Echtzeitdatenverarbeitung/Bearbeiten2.c

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//#include <rtai_mbx.h>
//#include <rtai_sched.h>
//#include <rtai_sem.h>
//#include <sys/rtai_modbus.h>
#include "include/rtai_mbx.h"
#include "include/rtai_sched.h"
#include "include/rtai_sem.h"
#include "include/rtai_modbus.h"
#include <stdbool.h>
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#include <uint128.h>
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#define SENSOR_PART_TURNTABLE 1<<0
#define SENSOR_PART_DRILL 1<<1
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#define SENSOR_PART_TESTER 1<<2
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#define SENSOR_DRILL_UP 1<<3
#define SENSOR_DRILL_DOWN 1<<4
#define SENSOR_TURNTABLE_POS 1<<5
#define SENSOR_PART_TEST 1<<6
#define ACTOR_DRILL 1<<0
#define ACTOR_TURNTABLE 1<<1
#define ACTOR_DRILL_DOWN 1<<2
#define ACTOR_DRILL_UP 1<<3
#define ACTOR_PART_HOLD 1<<4
#define ACTOR_TESTER 1<<5
#define ACTOR_EXIT 1<<6
#define ACTOR_ENTRANCE 1<<7
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MODULE_LICENSE("GPL");
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static RT_TASK turntable_task, drill_task, tester_task, output_task;
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static MBX turntable_status_mbx, tester_status_mbx, output_status_mbx, drill_status_mbx;
static MBX output_data_mbx, drill_data_mbx;
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static SEM semaphore;
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int connection;
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char node[] = "modbus-node";
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void end(bool fail) {
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rt_modbus_disconnect(connection);
rt_task_delete(&turntable_task);
rt_task_delete(&tester_task);
rt_task_delete(&drill_task);
rt_task_delete(&output_task);
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rt_mbx_delete(&turntable_status_mbx);
rt_mbx_delete(&tester_status_mbx);
rt_mbx_delete(&output_status_mbx);
rt_mbx_delete(&drill_status_mbx);
rt_mbx_delete(&output_data_mbx);
rt_mbx_delete(&drill_data_mbx);
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rt_sem_delete(&semaphore);
stop_rt_timer();
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if(fail) {
rt_printk("failed to read/send Modbus message.\n");
rt_printk("module needs to be restarted.\n");
}
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exit(-1);
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}
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/**
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* readData all bits of the specified type
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* this function is *not* thread safe.
* @param type (DIGITAL_IN, DIGITAL_OUT, ANALOG_IN, ANALOG_OUT)
* @param connection modbus connection id
* @param result value to write the result to
* @return status code(0: success, 1: failure)
*/
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int readAll(int type, int *result) {
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int res = rt_modbus_get(connection, type, 0, (unsigned short *) result);
return res;
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}
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/**
*
* this function is thread safe.
* @param part
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* @return
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*/
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int readData(int part) {
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rt_sem_wait(&semaphore);
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int value = 0;
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int code = readAll(DIGITAL_IN, &value);
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int result = (part & value);
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rt_sem_signal(&semaphore);
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if(code) end(true);
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return result;
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}
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/**
* disable a specified actor of the system.
* this function is thread safe.
* @param connection modbus connection id
* @param actor bitmask of the actor to disable
*/
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void disable(int actor) {
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rt_sem_wait(&semaphore);
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int value = 0;
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int code = readAll(DIGITAL_OUT, &value);
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if(code) end(true);
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int result = rt_modbus_set(connection, DIGITAL_OUT, 0, value &= ~actor);
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rt_sem_signal(&semaphore);
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if (result) end(true);
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}
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/**
* enable one specified actor of the system.
* this function is thread safe.
