mirror of
https://github.com/MikaylaFischler/cc-mek-scada.git
synced 2024-08-30 18:22:34 +00:00
672 lines
28 KiB
Lua
672 lines
28 KiB
Lua
local comms = require("scada-common.comms")
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local log = require("scada-common.log")
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local ppm = require("scada-common.ppm")
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local util = require("scada-common.util")
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local apisessions = require("coordinator.apisessions")
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local iocontrol = require("coordinator.iocontrol")
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local process = require("coordinator.process")
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local dialog = require("coordinator.ui.dialog")
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local print = util.print
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local println = util.println
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local print_ts = util.print_ts
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local println_ts = util.println_ts
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local PROTOCOL = comms.PROTOCOL
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local DEVICE_TYPE = comms.DEVICE_TYPE
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local ESTABLISH_ACK = comms.ESTABLISH_ACK
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local SCADA_MGMT_TYPE = comms.SCADA_MGMT_TYPE
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local SCADA_CRDN_TYPE = comms.SCADA_CRDN_TYPE
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local UNIT_COMMAND = comms.UNIT_COMMAND
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local FAC_COMMAND = comms.FAC_COMMAND
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local coordinator = {}
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-- request the user to select a monitor
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---@nodiscard
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---@param names table available monitors
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---@return boolean|string|nil
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local function ask_monitor(names)
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println("available monitors:")
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for i = 1, #names do
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print(" " .. names[i])
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end
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println("")
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println("select a monitor or type c to cancel")
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local iface = dialog.ask_options(names, "c")
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if iface ~= false and iface ~= nil then
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util.filter_table(names, function (x) return x ~= iface end)
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end
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return iface
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end
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-- configure monitor layout
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---@param num_units integer number of units expected
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---@return boolean success, monitors_struct? monitors
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function coordinator.configure_monitors(num_units)
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---@class monitors_struct
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local monitors = {
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primary = nil,
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primary_name = "",
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unit_displays = {},
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unit_name_map = {}
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}
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local monitors_avail = ppm.get_monitor_list()
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local names = {}
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local available = {}
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-- get all interface names
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for iface, _ in pairs(monitors_avail) do
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table.insert(names, iface)
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table.insert(available, iface)
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end
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-- we need a certain number of monitors (1 per unit + 1 primary display)
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local num_displays_needed = num_units + 1
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if #names < num_displays_needed then
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local message = "not enough monitors connected (need " .. num_displays_needed .. ")"
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println(message)
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log.warning(message)
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return false
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end
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-- attempt to load settings
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if not settings.load("/coord.settings") then
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log.warning("configure_monitors(): failed to load coordinator settings file (may not exist yet)")
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else
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local _primary = settings.get("PRIMARY_DISPLAY")
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local _unitd = settings.get("UNIT_DISPLAYS")
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-- filter out already assigned monitors
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util.filter_table(available, function (x) return x ~= _primary end)
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if type(_unitd) == "table" then
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util.filter_table(available, function (x) return not util.table_contains(_unitd, x) end)
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end
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end
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---------------------
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-- PRIMARY DISPLAY --
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---------------------
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local iface_primary_display = settings.get("PRIMARY_DISPLAY") ---@type boolean|string|nil
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if not util.table_contains(names, iface_primary_display) then
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println("primary display is not connected")
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local response = dialog.ask_y_n("would you like to change it", true)
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if response == false then return false end
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iface_primary_display = nil
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end
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while iface_primary_display == nil and #available > 0 do
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-- lets get a monitor
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iface_primary_display = ask_monitor(available)
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end
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if type(iface_primary_display) ~= "string" then return false end
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settings.set("PRIMARY_DISPLAY", iface_primary_display)
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util.filter_table(available, function (x) return x ~= iface_primary_display end)
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monitors.primary = ppm.get_periph(iface_primary_display)
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monitors.primary_name = iface_primary_display
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-------------------
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-- UNIT DISPLAYS --
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-------------------
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local unit_displays = settings.get("UNIT_DISPLAYS")
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if unit_displays == nil then
