
            -- update state
            parallel.waitForAll(
                _is_formed,
                _is_force_disabled,
                _damage_critical,
                _high_temp,
                _no_coolant,
                _excess_waste,
                _excess_heated_coolant,
                _insufficient_fuel
            )
        else
            -- check to see if its now formed
            _is_formed()
        end

        -- check system states in order of severity
        if self.tripped then
            status = self.trip_cause
        elseif self.state[state_keys.sys_fail] then
            log.warning("RPS: system failure, reactor not formed")
            status = rps_status_t.sys_fail
        elseif self.state[state_keys.force_disabled] then
            log.warning("RPS: reactor was force disabled")
            status = rps_status_t.force_disabled
        elseif self.state[state_keys.dmg_crit] then
            log.warning("RPS: damage critical")
            status = rps_status_t.dmg_crit
        elseif self.state[state_keys.high_temp] then
            log.warning("RPS: high temperature")
            status = rps_status_t.high_temp
        elseif self.state[state_keys.no_coolant] then
            log.warning("RPS: no coolant")
            status = rps_status_t.no_coolant
        elseif self.state[state_keys.ex_waste] then
            log.warning("RPS: full waste")
            status = rps_status_t.ex_waste
        elseif self.state[state_keys.ex_hcoolant] then
            log.warning("RPS: heated coolant backup")
            status = rps_status_t.ex_hcoolant
        elseif self.state[state_keys.no_fuel] then
            log.warning("RPS: no fuel")
            status = rps_status_t.no_fuel
        elseif self.state[state_keys.fault] then
            log.warning("RPS: reactor access fault")
            status = rps_status_t.fault
        elseif self.state[state_keys.timeout] then
            log.warning("RPS: supervisor connection timeout")
            status = rps_status_t.timeout
        elseif self.state[state_keys.manual] then
            log.warning("RPS: manual SCRAM requested")
            status = rps_status_t.manual
        elseif self.state[state_keys.automatic] then
            log.warning("RPS: automatic SCRAM requested")
            status = rps_status_t.automatic
        else
            self.tripped = false
            self.trip_cause = rps_status_t.ok
        end

        -- if a new trip occured...
        if (not was_tripped) and (status ~= rps_status_t.ok) then
            first_trip = true
            self.tripped = true
            self.trip_cause = status

            -- in the case that the reactor is detected to be active,
            -- it will be scrammed shortly after this in the main RPS loop if we don't here
            if self.formed then
                if not self.force_disabled then
                    public.scram()
                else
                    log.warning("RPS: skipping SCRAM due to reactor being force disabled")
                end
            else
                log.warning("RPS: skipping SCRAM due to not being formed")
            end
        end

        return self.tripped, status, first_trip
    end

    function public.status() return self.state end

    function public.is_tripped() return self.tripped end
    function public.get_trip_cause() return self.trip_cause end

    function public.is_active() return self.reactor_enabled end
    function public.is_formed() return self.formed end
    function public.is_force_disabled() return self.force_disabled end

    -- get the runtime of the reactor if active, or the last runtime if disabled
    ---@return integer runtime time since last enable
    function public.get_runtime() return util.trinary(self.reactor_enabled, util.time_ms() - self.enabled_at, self.last_runtime) end

    -- reset the RPS
    ---@param quiet? boolean true to suppress the info log message
    function public.reset(quiet)
        self.tripped = false
        self.trip_cause = rps_status_t.ok

        for i = 1, #self.state do
            self.state[i] = false
        end

        if not quiet then log.info("RPS: reset") end
    end

    -- reset the automatic and timeout trip flags, then clear trip if that was the trip cause
    function public.auto_reset()
        self.state[state_keys.automatic] = false
        self.state[state_keys.timeout] = false

        if self.trip_cause == rps_status_t.automatic or self.trip_cause == rps_status_t.timeout then
            self.trip_cause = rps_status_t.ok
            self.tripped = false
        end

