From 7f23e3f9944c45282e80fa6296a1f10fca276b93 Mon Sep 17 00:00:00 2001
From: Johannes Theiner <j.theiner@live.de>
Date: Thu, 19 Nov 2020 12:22:01 +0100
Subject: [PATCH] comments fixed

---
 Bearbeiten2.c | 43 +++++++++++++++++++++----------------------
 1 file changed, 21 insertions(+), 22 deletions(-)

diff --git a/Bearbeiten2.c b/Bearbeiten2.c
index fccdcd9..9c8314f 100644
--- a/Bearbeiten2.c
+++ b/Bearbeiten2.c
@@ -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);