Praktikum: abgabe

Bearbeiten2.c

@@ -1,15 +1,14 @@
-/*#include <rtai_mbx.h>
+#include <rtai_mbx.h>
 #include <rtai_sched.h>
 #include <rtai_sem.h>
-#include <sys/rtai_modbus.h>*/
+#include <sys/rtai_modbus.h>
 
-#include "include/rtai_mbx.h"
+//======================
-#include "include/rtai_sched.h"
+//Author: Charlotte Friedemann, Johannes Theiner
-#include "include/rtai_sem.h"
+//Description: Praktikum EZDV Gruppe A5(Bearbeiten 2)
-#include "include/rtai_modbus.h"
+//Created: 19.10.2020
-#include <stdbool.h>
+//Finished: 30.11.2020
-
+//======================
-//#include <uint128.h>
 
 #define SENSOR_PART_TURNTABLE 1<<0
 #define SENSOR_PART_DRILL 1<<1
@@ -39,6 +38,10 @@ int connection;
 
 char node[] = "modbus-node";
 
+/**
+ * deinitialize all tasks, mailboxes, modbus connections & semaphores
+ * @param fail should a error message be printed.
+ */
 void end(bool fail) {
     rt_modbus_disconnect(connection);
     rt_task_delete(&turntable_task);
@@ -59,7 +62,7 @@ void end(bool fail) {
     stop_rt_timer();
 
     if(fail) {
-        rt_printk("failed to read/send Modbus message.\n");
+        rt_printk("an error has occurred.\n");
         rt_printk("module needs to be restarted.\n");
     }
 }
@@ -77,14 +80,15 @@ int readAll(int type, int *result) {
 }
 
 /**
- *
+ * read a single bit for the specified part
  * this function is thread safe.
- * @param part
+ * @param part bitmask to read the sensor/actor
- * @return
+ * @return read bit.
  */
 int readData(int part) {
-    rt_sem_wait(&semaphore);
     int value = 0;
+	rt_sem_wait(&semaphore);
+	//the semaphore needs to be locked before this code executes, so we can't adhere to the ISO standard here.
     int code = readAll(DIGITAL_IN, &value);
     int result = (part & value);
     rt_sem_signal(&semaphore);
@@ -98,13 +102,14 @@ int readData(int part) {
  * @param actor bitmask of the actor to disable
  */
 void disable(int actor) {
-    rt_sem_wait(&semaphore);
 	int value = 0;
-    int code = readAll(DIGITAL_OUT, &value);
+    rt_sem_wait(&semaphore);
-    if(code) end(true);
+    if(readAll(DIGITAL_OUT, &value)) end(true);
+    else {
     	int result = rt_modbus_set(connection, DIGITAL_OUT, 0, value &= ~actor);
     	rt_sem_signal(&semaphore);
     	if (result) end(true);
+    }
 }
 
 /**
@@ -113,26 +118,41 @@ void disable(int actor) {
  * @param actor bitmask of the actor to enable
  */
 void enable(int actor) {
-    rt_sem_wait(&semaphore);
 	int output = 0;
-    int code = readAll(DIGITAL_OUT, &output);
+    rt_sem_wait(&semaphore);
-    if (code) end(true);
+    if (readAll(DIGITAL_OUT, &output)) end(true);
-    int result;
+    else {
-    result = rt_modbus_set(connection, DIGITAL_OUT, 0, output |= actor);
+    	int result = rt_modbus_set(connection, DIGITAL_OUT, 0, output |= actor);
     	rt_sem_signal(&semaphore);
     	if(result) end(true);
+    }
+
 }
 
+/**
+ * send a blocking message to the specified mailbox
+ * @param mailbox where should the message be send to ?
+ * @param msg message to send
+ */
 void sendMail(MBX * mailbox, int msg) {
     int mbxStatus = rt_mbx_send(mailbox, &msg, sizeof(int));
     if(mbxStatus == EINVAL) end(true);
 }
 