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unit_displays = {}
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for i = 1, num_units do
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local display = nil
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while display == nil and #available > 0 do
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-- lets get a monitor
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println("please select monitor for unit #" .. i)
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display = ask_monitor(available)
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end
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if display == false then return false end
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unit_displays[i] = display
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end
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else
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-- make sure all displays are connected
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for i = 1, num_units do
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local display = unit_displays[i]
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if not util.table_contains(names, display) then
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println("unit #" .. i .. " display is not connected")
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local response = dialog.ask_y_n("would you like to change it", true)
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if response == false then return false end
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display = nil
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end
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while display == nil and #available > 0 do
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-- lets get a monitor
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display = ask_monitor(available)
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end
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if display == false then return false end
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unit_displays[i] = display
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end
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end
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settings.set("UNIT_DISPLAYS", unit_displays)
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if not settings.save("/coord.settings") then
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log.warning("configure_monitors(): failed to save coordinator settings file")
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end
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for i = 1, #unit_displays do
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monitors.unit_displays[i] = ppm.get_periph(unit_displays[i])
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monitors.unit_name_map[i] = unit_displays[i]
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end
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return true, monitors
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end
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-- dmesg print wrapper
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---@param message string message
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---@param dmesg_tag string tag
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---@param working? boolean to use dmesg_working
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---@return function? update, function? done
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local function log_dmesg(message, dmesg_tag, working)
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local colors = {
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GRAPHICS = colors.green,
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SYSTEM = colors.cyan,
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BOOT = colors.blue,
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COMMS = colors.purple
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}
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if working then
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return log.dmesg_working(message, dmesg_tag, colors[dmesg_tag])
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else
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log.dmesg(message, dmesg_tag, colors[dmesg_tag])
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end
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end
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function coordinator.log_graphics(message) log_dmesg(message, "GRAPHICS") end
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function coordinator.log_sys(message) log_dmesg(message, "SYSTEM") end
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function coordinator.log_boot(message) log_dmesg(message, "BOOT") end
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function coordinator.log_comms(message) log_dmesg(message, "COMMS") end
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-- log a message for communications connecting, providing access to progress indication control functions
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---@nodiscard
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---@param message string
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---@return function update, function done
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function coordinator.log_comms_connecting(message)
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local update, done = log_dmesg(message, "COMMS", true)
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---@cast update function
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---@cast done function
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return update, done
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end
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-- coordinator communications
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---@nodiscard
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---@param version string coordinator version
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---@param modem table modem device
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---@param sv_port integer port of configured supervisor
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---@param sv_listen integer listening port for supervisor replys
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---@param api_listen integer listening port for pocket API
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---@param range integer trusted device connection range
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---@param sv_watchdog watchdog
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function coordinator.comms(version, modem, sv_port, sv_listen, api_listen, range, sv_watchdog)
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local self = {
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sv_linked = false,
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sv_seq_num = 0,
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sv_r_seq_num = nil,
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sv_config_err = false,
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connected = false,
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last_est_ack = ESTABLISH_ACK.ALLOW
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}
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comms.set_trusted_range(range)
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-- PRIVATE FUNCTIONS --
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-- configure modem channels
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local function _conf_channels()
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modem.closeAll()
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modem.open(sv_listen)
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modem.open(api_listen)
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end
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_conf_channels()
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-- send a packet to the supervisor
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---@param msg_type SCADA_MGMT_TYPE|SCADA_CRDN_TYPE
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---@param msg table
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local function _send_sv(protocol, msg_type, msg)
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local s_pkt = comms.scada_packet()
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local pkt = nil ---@type mgmt_packet|crdn_packet
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if protocol == PROTOCOL.SCADA_MGMT then
