~ diagram update

~ Vereinfachungen

Bearbeiten2.c

@@ -3,6 +3,7 @@
 
 #include <uint128.h>
 #include <sys/rtai_modbus.h>
+#include <stdbool.h>
 #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();
 
+    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;
+        int partOnTable = readData(SENSOR_PART_TURNTABLE);
-        readData(SENSOR_PART_TURNTABLE, &partOnTable);
         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 (!readData(SENSOR_DRILL_UP)) {
-    if (!drill_up) {
         do {
-            readData(SENSOR_DRILL_UP, drill_up);
+        } while (readData(SENSOR_DRILL_UP) == 0);
-        } while (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);
+    end(false);
-    rt_task_delete(&drill_task);
-    rt_task_delete(&tester_task);
-    rt_task_delete(&output_task);
-    stop_rt_timer();
-    rt_sem_delete(&semaphore);
     printk("module Bearbeiten2 unloaded\n");
 }
 

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)
@@ -46,16 +46,15 @@ start
 while(Dauerschleife) is (true)
 
 if(Werkstück vorhanden?) then(true)
-    :Bohrer<
+    :Empfange Lage des Werkstücks<
-    :Auswerfer>
+    :Sende Auswerfer>
-    if(Teil in Normallage) then(true)
+    if(Teil in Normallage?) then(true)
         :Werkstück festhalten;
         :Bohrer anschalten;
         :Bohrer herunterfahren;
-        :sleep 500ms;
+        :Warte bis Bohrer unten;
         :Bohrer hochfahren;
-
+        :Warte bis Bohrer oben;
-
         :Bohrer ausschalten;
         :Werkstück loslassen;
     else(false)