mirror of
https://github.com/MikaylaFischler/cc-mek-scada.git
synced 2024-08-30 18:22:34 +00:00
647 lines
23 KiB
Lua
647 lines
23 KiB
Lua
-- #REQUIRES types.lua
|
|
-- #REQUIRES comms.lua
|
|
-- #REQUIRES ppm.lua
|
|
-- #REQUIRES util.lua
|
|
|
|
local iss_status_t = types.iss_status_t
|
|
|
|
local PROTOCOLS = comms.PROTOCOLS
|
|
local RPLC_TYPES = comms.RPLC_TYPES
|
|
local RPLC_LINKING = comms.RPLC_LINKING
|
|
local SCADA_MGMT_TYPES = comms.SCADA_MGMT_TYPES
|
|
|
|
local print = util.print
|
|
local println = util.println
|
|
local print_ts = util.print_ts
|
|
local println_ts = util.println_ts
|
|
|
|
-- Internal Safety System
|
|
-- identifies dangerous states and SCRAMs reactor if warranted
|
|
-- autonomous from main SCADA supervisor/coordinator control
|
|
function iss_init(reactor)
|
|
local self = {
|
|
reactor = reactor,
|
|
cache = { false, false, false, false, false, false, false },
|
|
timed_out = false,
|
|
tripped = false,
|
|
trip_cause = ""
|
|
}
|
|
|
|
-- PRIVATE FUNCTIONS --
|
|
|
|
-- check for critical damage
|
|
local _damage_critical = function ()
|
|
local damage_percent = self.reactor.getDamagePercent()
|
|
if damage_percent == ppm.ACCESS_FAULT then
|
|
-- lost the peripheral or terminated, handled later
|
|
log._error("ISS: failed to check reactor damage")
|
|
return false
|
|
else
|
|
return damage_percent >= 100
|
|
end
|
|
end
|
|
|
|
-- check for heated coolant backup
|
|
local _excess_heated_coolant = function ()
|
|
local hc_needed = self.reactor.getHeatedCoolantNeeded()
|
|
if hc_needed == ppm.ACCESS_FAULT then
|
|
-- lost the peripheral or terminated, handled later
|
|
log._error("ISS: failed to check reactor heated coolant level")
|
|
return false
|
|
else
|
|
return hc_needed == 0
|
|
end
|
|
end
|
|
|
|
-- check for excess waste
|
|
local _excess_waste = function ()
|
|
local w_needed = self.reactor.getWasteNeeded()
|
|
if w_needed == ppm.ACCESS_FAULT then
|
|
-- lost the peripheral or terminated, handled later
|
|
log._error("ISS: failed to check reactor waste level")
|
|
return false
|
|
else
|
|
return w_needed == 0
|
|
end
|
|
end
|
|
|
|
-- check if the reactor is at a critically high temperature
|
|
local _high_temp = function ()
|
|
-- mekanism: MAX_DAMAGE_TEMPERATURE = 1_200
|
|
local temp = self.reactor.getTemperature()
|
|
if temp == ppm.ACCESS_FAULT then
|
|
-- lost the peripheral or terminated, handled later
|
|
log._error("ISS: failed to check reactor temperature")
|
|
return false
|
|
else
|
|
return temp >= 1200
|
|
end
|
|
end
|
|
|
|
-- check if there is no fuel
|
|
local _insufficient_fuel = function ()
|
|
local fuel = self.reactor.getFuel()
|
|
if fuel == ppm.ACCESS_FAULT then
|
|
-- lost the peripheral or terminated, handled later
|
|
log._error("ISS: failed to check reactor fuel level")
|
|
return false
|
|
else
|
|
return fuel == 0
|
|
end
|
|
end
|
|
|
|
-- check if there is no coolant
|
|
local _no_coolant = function ()
|
|
local coolant_filled = self.reactor.getCoolantFilledPercentage()
|
|
if coolant_filled == ppm.ACCESS_FAULT then
|
|
-- lost the peripheral or terminated, handled later
|
|
log._error("ISS: failed to check reactor coolant level")
|
|
return false
|
|
else
|
|
return coolant_filled < 0.02
|
|
end
|
|
end
|
|
|
|
-- PUBLIC FUNCTIONS --
|
|
|
|
-- re-link a reactor after a peripheral re-connect
|
|
local reconnect_reactor = function (reactor)
|
|
self.reactor = reactor
|
|
end
|
|
|
|
-- report a PLC comms timeout
|
|
local trip_timeout = function ()
|
|
self.timed_out = true
|
|
end
|
|
|
|
-- check all safety conditions
|
|
local check = function ()
|
|
local status = iss_status_t.ok
|
|
local was_tripped = self.tripped
|
|
|
|
-- update cache
|
|
self.cache = {
|
|
_damage_critical(),
|
|
_excess_heated_coolant(),
|
|
_excess_waste(),
|
|
_high_temp(),
|
|
_insufficient_fuel(),
|
|
_no_coolant(),
|
|
self.timed_out
|
|
}
|
|
|
|
-- check system states in order of severity
|
|
if self.tripped then
|
|
status = self.trip_cause
|
|
elseif self.cache[1] then
|
|
log._warning("ISS: damage critical!")