        log.info("RPS: auto reset")
    end

    return public
end

-- Reactor PLC Communications
---@param id integer reactor ID
---@param version string PLC version
---@param modem table modem device
---@param local_port integer local listening port
---@param server_port integer remote server port
---@param range integer trusted device connection range
---@param reactor table reactor device
---@param rps rps RPS reference
---@param conn_watchdog watchdog watchdog reference
function plc.comms(id, version, modem, local_port, server_port, range, reactor, rps, conn_watchdog)
    local self = {
        seq_num = 0,
        r_seq_num = nil,
        modem = modem,
        s_port = server_port,
        l_port = local_port,
        reactor = reactor,
        scrammed = false,
        linked = false,
        resend_build = false,
        auto_ack_token = 0,
        status_cache = nil,
        max_burn_rate = nil
    }

    ---@class plc_comms
    local public = {}

    comms.set_trusted_range(range)

    -- PRIVATE FUNCTIONS --

    -- configure modem channels
    local function _conf_channels()
        self.modem.closeAll()
        self.modem.open(self.l_port)
    end

    _conf_channels()

    -- 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(id, msg_type, msg)
        s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable())

        self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
        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.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
        self.seq_num = self.seq_num + 1
    end

    -- variable reactor status information, excluding heating rate
    ---@return table data_table, boolean faulted
    local function _reactor_status()
        local fuel = nil
        local waste = nil
        local coolant = nil
        local hcoolant = nil

        local data_table = {
            false, -- getStatus
            0,     -- getBurnRate
            0,     -- getActualBurnRate
            0,     -- getTemperature
            0,     -- getDamagePercent
            0,     -- getBoilEfficiency
            0,     -- getEnvironmentalLoss
            0,     -- fuel_amnt
            0,     -- getFuelFilledPercentage
            0,     -- waste_amnt
            0,     -- getWasteFilledPercentage
            "",    -- coolant_name
            0,     -- coolant_amnt
            0,     -- getCoolantFilledPercentage
            "",    -- hcoolant_name
            0,     -- hcoolant_amnt
            0      -- getHeatedCoolantFilledPercentage
        }

        local tasks = {
            function () data_table[1]  = self.reactor.getStatus() end,
            function () data_table[2]  = self.reactor.getBurnRate() end,
            function () data_table[3]  = self.reactor.getActualBurnRate() end,
            function () data_table[4]  = self.reactor.getTemperature() end,
            function () data_table[5]  = self.reactor.getDamagePercent() end,
            function () data_table[6]  = self.reactor.getBoilEfficiency() end,
            function () data_table[7]  = self.reactor.getEnvironmentalLoss() end,
            function () fuel           = self.reactor.getFuel() end,
            function () data_table[9]  = self.reactor.getFuelFilledPercentage() end,
            function () waste          = self.reactor.getWaste() end,
            function () data_table[11] = self.reactor.getWasteFilledPercentage() end,
            function () coolant        = self.reactor.getCoolant() end,
            function () data_table[14] = self.reactor.getCoolantFilledPercentage() end,
            function () hcoolant       = self.reactor.getHeatedCoolant() end,
            function () data_table[17] = self.reactor.getHeatedCoolantFilledPercentage() end
        }

        parallel.waitForAll(table.unpack(tasks))

        if fuel ~= nil then
            data_table[8] = fuel.amount
        end

        if waste ~= nil then
            data_table[10] = waste.amount
        end

        if coolant ~= nil then
            data_table[12] = coolant.name
            data_table[13] = coolant.amount
        end

        if hcoolant ~= nil then
            data_table[15] = hcoolant.name
            data_table[16] = hcoolant.amount
        end

        return data_table, self.reactor.__p_is_faulted()
    end

    -- update the status cache if changed
    ---@return boolean changed
    local function _update_status_cache()
        local status, faulted = _reactor_status()
        local changed = false

        if self.status_cache ~= nil then
            if not faulted then
                for i = 1, #status do
                    if status[i] ~= self.status_cache[i] then
                        changed = true
                        break
                    end
                end
            end
        else
            changed = true
        end

        if changed and not faulted then
            self.status_cache = status
        end

        return changed
    end

    -- keep alive ack
    ---@param srv_time integer
    local function _send_keep_alive_ack(srv_time)
        _send_mgmt(SCADA_MGMT_TYPES.KEEP_ALIVE, { srv_time, util.time() })
    end