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pkt = comms.mgmt_packet()
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elseif protocol == PROTOCOL.SCADA_CRDN then
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pkt = comms.crdn_packet()
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else
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return
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end
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pkt.make(msg_type, msg)
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s_pkt.make(self.sv_seq_num, protocol, pkt.raw_sendable())
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modem.transmit(sv_port, sv_listen, s_pkt.raw_sendable())
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self.sv_seq_num = self.sv_seq_num + 1
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end
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-- attempt connection establishment
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local function _send_establish()
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_send_sv(PROTOCOL.SCADA_MGMT, SCADA_MGMT_TYPE.ESTABLISH, { comms.version, version, DEVICE_TYPE.CRDN })
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end
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-- keep alive ack
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---@param srv_time integer
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local function _send_keep_alive_ack(srv_time)
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_send_sv(PROTOCOL.SCADA_MGMT, SCADA_MGMT_TYPE.KEEP_ALIVE, { srv_time, util.time() })
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end
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-- PUBLIC FUNCTIONS --
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---@class coord_comms
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local public = {}
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-- reconnect a newly connected modem
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---@param new_modem table
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function public.reconnect_modem(new_modem)
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modem = new_modem
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_conf_channels()
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end
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-- close the connection to the server
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function public.close()
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sv_watchdog.cancel()
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self.sv_linked = false
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_send_sv(PROTOCOL.SCADA_MGMT, SCADA_MGMT_TYPE.CLOSE, {})
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end
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-- attempt to connect to the subervisor
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---@nodiscard
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---@param timeout_s number timeout in seconds
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---@param tick_dmesg_waiting function callback to tick dmesg waiting
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---@param task_done function callback to show done on dmesg
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---@return boolean sv_linked true if connected, false otherwise
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--- EVENT_CONSUMER: this function consumes events
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function public.sv_connect(timeout_s, tick_dmesg_waiting, task_done)
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local clock = util.new_clock(1)
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local start = util.time_s()
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local terminated = false
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_send_establish()
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clock.start()
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while (util.time_s() - start) < timeout_s and (not self.sv_linked) and (not self.sv_config_err) do
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local event, p1, p2, p3, p4, p5 = util.pull_event()
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if event == "timer" and clock.is_clock(p1) then
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-- timed out attempt, try again
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tick_dmesg_waiting(math.max(0, timeout_s - (util.time_s() - start)))
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_send_establish()
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clock.start()
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elseif event == "modem_message" then
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-- handle message
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local packet = public.parse_packet(p1, p2, p3, p4, p5)
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if packet ~= nil and packet.type == SCADA_MGMT_TYPE.ESTABLISH then
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public.handle_packet(packet)
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end
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elseif event == "terminate" then
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terminated = true
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break
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end
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end
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task_done(self.sv_linked)
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if terminated then
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coordinator.log_comms("supervisor connection attempt cancelled by user")
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elseif self.sv_config_err then
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coordinator.log_comms("supervisor cooling configuration invalid, check supervisor config file")
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elseif not self.sv_linked then
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if self.last_est_ack == ESTABLISH_ACK.DENY then
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coordinator.log_comms("supervisor connection attempt denied")
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elseif self.last_est_ack == ESTABLISH_ACK.COLLISION then
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coordinator.log_comms("supervisor connection failed due to collision")
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elseif self.last_est_ack == ESTABLISH_ACK.BAD_VERSION then
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coordinator.log_comms("supervisor connection failed due to version mismatch")
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else
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coordinator.log_comms("supervisor connection failed with no valid response")
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end
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end
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return self.sv_linked
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end
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-- send a facility command
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---@param cmd FAC_COMMAND command
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function public.send_fac_command(cmd)
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_send_sv(PROTOCOL.SCADA_CRDN, SCADA_CRDN_TYPE.FAC_CMD, { cmd })
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end
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-- send the auto process control configuration with a start command
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---@param config coord_auto_config configuration
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function public.send_auto_start(config)
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_send_sv(PROTOCOL.SCADA_CRDN, SCADA_CRDN_TYPE.FAC_CMD, {
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FAC_COMMAND.START, config.mode, config.burn_target, config.charge_target, config.gen_target, config.limits
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})
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end
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-- send a unit command
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---@param cmd UNIT_COMMAND command
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---@param unit integer unit ID
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---@param option any? optional option options for the optional options (like burn rate) (does option still look like a word?)