+/**
+ * send a non blocking message to the specified mailbox
+ * @param mailbox where should the message be send to ?
+ * @param msg message to send
+ */
 void sendMailNonBlocking(MBX * mailbox, int msg) {
     int mbxStatus = rt_mbx_send_if(mailbox, &msg, sizeof(int));
     if(mbxStatus == EINVAL) end(true);
 }
 
+/**
+ * receive a blocking message
+ * @param mailbox mailbox to receive the message
+ */
 int receiveMail(MBX * mailbox) {
     int msg = 0;
     int mbxStatus = rt_mbx_receive(mailbox, &msg, sizeof(int));
@@ -140,6 +160,10 @@ int receiveMail(MBX * mailbox) {
     return msg;
 }
 
+/**
+ * receive a non blocking message
+ * @param mailbox mailbox to receive the message
+ */
 int receiveMailNonBlocking(MBX * mailbox) {
     int msg = 0;
     int mbxStatus = rt_mbx_receive_if(mailbox, &msg, sizeof(int));
@@ -147,48 +171,81 @@ int receiveMailNonBlocking(MBX * mailbox) {
     return msg;
 }
 
+/**
+ * sleep for x milliseconds
+ * @param ms specified time to sleep in milliseconds.
+ */
 void sleepMs(int ms) {
     rt_sleep(ms * nano2count(1000000));
 }
 
+/**
+ * turntable task
+ */
 static void turntable(long data) {
+	int times = 0;
 	rt_printk("started turntable task\n");
+
+	//reset everything first
     disable(ACTOR_TURNTABLE);
     disable(ACTOR_ENTRANCE);
 
-    while (1) {
+    //throw out all parts that might be on the table.
-        receiveMail(&turntable_status_mbx);
+    do {
-        receiveMail(&turntable_status_mbx);
-        receiveMail(&turntable_status_mbx);
-        int partOnTable = readData(SENSOR_PART_TURNTABLE);
-        int msg1 = receiveMailNonBlocking(&turntable_data_mbx);
-        int msg2 = receiveMailNonBlocking(&turntable_data_mbx);
-        if(partOnTable || msg1 || msg2) {
     	enable(ACTOR_TURNTABLE);
     	sleepMs(1000);
     	disable(ACTOR_TURNTABLE);
-            sleepMs(1000);
+    	sleepMs(500);
+    	enable(ACTOR_EXIT);
+    	sleepMs(500);
+    	disable(ACTOR_EXIT);
+    	times++;
+    }while (times < 5);
+
+    //start processing
+    while (1) {
+    	//receive status mail from: tester, drill & output
+        receiveMail(&turntable_status_mbx);
+        receiveMail(&turntable_status_mbx);
+        receiveMail(&turntable_status_mbx);
+        //always read from mailbox to make sure that no overflow occurs.
+        int msg1 = receiveMailNonBlocking(&turntable_data_mbx);
+        int msg2 = receiveMailNonBlocking(&turntable_data_mbx);
+        if(readData(SENSOR_PART_TURNTABLE) || msg1 || msg2) {//if a part is on any of the sensors
+            enable(ACTOR_TURNTABLE);
+            sleepMs(100);
+			if (!readData(SENSOR_TURNTABLE_POS)) {
+				do {
+					sleepMs(10);
+				} while (readData(SENSOR_TURNTABLE_POS) == 0);
 			}
+        	disable(ACTOR_TURNTABLE);
+            sleepMs(500);
+        }
+        //send status mails
         sendMail(&tester_status_mbx, 1);
         sendMail(&drill_status_mbx, 1);
         sendMail(&output_status_mbx, 1);
     }
 }
 
+/**
+ * tester task
+ */
 static void tester(long data) {
     rt_printk("started tester task\n");
 