    -- general ack
    ---@param msg_type RPLC_TYPES
    ---@param status boolean|integer
    local function _send_ack(msg_type, status)
        _send(msg_type, { status })
    end

    -- send structure properties (these should not change, server will cache these)
    local function _send_struct()
        local min_pos = { x = 0, y = 0, z = 0 }
        local max_pos = { x = 0, y = 0, z = 0 }

        local mek_data = { false, 0, 0, 0, min_pos, max_pos, 0, 0, 0, 0, 0, 0, 0, 0 }

        local tasks = {
            function () mek_data[1]  = self.reactor.getLength() end,
            function () mek_data[2]  = self.reactor.getWidth() end,
            function () mek_data[3]  = self.reactor.getHeight() end,
            function () mek_data[4]  = self.reactor.getMinPos() end,
            function () mek_data[5]  = self.reactor.getMaxPos() end,
            function () mek_data[6]  = self.reactor.getHeatCapacity() end,
            function () mek_data[7]  = self.reactor.getFuelAssemblies() end,
            function () mek_data[8]  = self.reactor.getFuelSurfaceArea() end,
            function () mek_data[9]  = self.reactor.getFuelCapacity() end,
            function () mek_data[10] = self.reactor.getWasteCapacity() end,
            function () mek_data[11] = self.reactor.getCoolantCapacity() end,
            function () mek_data[12] = self.reactor.getHeatedCoolantCapacity() end,
            function () mek_data[13] = self.reactor.getMaxBurnRate() end
        }

        parallel.waitForAll(table.unpack(tasks))

        if not self.reactor.__p_is_faulted() then
            _send(RPLC_TYPES.MEK_STRUCT, mek_data)
            self.resend_build = false
        else
            log.error("failed to send structure: PPM fault")
        end
    end

    -- PUBLIC FUNCTIONS --

    -- reconnect a newly connected modem
    ---@param modem table
---@diagnostic disable-next-line: redefined-local
    function public.reconnect_modem(modem)
        self.modem = modem
        _conf_channels()
    end

    -- reconnect a newly connected reactor
    ---@param reactor table
---@diagnostic disable-next-line: redefined-local
    function public.reconnect_reactor(reactor)
        self.reactor = reactor
        self.status_cache = nil
        self.resend_build = true
        self.max_burn_rate = nil
    end

    -- unlink from the server
    function public.unlink()
        self.linked = false
        self.r_seq_num = nil
        self.status_cache = nil
    end

    -- close the connection to the server
    function public.close()
        conn_watchdog.cancel()
        public.unlink()
        _send_mgmt(SCADA_MGMT_TYPES.CLOSE, {})
    end

    -- attempt to establish link with supervisor
    function public.send_link_req()
        _send_mgmt(SCADA_MGMT_TYPES.ESTABLISH, { comms.version, version, DEVICE_TYPES.PLC, id })
    end

    -- send live status information
    ---@param no_reactor boolean PLC lost reactor connection
    ---@param formed boolean reactor formed (from PLC state)
    function public.send_status(no_reactor, formed)
        if self.linked then
            local mek_data = nil        ---@type table
            local heating_rate = 0.0    ---@type number

            if (not no_reactor) and rps.is_formed() then
                if _update_status_cache() then
                    mek_data = self.status_cache
                end

                heating_rate = self.reactor.getHeatingRate()
            end

            local sys_status = {
                util.time(),                    -- timestamp
                (not self.scrammed),            -- requested control state
                no_reactor,                     -- no reactor peripheral connected
                formed,                         -- reactor formed
                self.auto_ack_token,            -- token to indicate auto command has been received before this status update
                heating_rate,                   -- heating rate
                mek_data                        -- mekanism status data
            }

            _send(RPLC_TYPES.STATUS, sys_status)

            if self.resend_build then
                _send_struct()
            end
        end
    end

    -- send reactor protection system status
    function public.send_rps_status()
        if self.linked then
            _send(RPLC_TYPES.RPS_STATUS, { rps.is_tripped(), rps.get_trip_cause(), table.unpack(rps.status()) })
        end
    end