|
|
status = iss_status_t.dmg_crit
|
|
elseif self.cache[4] then
|
|
log._warning("ISS: high temperature!")
|
|
status = iss_status_t.high_temp
|
|
elseif self.cache[2] then
|
|
log._warning("ISS: heated coolant backup!")
|
|
status = iss_status_t.ex_hcoolant
|
|
elseif self.cache[6] then
|
|
log._warning("ISS: no coolant!")
|
|
status = iss_status_t.no_coolant
|
|
elseif self.cache[3] then
|
|
log._warning("ISS: full waste!")
|
|
status = iss_status_t.ex_waste
|
|
elseif self.cache[5] then
|
|
log._warning("ISS: no fuel!")
|
|
status = iss_status_t.no_fuel
|
|
elseif self.cache[7] then
|
|
log._warning("ISS: supervisor connection timeout!")
|
|
status = iss_status_t.timeout
|
|
else
|
|
self.tripped = false
|
|
end
|
|
|
|
-- if a new trip occured...
|
|
local first_trip = false
|
|
if not was_tripped and status ~= iss_status_t.ok then
|
|
log._warning("ISS: reactor SCRAM")
|
|
|
|
first_trip = true
|
|
self.tripped = true
|
|
self.trip_cause = status
|
|
|
|
self.reactor.scram()
|
|
if self.reactor.__p_is_faulted() then
|
|
log._error("ISS: failed reactor SCRAM")
|
|
end
|
|
end
|
|
|
|
return self.tripped, status, first_trip
|
|
end
|
|
|
|
-- get the ISS status
|
|
local status = function () return self.cache end
|
|
local is_tripped = function () return self.tripped end
|
|
|
|
-- reset the ISS
|
|
local reset = function ()
|
|
self.timed_out = false
|
|
self.tripped = false
|
|
self.trip_cause = iss_status_t.ok
|
|
end
|
|
|
|
return {
|
|
reconnect_reactor = reconnect_reactor,
|
|
trip_timeout = trip_timeout,
|
|
check = check,
|
|
status = status,
|
|
is_tripped = is_tripped,
|
|
reset = reset
|
|
}
|
|
end
|
|
|
|
-- reactor PLC communications
|
|
function comms_init(id, modem, local_port, server_port, reactor, iss)
|
|
local self = {
|
|
id = id,
|
|
seq_num = 0,
|
|
r_seq_num = nil,
|
|
modem = modem,
|
|
s_port = server_port,
|
|
l_port = local_port,
|
|
reactor = reactor,
|
|
iss = iss,
|
|
scrammed = false,
|
|
linked = false,
|
|
status_cache = nil,
|
|
max_burn_rate = nil
|
|
}
|
|
|
|
-- open modem
|
|
if not self.modem.isOpen(self.l_port) then
|
|
self.modem.open(self.l_port)
|
|
end
|
|
|
|
-- PRIVATE FUNCTIONS --
|
|
|
|
local _send = function (msg_type, msg)
|
|
local s_pkt = comms.scada_packet()
|
|
local r_pkt = comms.rplc_packet()
|
|
|
|
r_pkt.make(self.id, msg_type, msg)
|
|
s_pkt.make(self.seq_num, PROTOCOLS.RPLC, r_pkt.raw_sendable())
|
|
|
|
self.modem.transmit(self.s_port, self.l_port, s_pkt.raw_sendable())
|
|
self.seq_num = self.seq_num + 1
|
|
end
|
|
|
|
local _send_mgmt = function (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
|
|
local _reactor_status = function ()
|
|
local coolant = nil
|
|
local hcoolant = nil
|
|
|
|
local data_table = {
|
|
false, -- getStatus
|
|
0, -- getBurnRate
|
|
0, -- getActualBurnRate
|
|
0, -- getTemperature
|
|
0, -- getDamagePercent
|
|
0, -- getBoilEfficiency
|
|
0, -- getEnvironmentalLoss
|
|
0, -- getFuel
