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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_sched.h>
#include <rtai_sem.h> #include <rtai_sem.h>
#include <sys/rtai_modbus.h> #include <sys/rtai_modbus.h>*/
//#include "include/rtai_mbx.h" #include "include/rtai_mbx.h"
//#include "include/rtai_sched.h" #include "include/rtai_sched.h"
//#include "include/rtai_sem.h" #include "include/rtai_sem.h"
//#include "include/rtai_modbus.h" #include "include/rtai_modbus.h"
//#include <stdbool.h> #include <stdbool.h>
#include <uint128.h> //#include <uint128.h>
#define SENSOR_PART_TURNTABLE 1<<0 #define SENSOR_PART_TURNTABLE 1<<0
#define SENSOR_PART_DRILL 1<<1 #define SENSOR_PART_DRILL 1<<1
@ -48,10 +48,11 @@ void end(bool fail) {
rt_mbx_delete(&turntable_status_mbx); rt_mbx_delete(&turntable_status_mbx);
rt_mbx_delete(&tester_status_mbx); rt_mbx_delete(&tester_status_mbx);
rt_mbx_delete(&output_status_mbx);
rt_mbx_delete(&drill_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(&drill_data_mbx);
rt_mbx_delete(&output_data_mbx);
rt_sem_delete(&semaphore); 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. * this function is *not* thread safe.
* @param type (DIGITAL_IN, DIGITAL_OUT, ANALOG_IN, ANALOG_OUT) * @param type (DIGITAL_IN, DIGITAL_OUT, ANALOG_IN, ANALOG_OUT)
* @param connection modbus connection id
* @param result value to write the result to * @param result value to write the result to
* @return status code(0: success, 1: failure) * @return status code(0: success, 1: failure)
*/ */
@ -95,7 +95,6 @@ int readData(int part) {
/** /**
* disable a specified actor of the system. * disable a specified actor of the system.
* this function is thread safe. * this function is thread safe.
* @param connection modbus connection id
* @param actor bitmask of the actor to disable * @param actor bitmask of the actor to disable
*/ */
void disable(int actor) { void disable(int actor) {
@ -111,7 +110,6 @@ void disable(int actor) {
/** /**
* enable one specified actor of the system. * enable one specified actor of the system.
* this function is thread safe. * this function is thread safe.
* @param connection modbus connection id
* @param actor bitmask of the actor to enable * @param actor bitmask of the actor to enable
*/ */
void enable(int actor) { void enable(int actor) {
@ -149,13 +147,14 @@ int receiveMailNonBlocking(MBX * mailbox) {
return msg; return msg;
} }
void sleepStuff(void) { void sleepMs(int ms) {
rt_sleep(1000 * nano2count(1000000)); rt_sleep(ms * nano2count(1000000));
} }
static void turntable(long data) { static void turntable(long data) {
rt_printk("started turntable task\n"); rt_printk("started turntable task\n");
disable(ACTOR_TURNTABLE); disable(ACTOR_TURNTABLE);
disable(ACTOR_ENTRANCE);
while (1) { while (1) {
receiveMail(&turntable_status_mbx); receiveMail(&turntable_status_mbx);
@ -165,10 +164,10 @@ static void turntable(long data) {
int msg1 = receiveMailNonBlocking(&turntable_data_mbx); int msg1 = receiveMailNonBlocking(&turntable_data_mbx);
int msg2 = receiveMailNonBlocking(&turntable_data_mbx); int msg2 = receiveMailNonBlocking(&turntable_data_mbx);
if(partOnTable || msg1 || msg2) { if(partOnTable || msg1 || msg2) {
enable(ACTOR_TURNTABLE); enable(ACTOR_TURNTABLE);
sleepStuff(); sleepMs(1000);
disable(ACTOR_TURNTABLE); disable(ACTOR_TURNTABLE);
sleepStuff(); sleepMs(1000);
} }
sendMail(&tester_status_mbx, 1); sendMail(&tester_status_mbx, 1);
sendMail(&drill_status_mbx, 1); sendMail(&drill_status_mbx, 1);
@ -187,7 +186,7 @@ static void tester(long data) {
if(partOnTable) { if(partOnTable) {
sendMailNonBlocking(&turntable_data_mbx, 1); sendMailNonBlocking(&turntable_data_mbx, 1);
enable(ACTOR_TESTER); enable(ACTOR_TESTER);
sleepStuff(); sleepMs(1000);
int partNormal = readData(SENSOR_PART_TEST); int partNormal = readData(SENSOR_PART_TEST);
if(partNormal) { if(partNormal) {
sendMailNonBlocking(&drill_data_mbx, 1); sendMailNonBlocking(&drill_data_mbx, 1);
@ -228,7 +227,7 @@ static void drill(long data) {
do { do {
} while (readData(SENSOR_DRILL_DOWN) == 0); } while (readData(SENSOR_DRILL_DOWN) == 0);
} }
sleepStuff(); sleepMs(1000);
disable(ACTOR_DRILL); disable(ACTOR_DRILL);
disable(ACTOR_DRILL_DOWN); disable(ACTOR_DRILL_DOWN);
enable(ACTOR_DRILL_UP); enable(ACTOR_DRILL_UP);
@ -256,7 +255,7 @@ static void output(long data) {
if(msg) { if(msg) {
enable(ACTOR_EXIT); enable(ACTOR_EXIT);
sleepStuff(); sleepMs(1000);
disable(ACTOR_EXIT); disable(ACTOR_EXIT);
} }
sendMail(&turntable_status_mbx, 1); sendMail(&turntable_status_mbx, 1);