    -- send reactor protection system alarm
    ---@param cause rps_status_t reactor protection system status
    function public.send_rps_alarm(cause)
        if self.linked then
            local rps_alarm = {
                cause,
                table.unpack(rps.status())
            }

            _send(RPLC_TYPES.RPS_ALARM, rps_alarm)
        end
    end

    -- parse an RPLC packet
    ---@param side string
    ---@param sender integer
    ---@param reply_to integer
    ---@param message any
    ---@param distance integer
    ---@return rplc_frame|mgmt_frame|nil packet
    function public.parse_packet(side, sender, reply_to, message, distance)
        local pkt = nil
        local s_pkt = comms.scada_packet()

        -- parse packet as generic SCADA packet
        s_pkt.receive(side, sender, reply_to, message, distance)

        if s_pkt.is_valid() then
            -- get as RPLC packet
            if s_pkt.protocol() == PROTOCOLS.RPLC then
                local rplc_pkt = comms.rplc_packet()
                if rplc_pkt.decode(s_pkt) then
                    pkt = rplc_pkt.get()
                end
            -- get as SCADA management packet
            elseif s_pkt.protocol() == PROTOCOLS.SCADA_MGMT then
                local mgmt_pkt = comms.mgmt_packet()
                if mgmt_pkt.decode(s_pkt) then
                    pkt = mgmt_pkt.get()
                end
            else
                log.error("illegal packet type " .. s_pkt.protocol(), true)
            end
        end

        return pkt
    end

    -- handle an RPLC packet
    ---@param packet rplc_frame|mgmt_frame packet frame
    ---@param plc_state plc_state PLC state
    ---@param setpoints setpoints setpoint control table
    function public.handle_packet(packet, plc_state, setpoints)
        if packet ~= nil and packet.scada_frame.local_port() == self.l_port then
            -- check sequence number
            if self.r_seq_num == nil then
                self.r_seq_num = packet.scada_frame.seq_num()
            elseif self.linked and self.r_seq_num >= packet.scada_frame.seq_num() then
                log.warning("sequence out-of-order: last = " .. self.r_seq_num .. ", new = " .. packet.scada_frame.seq_num())
                return
            else
                self.r_seq_num = packet.scada_frame.seq_num()
            end

            -- feed the watchdog first so it doesn't uhh...eat our packets :)
            conn_watchdog.feed()

            local protocol = packet.scada_frame.protocol()

            -- handle packet
            if protocol == PROTOCOLS.RPLC then
                if self.linked then
                    if packet.type == RPLC_TYPES.STATUS then
                        -- request of full status, clear cache first
                        self.status_cache = nil
                        public.send_status(plc_state.no_reactor, plc_state.reactor_formed)
                        log.debug("sent out status cache again, did supervisor miss it?")
                    elseif packet.type == RPLC_TYPES.MEK_STRUCT then
                        -- request for physical structure
                        _send_struct()
                        log.debug("sent out structure again, did supervisor miss it?")
                    elseif packet.type == RPLC_TYPES.MEK_BURN_RATE then
                        -- set the burn rate
                        if (packet.length == 2) and (type(packet.data[1]) == "number") then
                            local success = false
                            local burn_rate = math.floor(packet.data[1] * 10) / 10
                            local ramp = packet.data[2]

                            -- if no known max burn rate, check again
                            if self.max_burn_rate == nil then
                                self.max_burn_rate = self.reactor.getMaxBurnRate()
                            end

                            -- if we know our max burn rate, update current burn rate setpoint if in range
                            if self.max_burn_rate ~= ppm.ACCESS_FAULT then
                                if burn_rate > 0 and burn_rate <= self.max_burn_rate then
                                    if ramp then
                                        setpoints.burn_rate_en = true
                                        setpoints.burn_rate = burn_rate
                                        success = true
                                    else
                                        self.reactor.setBurnRate(burn_rate)
                                        success = not self.reactor.__p_is_faulted()
                                    end
                                else
                                    log.debug(burn_rate .. " rate outside of 0 < x <= " .. self.max_burn_rate)
                                end
                            end