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function public.send_unit_command(cmd, unit, option)
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_send_sv(PROTOCOL.SCADA_CRDN, SCADA_CRDN_TYPE.UNIT_CMD, { cmd, unit, option })
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end
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-- parse a packet
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---@param side string
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---@param sender integer
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---@param reply_to integer
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---@param message any
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---@param distance integer
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---@return mgmt_frame|crdn_frame|capi_frame|nil packet
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function public.parse_packet(side, sender, reply_to, message, distance)
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local pkt = nil
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local s_pkt = comms.scada_packet()
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-- parse packet as generic SCADA packet
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s_pkt.receive(side, sender, reply_to, message, distance)
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if s_pkt.is_valid() then
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-- get as SCADA management packet
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if s_pkt.protocol() == PROTOCOL.SCADA_MGMT then
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local mgmt_pkt = comms.mgmt_packet()
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if mgmt_pkt.decode(s_pkt) then
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pkt = mgmt_pkt.get()
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end
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-- get as coordinator packet
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elseif s_pkt.protocol() == PROTOCOL.SCADA_CRDN then
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local crdn_pkt = comms.crdn_packet()
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if crdn_pkt.decode(s_pkt) then
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pkt = crdn_pkt.get()
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end
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-- get as coordinator API packet
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elseif s_pkt.protocol() == PROTOCOL.COORD_API then
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local capi_pkt = comms.capi_packet()
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if capi_pkt.decode(s_pkt) then
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pkt = capi_pkt.get()
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end
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else
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log.debug("attempted parse of illegal packet type " .. s_pkt.protocol(), true)
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end
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end
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return pkt
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end
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-- handle a packet
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---@param packet mgmt_frame|crdn_frame|capi_frame|nil
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function public.handle_packet(packet)
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if packet ~= nil then
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local protocol = packet.scada_frame.protocol()
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local l_port = packet.scada_frame.local_port()
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if l_port == api_listen then
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if protocol == PROTOCOL.COORD_API then
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---@cast packet capi_frame
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apisessions.handle_packet(packet)
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else
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log.debug("illegal packet type " .. protocol .. " on api listening channel", true)
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end
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elseif l_port == sv_listen then
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-- check sequence number
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if self.sv_r_seq_num == nil then
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self.sv_r_seq_num = packet.scada_frame.seq_num()
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elseif self.connected and self.sv_r_seq_num >= packet.scada_frame.seq_num() then
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log.warning("sequence out-of-order: last = " .. self.sv_r_seq_num .. ", new = " .. packet.scada_frame.seq_num())
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return
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else
