start refactor

Bearbeiten2.c

@@ -1,124 +1,129 @@
-/*
- * Beispiel: Grundgeruest einer Modbus-Kommunikation
- *
- * Aufbau einer Modbus-Kommunikation ohne weitere Funktion
- *
- */
-
 #include <rtai_mbx.h>
 #include <rtai_sched.h>
 
 #include <uint128.h>
 #include <sys/rtai_modbus.h>
 
+#define DEBUG 1
+
+#define SENSOR_PART_TURNTABLE 1<<0
+#define SENSOR_PART_DRILL 1<<1
+#define SENSOR_PART_MESURING 1<<2
+#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
+
 MODULE_LICENSE("GPL");
 
 static RT_TASK entry_task;
 
-/* Control Task */
+int readAll(int connection, int *value) {
+    if (rt_modbus_get(fd_node, DIGITAL_IN, 0, (unsigned short *) &value)) {
+        return 1;
+    }
+    return 0;
+}
+
+int read(int connection, int part, int *result) {
+    int value;
+    int code = readAll(connection, &value);
+    *result = (value & part) != 0;
+    return code;
+}
+
+int disable(int connection, int part) {
+    int value;
+    int code = readAll(connection, &value);
+    if (code) return code;
+    if (rt_modbus_set(connection, DIGITAL_OUT, output &= part))
+        return 1;
+    return 0;
+}
+
+int enable(int connection, int part) {
+    int value;
+    int code = readAll(connection, &value);
+    if (code) return code;
+    if (rt_modbus_set(connection, DIGITAL_OUT, output |= part))
+        return 1;
+    return 0;
+}
+
 static void
-entry(long x)
+turntable(long x) {
-{
+    int connection;
-	int fd_node;
+    int ready = 0;
-	int ready = 0;
 
-	rt_printk("control: task started\n");
+    rt_printk("turntable: task started\n");
 
-	/* Verbindung zum Modbus-Knoten herstellen */
+    if ((connection = rt_modbus_connect("modbus-node")) == -1) {
-	if ((fd_node = rt_modbus_connect("modbus-node")) == -1) {
+        rt_printk("turntable: task exited\n");
-		rt_printk("Acontrol: task exited\n");
+        return;
-		return;
+    }
-	}
+    rt_printk("turntable: MODBUS communication opened\n");
-	rt_printk("control: MODBUS communication opened\n");
 
-	while(1) {
+    while (1) {
-		int value = 0;
+        int partOnTable;
-		int output = 0;
+        if (read(connection, SENSOR_PART_TURNTABLE, &partOnTable)) goto fail;
-		if(rt_modbus_get(fd_node, DIGITAL_IN, 0, (unsigned short *) &value))
-			goto fail;
-		if(rt_modbus_get(fd_node, DIGITAL_OUT, 0, (unsigned short *) &output))
-					goto fail;
 
-		if(value >32) {
+        if (partOnTable) {
-			rt_printk("halloo welt");
+            rt_printk("halloo welt");
-		if(rt_modbus_set(fd_node, DIGITAL_OUT, 0, output |= 0b00000010))
+            if (enable(connection, ACTOR_TURNTABLE)) goto fail;
-			goto fail;
 
+        } else {
+            if (disable(connection, ACTOR_TURNTABLE)) goto fail;
+        }
 
-//		if(rt_modbus_set(fd_node, DIGITAL_IN, 0, 00000000))
+        if (ready)
-//			goto fail;
+            goto fail;
-//		}
-		}else {
-			if(rt_modbus_set(fd_node, DIGITAL_OUT, 0, output &= 0b00000000))
-				goto fail;
-		}
 
-		/* Evtl. Ausgang zum Aufraemen */
+        rt_sleep(1000 * nano2count(1000000));
-		if (ready)
+    }
-			goto fail;
-
-		/* Fair zu Linux sein und Zeit abgeben */
-		rt_sleep(1000 * nano2count(1000000));
-	}
 
 /* Aufraeumen */
-fail:
+    fail:
-	rt_modbus_disconnect(fd_node);
+    rt_modbus_disconnect(connection);
-	rt_printk("control: task exited\n");
+    rt_printk("turntable: task exited with failure\n");
 }
 
-/* Funktion die beim Entfernen des Moduls aufgerufen wird */
 static void __exit
-example_exit(void)
+
-{
+example_exit(void) {
-	/* Task loeschen */
+    rt_task_delete(&entry_task);
-	rt_task_delete(&entry_task);
+    stop_rt_timer();
-	/* Timer stoppen */
+    printk("module Bearbeiten2 unloaded\n");
-	stop_rt_timer();
-	printk("rtai_example unloaded\n");
 }
 
-/* Funktion die beim Laden des Moduls aufgerufen wird */
 static int __init
-example_init(void)
-{
-	/* variables Timing basierend auf dem CPU-Takt */
-	rt_set_oneshot_mode();
-	/* Timer starten */
-	start_rt_timer(0);
-	/* Modbuskommunikation initialisieren */
-	modbus_init();
 
-	/* Taskinitialisierung
+example_init(void) {
-	 *
+    rt_set_oneshot_mode();
-	 * &task = Adresse des zu initialisierenden TCB
+    start_rt_timer(0);
-	 * control = zum Task gehörende Funktion
+    modbus_init();
-	 * 0 = Uebergabeparameter an die zum Task gehoerende Funktion (long)
-	 * 1024 = Stacksize
-	 * 0 = Priorität des Tasks (0 = groesste)
-	 * 0 = uses_fpu (Fliesskommaeinheit nicht benutzen); im Praktikum sollte es 0 bleiben
-	 * NULL = &signal_handler; Referenz zu einer Fkt., die bei jeder Aktivierung
-	 * des Tasks aufgerufen wird, ansonsten NULL
-	 *
-	 * Achtung: Nach der Initialisierung ist der Task "suspended"!
-	 *
-	 */
-	if (rt_task_init(&entry_task, entry, 0, 1024, 0, 0, NULL)) {
-		printk("cannot initialize control task\n");
-		goto fail;
-	}
 
-	/* suspend -> ready bzw. running */
+    if (rt_task_init(&entry_task, entry, 0, 1024, 0, 0, NULL)) {
-	rt_task_resume(&entry_task);
+        printk("cannot initialize control task\n");
-	printk("rtai_example loaded\n");
+        goto fail;
-	return (0);
+    }
 
-fail:
+    rt_task_resume(&entry_task);
-	/* Aufraeumen */
+    printk("loaded module Bearbeiten2\n");
-	stop_rt_timer();
+    return (0);
-	return (1);
+
+    fail:
+    stop_rt_timer();
+    return (1);
 }
 
-/* Modulein- und ausstieg festlegen */
 module_exit(example_exit)
 module_init(example_init)