|
|
0, -- getFuelFilledPercentage
|
|
0, -- getWaste
|
|
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 () data_table[8] = self.reactor.getFuel() end,
|
|
function () data_table[9] = self.reactor.getFuelFilledPercentage() end,
|
|
function () data_table[10] = 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 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
|
|
|
|
local _update_status_cache = function ()
|
|
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
|
|
local _send_keep_alive_ack = function (srv_time)
|
|
_send(RPLC_TYPES.KEEP_ALIVE, { srv_time, util.time() })
|
|
end
|
|
|
|
-- general ack
|
|
local _send_ack = function (msg_type, succeeded)
|
|
_send(msg_type, { succeeded })
|
|
end
|
|
|
|
-- send structure properties (these should not change, server will cache these)
|
|
local _send_struct = function ()
|
|
local mek_data = { 0, 0, 0, 0, 0, 0, 0, 0 }
|
|
|
|
local tasks = {
|
|
function () mek_data[1] = self.reactor.getHeatCapacity() end,
|
|
function () mek_data[2] = self.reactor.getFuelAssemblies() end,
|
|
function () mek_data[3] = self.reactor.getFuelSurfaceArea() end,
|
|
function () mek_data[4] = self.reactor.getFuelCapacity() end,
|
|
function () mek_data[5] = self.reactor.getWasteCapacity() end,
|
|
function () mek_data[6] = self.reactor.getCoolantCapacity() end,
|
|
function () mek_data[7] = self.reactor.getHeatedCoolantCapacity() end,
|
|
function () mek_data[8] = self.reactor.getMaxBurnRate() end
|
|
}
|
|
|
|
parallel.waitForAll(table.unpack(tasks))
|
|
|
|
if not self.reactor.__p_is_faulted() then
|
|
_send(RPLC_TYPES.MEK_STRUCT, mek_data)
|
|
else
|
|
log._error("failed to send structure: PPM fault")
|
|
end
|
|
end
|
|
|
|
-- PUBLIC FUNCTIONS --
|
|
|
|
-- reconnect a newly connected modem
|
|
local reconnect_modem = function (modem)
|
|
self.modem = modem
|
|
|
|
-- open modem
|
|
if not self.modem.isOpen(self.l_port) then
|
|
self.modem.open(self.l_port)
|
|
end
|
|
end
|
|
|
|
-- reconnect a newly connected reactor
|
|
local reconnect_reactor = function (reactor)
|
|
self.reactor = reactor
|
|
_update_status_cache()
|
|
end
|
|
|
|
-- unlink from the server
|
|
local unlink = function ()
|
|
self.linked = false
|
|
self.r_seq_num = nil
|
|
end
|
|
|
|
-- close the connection to the server
|
|
local close = function (conn_watchdog)
|
|
conn_watchdog.cancel()
|
|
unlink()
|
|
_send_mgmt(SCADA_MGMT_TYPES.CLOSE, {})
|
|
end
|
|
|
|
-- attempt to establish link with supervisor
|
|
local send_link_req = function ()
|
|
_send(RPLC_TYPES.LINK_REQ, { self.id })
|
|
end
|
|
|
|
-- send live status information
|
|
local send_status = function (degraded)
|
|
if self.linked then
|
|
local mek_data = nil
|
|
|
|
if _update_status_cache() then
|
|
mek_data = self.status_cache
|
|
end
|
|
|
|
local sys_status = {
|
|
util.time(), -- timestamp
|
|
(not self.scrammed), -- enabled
|
|
iss.is_tripped(), -- overridden
|
|
degraded, -- degraded