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self.sv_r_seq_num = packet.scada_frame.seq_num()
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end
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-- feed watchdog on valid sequence number
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sv_watchdog.feed()
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-- handle packet
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if protocol == PROTOCOL.SCADA_CRDN then
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---@cast packet crdn_frame
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if self.sv_linked then
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if packet.type == SCADA_CRDN_TYPE.INITIAL_BUILDS then
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if packet.length == 2 then
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-- record builds
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local fac_builds = iocontrol.record_facility_builds(packet.data[1])
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local unit_builds = iocontrol.record_unit_builds(packet.data[2])
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if fac_builds and unit_builds then
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-- acknowledge receipt of builds
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_send_sv(PROTOCOL.SCADA_CRDN, SCADA_CRDN_TYPE.INITIAL_BUILDS, {})
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else
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log.debug("received invalid INITIAL_BUILDS packet")
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end
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else
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log.debug("INITIAL_BUILDS packet length mismatch")
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end
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elseif packet.type == SCADA_CRDN_TYPE.FAC_BUILDS then
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if packet.length == 1 then
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-- record facility builds
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if iocontrol.record_facility_builds(packet.data[1]) then
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-- acknowledge receipt of builds
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_send_sv(PROTOCOL.SCADA_CRDN, SCADA_CRDN_TYPE.FAC_BUILDS, {})
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else
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log.debug("received invalid FAC_BUILDS packet")
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end
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else
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log.debug("FAC_BUILDS packet length mismatch")
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end
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elseif packet.type == SCADA_CRDN_TYPE.FAC_STATUS then
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-- update facility status
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if not iocontrol.update_facility_status(packet.data) then
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log.debug("received invalid FAC_STATUS packet")
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end
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elseif packet.type == SCADA_CRDN_TYPE.FAC_CMD then
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-- facility command acknowledgement
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if packet.length >= 2 then
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local cmd = packet.data[1]
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local ack = packet.data[2] == true
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if cmd == FAC_COMMAND.SCRAM_ALL then
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iocontrol.get_db().facility.scram_ack(ack)
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elseif cmd == FAC_COMMAND.STOP then
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iocontrol.get_db().facility.stop_ack(ack)
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elseif cmd == FAC_COMMAND.START then
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if packet.length == 7 then
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process.start_ack_handle({ table.unpack(packet.data, 2) })
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else
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log.debug("SCADA_CRDN process start (with configuration) ack echo packet length mismatch")
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end
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elseif cmd == FAC_COMMAND.ACK_ALL_ALARMS then
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iocontrol.get_db().facility.ack_alarms_ack(ack)
|
|
else
|
|
log.debug(util.c("received facility command ack with unknown command ", cmd))
|
|
end
|
|
else
|
|
log.debug("SCADA_CRDN facility command ack packet length mismatch")
|
|
end
|
|
elseif packet.type == SCADA_CRDN_TYPE.UNIT_BUILDS then
|
|
-- record builds
|
|
if packet.length == 1 then
|
|