* @param connection modbus connection id
* @param actor bitmask of the actor to enable
*/
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void enable(int actor) {
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rt_sem_wait(&semaphore);
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int output = 0;
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int code = readAll(DIGITAL_OUT, &output);
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if (code) end(true);
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int result;
result = rt_modbus_set(connection, DIGITAL_OUT, 0, output |= actor);
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rt_sem_signal(&semaphore);
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if(result) end(true);
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}
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void sendMail(MBX * mailbox, int msg) {
int mbxStatus = rt_mbx_send(mailbox, &msg, sizeof(int));
if(mbxStatus) end(true);
}
void sendMailNonBlocking(MBX * mailbox, int msg) {
int mbxStatus = rt_mbx_send_if(mailbox, &msg, sizeof(int));
if(mbxStatus) end(true);
}
int receiveMail(MBX * mailbox) {
int msg = 0;
int mbxStatus = rt_mbx_receive(mailbox, &msg, sizeof(int));
if(mbxStatus) end(true);
return msg;
}
int receiveMailNonBlocking(MBX * mailbox) {
int msg = 0;
int mbxStatus = rt_mbx_receive_if(mailbox, &msg, sizeof(int));
if(mbxStatus) end(true);
return msg;
}
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void sleepStuff(void) {
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rt_sleep(1000 * nano2count(1000000));
}
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static void turntable(long data) {
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rt_printk("started turntable task");
disable(ACTOR_TURNTABLE);
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while (1) {
receiveMail(&turntable_status_mbx);
receiveMail(&turntable_status_mbx);
receiveMail(&turntable_status_mbx);
int partOnTable = readData(SENSOR_PART_TURNTABLE);
rt_printk("%d", partOnTable);
enable(ACTOR_TURNTABLE);
disable(ACTOR_TURNTABLE);
sendMail(&tester_status_mbx, 1);
sendMail(&drill_status_mbx, 1);
sendMail(&output_status_mbx, 1);
}
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}
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static void tester(long data) {
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rt_printk("started tester task");
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disable(ACTOR_TESTER);
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while (1) {
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receiveMail(&tester_status_mbx);
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int partOnTable = readData(SENSOR_PART_TESTER);
rt_printk("part: %d\n", partOnTable);
if(partOnTable) {
enable(ACTOR_TESTER);
sleepStuff();
int partNormal = readData(SENSOR_PART_TEST);
if(partNormal) {
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sendMail(&drill_data_mbx, 1);
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} else {
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sendMail(&drill_data_mbx, 0);
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}
rt_printk("normal %d\n", partNormal);
disable(ACTOR_TESTER);
}
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sendMail(&turntable_status_mbx, 1);
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}
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}
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static void drill(long data) {
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rt_printk("starting drill task");
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disable(ACTOR_DRILL);
disable(ACTOR_PART_HOLD);
disable(ACTOR_DRILL_DOWN);
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rt_printk("hello");
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enable(ACTOR_DRILL_UP);
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if (!readData(SENSOR_DRILL_UP)) {
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do {
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} while (readData(SENSOR_DRILL_UP) == 0);
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}
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disable(ACTOR_DRILL_UP);
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while (1) {
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receiveMail(&drill_status_mbx);
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int part = readData(SENSOR_PART_DRILL);
if(part) {
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int msg = receiveMailNonBlocking(&drill_data_mbx);
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if(msg) {
enable(ACTOR_PART_HOLD);
enable(ACTOR_DRILL);
enable(ACTOR_DRILL_DOWN);
if (!readData(SENSOR_DRILL_DOWN)) {
do {
} while (readData(SENSOR_DRILL_DOWN) == 0);
}
sleepStuff();
disable(ACTOR_PART_HOLD);
disable(ACTOR_DRILL);
disable(ACTOR_DRILL_DOWN);
enable(ACTOR_DRILL_UP);
if (!readData(SENSOR_DRILL_UP)) {
do {
} while (readData(SENSOR_DRILL_UP) == 0);
}
disable(ACTOR_DRILL_UP);
}
}
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sendMailNonBlocking(&output_data_mbx, 1);
sendMail(&turntable_status_mbx, 1);
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}
}
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static void output(long data) {
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rt_printk("starting output task");
disable(ACTOR_EXIT);
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while (1) {
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receiveMail(&output_status_mbx);
int msg = receiveMailNonBlocking(&output_data_mbx);
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if(msg) {
enable(ACTOR_EXIT);
sleepStuff();
disable(ACTOR_EXIT);
}
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sendMail(&turntable_status_mbx, 1);
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}
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}
static int __init
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example_init(void) {
rt_set_oneshot_mode();
start_rt_timer(0);
modbus_init();
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rt_printk("init: task started\n");
if ((connection = rt_modbus_connect(node)) == -1) {
rt_printk("init: could not connect to %s\n", node);
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return 1;
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}
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rt_sem_init(&semaphore, 1);
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if (rt_task_init(&turntable_task, turntable, 0, 1024, 0, 0, NULL)) {
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printk("turntable: cannot initialize task\n");
goto fail;
}
if (rt_task_init(&drill_task, drill, 0, 1024, 0, 0, NULL)) {
printk("drill: cannot initialize task\n");
goto fail;
}
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if (rt_task_init(&output_task, output, 0, 1024, 0, 0, NULL)) {
printk("output: cannot initialize task\n");
goto fail;
}
if (rt_task_init(&tester_task, tester, 0, 1024, 0, 0, NULL)) {
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printk("tester: cannot initialize task\n");
goto fail;
}
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if (rt_mbx_init(&tester_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&output_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&drill_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&output_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&turntable_mbx, sizeof(int))) {
end(true);
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}
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rt_task_resume(&turntable_task);
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rt_task_resume(&drill_task);
rt_task_resume(&output_task);
rt_task_resume(&tester_task);
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printk("loaded module Bearbeiten2\n");
return (0);
fail:
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end(true);
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return (1);
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}
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static void __exit
example_exit(void) {
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end(false);
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printk("module Bearbeiten2 unloaded\n");
}
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module_exit(example_exit)
module_init(example_init)