Studium/Echtzeitdatenverarbeitung
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This commit is contained in:
Johannes Theiner 2020-11-19 12:22:01 +01:00
parent a98fb8d2fd
commit 7f23e3f994
Signed by: joethei
GPG Key ID: 9D2B9A00FDA85BCD
1 changed files with 21 additions and 22 deletions
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43
Bearbeiten2.c
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@ -1,15 +1,15 @@
#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"
//#include "include/rtai_sem.h"
//#include "include/rtai_modbus.h"
//#include <stdbool.h>
#include "include/rtai_mbx.h"
#include "include/rtai_sched.h"
#include "include/rtai_sem.h"
#include "include/rtai_modbus.h"
#include <stdbool.h>
#include <uint128.h>
//#include <uint128.h>
#define SENSOR_PART_TURNTABLE 1<<0
#define SENSOR_PART_DRILL 1<<1
@ -48,10 +48,11 @@ void end(bool fail) {
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(&output_status_mbx);
rt_mbx_delete(&turntable_data_mbx);
rt_mbx_delete(&drill_data_mbx);
rt_mbx_delete(&output_data_mbx);
rt_sem_delete(&semaphore);
@ -64,10 +65,9 @@ void end(bool fail) {
}
/**
* readData all bits of the specified type
* read all bits of the specified type
* 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)
*/
@ -95,7 +95,6 @@ int readData(int part) {
/**
* 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
*/
void disable(int actor) {
@ -111,7 +110,6 @@ void disable(int actor) {
/**
* 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
*/
void enable(int actor) {
@ -149,13 +147,14 @@ int receiveMailNonBlocking(MBX * mailbox) {
return msg;
}
void sleepStuff(void) {
rt_sleep(1000 * nano2count(1000000));
void sleepMs(int ms) {
rt_sleep(ms * nano2count(1000000));
}
static void turntable(long data) {
rt_printk("started turntable task\n");
disable(ACTOR_TURNTABLE);
disable(ACTOR_ENTRANCE);
while (1) {
receiveMail(&turntable_status_mbx);
@ -165,10 +164,10 @@ static void turntable(long data) {
int msg1 = receiveMailNonBlocking(&turntable_data_mbx);
int msg2 = receiveMailNonBlocking(&turntable_data_mbx);
if(partOnTable || msg1 || msg2) {
enable(ACTOR_TURNTABLE);
sleepStuff();
enable(ACTOR_TURNTABLE);
sleepMs(1000);
disable(ACTOR_TURNTABLE);
sleepStuff();
sleepMs(1000);
}
sendMail(&tester_status_mbx, 1);
sendMail(&drill_status_mbx, 1);
@ -187,7 +186,7 @@ static void tester(long data) {
if(partOnTable) {
sendMailNonBlocking(&turntable_data_mbx, 1);
enable(ACTOR_TESTER);
sleepStuff();
sleepMs(1000);
int partNormal = readData(SENSOR_PART_TEST);
if(partNormal) {
sendMailNonBlocking(&drill_data_mbx, 1);
@ -228,7 +227,7 @@ static void drill(long data) {
do {
} while (readData(SENSOR_DRILL_DOWN) == 0);
}
sleepStuff();
sleepMs(1000);
disable(ACTOR_DRILL);
disable(ACTOR_DRILL_DOWN);
enable(ACTOR_DRILL_UP);
@ -256,7 +255,7 @@ static void output(long data) {
if(msg) {
enable(ACTOR_EXIT);
sleepStuff();
sleepMs(1000);
disable(ACTOR_EXIT);
}
sendMail(&turntable_status_mbx, 1);