                            _send_ack(packet.type, success)
                        else
                            log.debug("RPLC set burn rate packet length mismatch or non-numeric burn rate")
                        end
                    elseif packet.type == RPLC_TYPES.RPS_ENABLE then
                        -- enable the reactor
                        self.scrammed = false
                        _send_ack(packet.type, rps.activate())
                    elseif packet.type == RPLC_TYPES.RPS_SCRAM then
                        -- disable the reactor per manual request
                        self.scrammed = true
                        rps.trip_manual()
                        _send_ack(packet.type, true)
                    elseif packet.type == RPLC_TYPES.RPS_ASCRAM then
                        -- disable the reactor per automatic request
                        self.scrammed = true
                        rps.trip_auto()
                        _send_ack(packet.type, true)
                    elseif packet.type == RPLC_TYPES.RPS_RESET then
                        -- reset the RPS status
                        rps.reset()
                        _send_ack(packet.type, true)
                    elseif packet.type == RPLC_TYPES.RPS_AUTO_RESET then
                        -- reset automatic SCRAM and timeout trips
                        rps.auto_reset()
                        _send_ack(packet.type, true)
                    elseif packet.type == RPLC_TYPES.AUTO_BURN_RATE then
                        -- automatic control requested a new burn rate
                        if (packet.length == 3) and (type(packet.data[1]) == "number") and (type(packet.data[3]) == "number") then
                            local ack = AUTO_ACK.FAIL
                            local burn_rate = math.floor(packet.data[1] * 10) / 10
                            local ramp = packet.data[2]
                            self.auto_ack_token = packet.data[3]

                            -- if no known max burn rate, check again
                            if self.max_burn_rate == nil then
                                self.max_burn_rate = self.reactor.getMaxBurnRate()
                            end

                            -- if we know our max burn rate, update current burn rate setpoint if in range
                            if self.max_burn_rate ~= ppm.ACCESS_FAULT then
                                if burn_rate < 0.1 then
                                    if rps.is_active() then
                                        if rps.get_runtime() > AUTO_TOGGLE_DELAY_MS then
                                            -- auto scram to disable
                                            log.debug("AUTO: stopping the reactor to meet 0.0 burn rate")
                                            if rps.scram() then
                                                ack = AUTO_ACK.ZERO_DIS_OK
                                                self.auto_last_disable = util.time_ms()
                                            else
                                                log.debug("AUTO: automatic reactor stop failed")
                                            end
                                        else
                                            -- too soon to disable
                                            ack = AUTO_ACK.ZERO_DIS_WAIT
                                        end
                                    else
                                        ack = AUTO_ACK.ZERO_DIS_OK
                                    end
                                elseif burn_rate <= self.max_burn_rate then
                                    if not rps.is_active() then
                                        -- activate the reactor
                                        log.debug("AUTO: activating the reactor")
                                        if rps.auto_activate() then
                                            self.reactor.setBurnRate(0.1)
                                            if self.reactor.__p_is_faulted() then
                                                log.debug("AUTO: failed to reset burn rate on auto activation")
                                            end
                                        else
                                            log.debug("AUTO: automatic reactor activation failed")
                                        end
                                    end

                                    -- if active, set/ramp burn rate
                                    if rps.is_active() then
                                        if ramp then
                                            log.debug(util.c("AUTO: setting burn rate ramp to ", burn_rate))
                                            setpoints.burn_rate_en = true
                                            setpoints.burn_rate = burn_rate
                                            ack = AUTO_ACK.RAMP_SET_OK
                                        else
                                            log.debug(util.c("AUTO: setting burn rate directly to ", burn_rate))
                                            self.reactor.setBurnRate(burn_rate)
                                            ack = util.trinary(self.reactor.__p_is_faulted(), AUTO_ACK.FAIL, AUTO_ACK.DIRECT_SET_OK)
                                        end
                                    end
                                else
                                    log.debug(util.c(burn_rate, " rate outside of 0 < x <= ", self.max_burn_rate))
                                end
                            end