+    //reset everything first
 	disable(ACTOR_TESTER);
 	sendMail(&turntable_status_mbx, 1);
+	//start processing
     while (1) {
         receiveMail(&tester_status_mbx);
-    	int partOnTable = readData(SENSOR_PART_TESTER);
+    	if(readData(SENSOR_PART_TESTER)) {
-    	if(partOnTable) {
+    		sendMailNonBlocking(&turntable_data_mbx, 1);//turntable should turn on the next turn.
-    		sendMailNonBlocking(&turntable_data_mbx, 1);
     		enable(ACTOR_TESTER);
-            sleepMs(1000);
+            sleepMs(500);
-    		int partNormal = readData(SENSOR_PART_TEST);
+    		if(readData(SENSOR_PART_TEST)) {//should the drill be active on the next turn ?
-    		if(partNormal) {
     			sendMailNonBlocking(&drill_data_mbx, 1);
     		}else {
     			sendMailNonBlocking(&drill_data_mbx, 0);
@@ -199,7 +256,12 @@ static void tester(long data) {
     }
 }
 
+/**
+ * drill task
+ */
 static void drill(long data) {
+	rt_printk("started drill task\n");
+	//reset everything first
     disable(ACTOR_DRILL);
     disable(ACTOR_PART_HOLD);
     disable(ACTOR_DRILL_DOWN);
@@ -207,24 +269,23 @@ static void drill(long data) {
     enable(ACTOR_DRILL_UP);
     if (!readData(SENSOR_DRILL_UP)) {
         do {
+        	sleepMs(10);
         } while (readData(SENSOR_DRILL_UP) == 0);
     }
     disable(ACTOR_DRILL_UP);
     sendMail(&turntable_status_mbx, 1);
-
+    //start processing
     while (1) {
         receiveMail(&drill_status_mbx);
-    	int partOnTable = readData(SENSOR_PART_DRILL);
+    	if(readData(SENSOR_PART_DRILL)) {//if part is in drill
-    	int msg = receiveMailNonBlocking(&drill_data_mbx);
+    		sendMailNonBlocking(&turntable_data_mbx, 1);//turntable should be active on the next turn.
-    	if(partOnTable) {
+    		if(receiveMailNonBlocking(&drill_data_mbx)) {//read test result from mailbox
-    		sendMailNonBlocking(&turntable_data_mbx, 1);
-    		int msg = receiveMailNonBlocking(&drill_data_mbx);
-    		if(msg) {
     			enable(ACTOR_PART_HOLD);
     			enable(ACTOR_DRILL);
     			enable(ACTOR_DRILL_DOWN);
     			if (!readData(SENSOR_DRILL_DOWN)) {
     				do {
+    					sleepMs(10);
     			    } while (readData(SENSOR_DRILL_DOWN) == 0);
     			}
                 sleepMs(1000);
@@ -233,29 +294,32 @@ static void drill(long data) {
 				enable(ACTOR_DRILL_UP);
 				if (!readData(SENSOR_DRILL_UP)) {
 					do {
+						sleepMs(10);
 					} while (readData(SENSOR_DRILL_UP) == 0);
 				}
 				disable(ACTOR_DRILL_UP);
 				disable(ACTOR_PART_HOLD);
     		}
-    		sendMailNonBlocking(&output_data_mbx, 1);
+    		sendMailNonBlocking(&output_data_mbx, 1);//should the output be active on the next turn ?
     	}
-
-
     	sendMail(&turntable_status_mbx, 1);
     }
 }
 
+/**
+ * output task
+ */
 static void output(long data) {
+	rt_printk("started output task\n");
+	//reset everything first
     disable(ACTOR_EXIT);
     sendMail(&turntable_status_mbx, 1);
+    //start processing
     while (1) {
         receiveMail(&output_status_mbx);
-        int msg = receiveMailNonBlocking(&output_data_mbx);
+    	if(receiveMailNonBlocking(&output_data_mbx)) {//should the output be activated
-
-    	if(msg) {
     		enable(ACTOR_EXIT);
-            sleepMs(1000);
+            sleepMs(500);
     		disable(ACTOR_EXIT);
     	}
     	sendMail(&turntable_status_mbx, 1);