|
|
self.reactor.getHeatingRate(), -- heating rate
|
|
mek_data -- mekanism status data
|
|
}
|
|
|
|
if not self.reactor.__p_is_faulted() then
|
|
_send(RPLC_TYPES.STATUS, sys_status)
|
|
else
|
|
log._error("failed to send status: PPM fault")
|
|
end
|
|
end
|
|
end
|
|
|
|
-- send safety system status
|
|
local send_iss_status = function ()
|
|
if self.linked then
|
|
_send(RPLC_TYPES.ISS_STATUS, iss.status())
|
|
end
|
|
end
|
|
|
|
-- send safety system alarm
|
|
local send_iss_alarm = function (cause)
|
|
if self.linked then
|
|
local iss_alarm = {
|
|
cause,
|
|
table.unpack(iss.status())
|
|
}
|
|
|
|
_send(RPLC_TYPES.ISS_ALARM, iss_alarm)
|
|
end
|
|
end
|
|
|
|
-- parse an RPLC packet
|
|
local parse_packet = function(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
|
|
local handle_packet = function (packet, plc_state, setpoints, conn_watchdog)
|
|
if packet ~= nil 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()
|
|
|
|
-- handle packet
|
|
if packet.scada_frame.protocol() == PROTOCOLS.RPLC then
|
|
if self.linked then
|
|
if packet.type == RPLC_TYPES.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 > 500 then
|
|
log._warning("PLC KEEP_ALIVE trip time > 500ms (" .. trip_time .. ")")
|
|
end
|
|
|
|
-- log._debug("RPLC RTT = ".. trip_time .. "ms")
|
|
|
|
_send_keep_alive_ack(timestamp)
|
|
else
|
|
log._debug("RPLC keep alive packet length mismatch")
|
|
end
|
|
elseif packet.type == RPLC_TYPES.LINK_REQ then
|
|
-- link request confirmation
|
|
if packet.length == 1 then
|
|
log._debug("received unsolicited link request response")
|
|
|
|
local link_ack = packet.data[1]
|
|
|
|
if link_ack == RPLC_LINKING.ALLOW then
|
|
_send_struct()
|
|
send_status(plc_state.degraded)
|
|
log._debug("re-sent initial status data")
|
|
elseif link_ack == RPLC_LINKING.DENY then
|
|
println_ts("received unsolicited link denial, unlinking")
|
|
log._debug("unsolicited RPLC link request denied")
|
|
elseif link_ack == RPLC_LINKING.COLLISION then
|
|
println_ts("received unsolicited link collision, unlinking")
|
|
log._warning("unsolicited RPLC link request collision")
|
|
else
|
|
println_ts("invalid unsolicited link response")
|
|
log._error("unsolicited unknown RPLC link request response")
|
|
end
|
|
|
|
self.linked = link_ack == RPLC_LINKING.ALLOW
|
|
else
|
|
log._debug("RPLC link req packet length mismatch")
|
|
end
|
|
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_SCRAM then
|
|
-- disable the reactor
|
|
self.scrammed = true
|
|
plc_state.scram = true
|
|
self.reactor.scram()
|
|
_send_ack(packet.type, self.reactor.__p_is_ok())
|
|
elseif packet.type == RPLC_TYPES.MEK_ENABLE then
|
|
-- enable the reactor
|
|
self.scrammed = false
|
|
plc_state.scram = false
|
|
self.reactor.activate()
|
|
_send_ack(packet.type, self.reactor.__p_is_ok())
|
|
elseif packet.type == RPLC_TYPES.MEK_BURN_RATE then
|
|
-- set the burn rate
|
|
if packet.length == 1 then
|
|