                            _send_ack(packet.type, ack)
                        else
                            log.debug("RPLC set automatic burn rate packet length mismatch or non-numeric burn rate")
                        end
                    else
                        log.warning("received unknown RPLC packet type " .. packet.type)
                    end
                else
                    log.debug("discarding RPLC packet before linked")
                end
            elseif protocol == PROTOCOLS.SCADA_MGMT then
                if self.linked then
                    if packet.type == SCADA_MGMT_TYPES.ESTABLISH then
                        -- link request confirmation
                        if packet.length == 1 then
                            log.debug("received unsolicited establish response")

                            local est_ack = packet.data[1]

                            if est_ack == ESTABLISH_ACK.ALLOW then
                                self.status_cache = nil
                                _send_struct()
                                public.send_status(plc_state.no_reactor, plc_state.reactor_formed)
                                log.debug("re-sent initial status data")
                            elseif est_ack == ESTABLISH_ACK.DENY then
                                println_ts("received unsolicited link denial, unlinking")
                                log.info("unsolicited establish request denied")
                            elseif est_ack == ESTABLISH_ACK.COLLISION then
                                println_ts("received unsolicited link collision, unlinking")
                                log.warning("unsolicited establish request collision")
                            else
                                println_ts("invalid unsolicited link response")
                                log.error("unsolicited unknown establish request response")
                            end

                            self.linked = est_ack == ESTABLISH_ACK.ALLOW
                        else
                            log.debug("SCADA_MGMT establish packet length mismatch")
                        end
                    elseif packet.type == SCADA_MGMT_TYPES.KEEP_ALIVE then
                        -- keep alive request received, echo back
                        if packet.length == 1 and type(packet.data[1]) == "number" then
                            local timestamp = packet.data[1]
                            local trip_time = util.time() - timestamp

                            if trip_time > 500 then
                                log.warning("PLC KEEP_ALIVE trip time > 500ms (" .. trip_time .. "ms)")
                            end

                            -- log.debug("RPLC RTT = " .. trip_time .. "ms")

                            _send_keep_alive_ack(timestamp)
                        else
                            log.debug("SCADA_MGMT keep alive packet length/type mismatch")
                        end
                    elseif packet.type == SCADA_MGMT_TYPES.CLOSE then
                        -- handle session close
                        conn_watchdog.cancel()
                        public.unlink()
                        println_ts("server connection closed by remote host")
                        log.warning("server connection closed by remote host")
                    else
                        log.warning("received unsupported SCADA_MGMT packet type " .. packet.type)
                    end
                elseif packet.type == SCADA_MGMT_TYPES.ESTABLISH then
                    -- link request confirmation
                    if packet.length == 1 then
                        local est_ack = packet.data[1]

                        if est_ack == ESTABLISH_ACK.ALLOW then
                            println_ts("linked!")
                            log.debug("supervisor establish request approved")

                            -- reset remote sequence number and cache
                            self.r_seq_num = nil
                            self.status_cache = nil

                            if plc_state.reactor_formed then _send_struct() end
                            public.send_status(plc_state.no_reactor, plc_state.reactor_formed)

                            log.debug("sent initial status data")
                        elseif est_ack == ESTABLISH_ACK.DENY then
                            println_ts("link request denied, retrying...")
                            log.debug("establish request denied")
                        elseif est_ack == ESTABLISH_ACK.COLLISION then
                            println_ts("reactor PLC ID collision (check config), retrying...")
                            log.warning("establish request collision")
                        else
                            println_ts("invalid link response, bad channel? retrying...")
                            log.error("unknown establish request response")
                        end

                        self.linked = est_ack == ESTABLISH_ACK.ALLOW
                    else
                        log.debug("SCADA_MGMT establish packet length mismatch")
                    end
                else
                    log.debug("discarding non-link SCADA_MGMT packet before linked")
                end
            else
                -- should be unreachable assuming packet is from parse_packet()
                log.error("illegal packet type " .. protocol, true)
            end
        end
    end

    function public.is_scrammed() return self.scrammed end
    function public.is_linked() return self.linked end

    return public
end

return plc