From 810311fabb5568c198e92540b94e3b70b808c14c Mon Sep 17 00:00:00 2001 From: Johannes Theiner Date: Wed, 28 Oct 2020 14:30:09 +0100 Subject: [PATCH] ~ diagram update ~ Vereinfachungen --- Bearbeiten2.c | 44 ++++++++++++++++++++------------------------ diagram.puml | 19 +++++++++---------- 2 files changed, 29 insertions(+), 34 deletions(-) diff --git a/Bearbeiten2.c b/Bearbeiten2.c index f7c8931..827a22a 100644 --- a/Bearbeiten2.c +++ b/Bearbeiten2.c @@ -3,6 +3,7 @@ #include #include +#include #include "include/rtai_lxrt.h" #include "include/rtai_modbus.h" #include "include/rtai_sem.h" @@ -35,7 +36,7 @@ int connection; char node[] = "modbus-node"; -void fail() { +void end(bool fail) { rt_modbus_disconnect(connection); rt_task_delete(&turntable_task); rt_task_delete(&tester_task); @@ -48,8 +49,10 @@ void fail() { stop_rt_timer(); - rt_printk("failed to read/send Modbus message.\n"); - rt_printk("module needs to be restarted.\n"); + if(fail) { + rt_printk("failed to read/send Modbus message.\n"); + rt_printk("module needs to be restarted.\n"); + } } /** @@ -72,13 +75,15 @@ int readAll(int type, int *result) { * @param result value to write the result to * @return status code(0: success, 1: failure) */ -int readData(int part, int *result) { +int readData(int part) { rt_sem_wait(&semaphore); int value; + int * result; int code = readAll(DIGITAL_IN, &value); *result = (value & part) != 0; rt_sem_signal(&semaphore); - return code; + if(code) end(true); + return *result; } /** @@ -91,10 +96,10 @@ void disable(int actor) { rt_sem_wait(&semaphore); int value; int code = readAll(DIGITAL_OUT, &value); - if(code) fail(); + if(code) end(true); int result = rt_modbus_set(connection, DIGITAL_OUT, value &= ~actor) rt_sem_signal(&semaphore); - if (result) fail(); + if (result) end(true); } /** @@ -107,10 +112,10 @@ void enable(int actor) { rt_sem_wait(&semaphore); int output; int code = readAll(DIGITAL_OUT, &output); - if (code) fail(); + if (code) end(true); int result = rt_modbus_set(connection, DIGITAL_OUT, output |= actor) rt_sem_signal(&semaphore); - if(result) fail(); + if(result) end(true); } void sleepStuff() { @@ -123,8 +128,7 @@ static void turntable(long x) { disable(ACTOR_TURNTABLE); while (1) { - int partOnTable; - readData(SENSOR_PART_TURNTABLE, &partOnTable); + int partOnTable = readData(SENSOR_PART_TURNTABLE); if (partOnTable) { enable(ACTOR_TURNTABLE); @@ -148,12 +152,10 @@ static void drill(long x) { enable(ACTOR_DRILL_UP); rt_sem_wait(&semaphore); - int drill_up = 0; - readData(SENSOR_DRILL_UP, drill_up); - if (!drill_up) { + + if (!readData(SENSOR_DRILL_UP)) { do { - readData(SENSOR_DRILL_UP, drill_up); - } while (drill_up == 0); + } while (readData(SENSOR_DRILL_UP) == 0); } rt_sem_signal(&semaphore); disable(ACTOR_DRILL_UP); @@ -185,7 +187,6 @@ example_init(void) { start_rt_timer(0); modbus_init(); - rt_printk("init: task started\n"); if ((connection = rt_modbus_connect(node)) == -1) { rt_printk("init: could not connect to %s\n", node); @@ -216,18 +217,13 @@ example_init(void) { return (0); fail: - stop_rt_timer(); + end(true); return (1); } static void __exit example_exit(void) { - rt_task_delete(&turntable_task); - rt_task_delete(&drill_task); - rt_task_delete(&tester_task); - rt_task_delete(&output_task); - stop_rt_timer(); - rt_sem_delete(&semaphore); + end(false); printk("module Bearbeiten2 unloaded\n"); } diff --git a/diagram.puml b/diagram.puml index 156f403..54a8490 100644 --- a/diagram.puml +++ b/diagram.puml @@ -25,9 +25,9 @@ while(Dauerschleife) is (true) if(Werkstück vorhanden ?) then (true) :Prüfer ausfahren; if(Werkstück Normallage ?) then (true) - :Bohrer(on)> + :Sende Bohrer(on)> else (false) - :Bohrer(off)> + :Sende Bohrer(off)> endif :Prüfer einfahren; else (false) @@ -46,18 +46,17 @@ start while(Dauerschleife) is (true) if(Werkstück vorhanden?) then(true) - :Bohrer< - :Auswerfer> - if(Teil in Normallage) then(true) + :Empfange Lage des Werkstücks< + :Sende Auswerfer> + if(Teil in Normallage?) then(true) :Werkstück festhalten; :Bohrer anschalten; :Bohrer herunterfahren; - :sleep 500ms; + :Warte bis Bohrer unten; :Bohrer hochfahren; - - - :Bohrer ausschalten; - :Werkstück loslassen; + :Warte bis Bohrer oben; + :Bohrer ausschalten; + :Werkstück loslassen; else(false) endif