if iocontrol.record_unit_builds(packet.data[1]) then
|
|
-- acknowledge receipt of builds
|
|
_send_sv(PROTOCOL.SCADA_CRDN, SCADA_CRDN_TYPE.UNIT_BUILDS, {})
|
|
else
|
|
log.debug("received invalid UNIT_BUILDS packet")
|
|
end
|
|
else
|
|
log.debug("UNIT_BUILDS packet length mismatch")
|
|
end
|
|
elseif packet.type == SCADA_CRDN_TYPE.UNIT_STATUSES then
|
|
-- update statuses
|
|
if not iocontrol.update_unit_statuses(packet.data) then
|
|
log.error("received invalid UNIT_STATUSES packet")
|
|
end
|
|
elseif packet.type == SCADA_CRDN_TYPE.UNIT_CMD then
|
|
-- unit command acknowledgement
|
|
if packet.length == 3 then
|
|
local cmd = packet.data[1]
|
|
local unit_id = packet.data[2]
|
|
local ack = packet.data[3] == true
|
|
|
|
local unit = iocontrol.get_db().units[unit_id] ---@type ioctl_unit
|
|
|
|
if unit ~= nil then
|
|
if cmd == UNIT_COMMAND.SCRAM then
|
|
unit.scram_ack(ack)
|
|
elseif cmd == UNIT_COMMAND.START then
|
|
unit.start_ack(ack)
|
|
elseif cmd == UNIT_COMMAND.RESET_RPS then
|
|
unit.reset_rps_ack(ack)
|
|
elseif cmd == UNIT_COMMAND.SET_BURN then
|
|
unit.set_burn_ack(ack)
|
|
elseif cmd == UNIT_COMMAND.SET_WASTE then
|
|
unit.set_waste_ack(ack)
|
|
elseif cmd == UNIT_COMMAND.ACK_ALL_ALARMS then
|
|
unit.ack_alarms_ack(ack)
|
|
elseif cmd == UNIT_COMMAND.SET_GROUP then
|
|
-- UI will be updated to display current group if changed successfully
|
|
else
|
|
log.debug(util.c("received unit command ack with unknown command ", cmd))
|
|
end
|
|
else
|
|
log.debug(util.c("received unit command ack with unknown unit ", unit_id))
|
|
end
|
|
else
|
|
log.debug("SCADA_CRDN unit command ack packet length mismatch")
|
|
end
|
|
else
|
|
log.warning("received unknown SCADA_CRDN packet type " .. packet.type)
|
|
end
|
|
else
|
|
log.debug("discarding SCADA_CRDN packet before linked")
|
|
end
|
|
elseif protocol == PROTOCOL.SCADA_MGMT then
|
|
---@cast packet mgmt_frame
|
|
if packet.type == SCADA_MGMT_TYPE.ESTABLISH then
|
|
-- connection with supervisor established
|
|
if packet.length == 2 then
|
|
local est_ack = packet.data[1]
|
|
local config = packet.data[2]
|
|
|
|
if est_ack == ESTABLISH_ACK.ALLOW then
|
|
if type(config) == "table" and #config > 1 then
|
|
-- get configuration
|
|
|
|
---@class facility_conf
|
|
local conf = {
|
|
num_units = config[1], ---@type integer
|
|
defs = {} -- boilers and turbines
|
|
}
|
|
|
|
if (#config - 1) == (conf.num_units * 2) then
|
|
-- record sequence of pairs of [#boilers, #turbines] per unit
|
|
for i = 2, #config do
|
|
table.insert(conf.defs, config[i])
|
|
end
|
|
|
|
-- init io controller
|
|
iocontrol.init(conf, public)
|
|
|
|
self.sv_linked = true
|
|
self.sv_config_err = false
|
|
else
|
|
self.sv_config_err = true
|
|
log.warning("invalid supervisor configuration definitions received, establish failed")
|
|
end
|
|
else
|
|
log.debug("invalid supervisor configuration table received, establish failed")
|
|
end
|
|
else
|
|
log.debug("SCADA_MGMT establish packet reply (len = 2) unsupported")
|
|
end
|
|
|
|
self.last_est_ack = est_ack
|
|
elseif packet.length == 1 then
|
|
local est_ack = packet.data[1]
|
|
|
|
if est_ack == ESTABLISH_ACK.DENY then
|
|
if self.last_est_ack ~= est_ack then
|
|
log.info("supervisor connection denied")
|
|
end
|
|
elseif est_ack == ESTABLISH_ACK.COLLISION then
|
|
if self.last_est_ack ~= est_ack then
|
|
log.info("supervisor connection denied due to collision")
|
|
end
|
|
elseif est_ack == ESTABLISH_ACK.BAD_VERSION then
|
|
if self.last_est_ack ~= est_ack then
|
|
log.info("supervisor comms version mismatch")
|
|
end
|
|
else
|
|
log.debug("SCADA_MGMT establish packet reply (len = 1) unsupported")
|
|
end
|
|
|
|
self.last_est_ack = est_ack
|
|
else
|
|
log.debug("SCADA_MGMT establish packet length mismatch")
|
|
end
|
|
elseif self.sv_linked then
|
|
if packet.type == SCADA_MGMT_TYPE.KEEP_ALIVE then
|
|
-- keep alive request received, echo back
|
|
if packet.length == 1 then
|
|
local timestamp = packet.data[1]
|
|
local trip_time = util.time() - timestamp
|
|
|
|
if trip_time > 750 then
|
|
log.warning("coord KEEP_ALIVE trip time > 750ms (" .. trip_time .. "ms)")
|
|
end
|
|
|
|
-- log.debug("coord RTT = " .. trip_time .. "ms")
|
|
|
|
iocontrol.get_db().facility.ps.publish("sv_ping", trip_time)
|
|
|
|
_send_keep_alive_ack(timestamp)
|
|
else
|
|
log.debug("SCADA keep alive packet length mismatch")
|
|
end
|
|
elseif packet.type == SCADA_MGMT_TYPE.CLOSE then
|
|
-- handle session close
|
|
sv_watchdog.cancel()
|
|
self.sv_linked = false
|
|
println_ts("server connection closed by remote host")
|
|
log.info("server connection closed by remote host")
|
|
else
|
|
log.debug("received unknown SCADA_MGMT packet type " .. packet.type)
|
|
end
|
|
else
|
|
log.debug("discarding non-link SCADA_MGMT packet before linked")
|
|
end
|
|
else
|
|
log.debug("illegal packet type " .. protocol .. " on supervisor listening channel", true)
|
|
end
|
|
else
|
|
log.debug("received packet on unconfigured channel " .. l_port, true)
|
|
end
|
|
end
|
|
end
|
|
|
|
-- check if the coordinator is still linked to the supervisor
|
|
---@nodiscard
|
|
function public.is_linked() return self.sv_linked end
|
|
|
|
return public
|
|
end
|
|
|
|
return coordinator
|