local success = false
|
|
local burn_rate = packet.data[1]
|
|
local max_burn_rate = self.max_burn_rate
|
|
|
|
-- if no known max burn rate, check again
|
|
if max_burn_rate == nil then
|
|
max_burn_rate = self.reactor.getMaxBurnRate()
|
|
self.max_burn_rate = max_burn_rate
|
|
end
|
|
|
|
-- if we know our max burn rate, update current burn rate setpoint if in range
|
|
if max_burn_rate ~= ppm.ACCESS_FAULT then
|
|
if burn_rate > 0 and burn_rate <= max_burn_rate then
|
|
setpoints.burn_rate = burn_rate
|
|
success = true
|
|
end
|
|
end
|
|
|
|
_send_ack(packet.type, success)
|
|
else
|
|
log._debug("RPLC set burn rate packet length mismatch")
|
|
end
|
|
elseif packet.type == RPLC_TYPES.ISS_CLEAR then
|
|
-- clear the ISS status
|
|
iss.reset()
|
|
_send_ack(packet.type, true)
|
|
else
|
|
log._warning("received unknown RPLC packet type " .. packet.type)
|
|
end
|
|
elseif packet.type == RPLC_TYPES.LINK_REQ then
|
|
-- link request confirmation
|
|
if packet.length == 1 then
|
|
local link_ack = packet.data[1]
|
|
|
|
if link_ack == RPLC_LINKING.ALLOW then
|
|
println_ts("linked!")
|
|
log._debug("RPLC link request approved")
|
|
|
|
-- reset remote sequence number
|
|
self.r_seq_num = nil
|
|
|
|
_send_struct()
|
|
send_status(plc_state.degraded)
|
|
|
|
log._debug("sent initial status data")
|
|
elseif link_ack == RPLC_LINKING.DENY then
|
|
println_ts("link request denied, retrying...")
|
|
log._debug("RPLC link request denied")
|
|
elseif link_ack == RPLC_LINKING.COLLISION then
|
|
println_ts("reactor PLC ID collision (check config), retrying...")
|
|
log._warning("RPLC link request collision")
|
|
else
|
|
println_ts("invalid link response, bad channel? retrying...")
|
|
log._error("unknown RPLC link request response")
|
|
end
|
|
|
|
self.linked = link_ack == RPLC_LINKING.ALLOW
|
|
else
|
|
log._debug("RPLC link req packet length mismatch")
|
|
end
|
|
else
|
|
log._debug("discarding non-link packet before linked")
|
|
end
|
|
elseif packet.scada_frame.protocol() == PROTOCOLS.SCADA_MGMT then
|
|
-- handle session close
|
|
if packet.type == SCADA_MGMT_TYPES.CLOSE then
|
|
conn_watchdog.cancel()
|
|
unlink()
|
|
println_ts("server connection closed by remote host")
|
|
log._warning("server connection closed by remote host")
|
|
else
|
|
log._warning("received unknown SCADA_MGMT packet type " .. packet.type)
|
|
end
|
|
end
|
|
end
|
|
end
|
|
|
|
local is_scrammed = function () return self.scrammed end
|
|
local is_linked = function () return self.linked end
|
|
|
|
return {
|
|
reconnect_modem = reconnect_modem,
|
|
reconnect_reactor = reconnect_reactor,
|
|
unlink = unlink,
|
|
close = close,
|
|
send_link_req = send_link_req,
|
|
send_status = send_status,
|
|
send_iss_status = send_iss_status,
|
|
send_iss_alarm = send_iss_alarm,
|
|
parse_packet = parse_packet,
|
|
handle_packet = handle_packet,
|
|
is_scrammed = is_scrammed,
|
|
is_linked = is_linked
|
|
}
|
|
end
|