praktikum

This commit is contained in:
Johannes Theiner 2020-11-02 11:31:29 +01:00
parent 810311fabb
commit 83ce4c4c1b
2 changed files with 138 additions and 57 deletions

View File

@ -1,17 +1,13 @@
#include <rtai_mbx.h>
#include <rtai_sched.h>
#include <rtai_sem.h>
#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"
#include "include/rtai_mbx.h"
#define SENSOR_PART_TURNTABLE 1<<0
#define SENSOR_PART_DRILL 1<<1
#define SENSOR_PART_MESURING 1<<2
#define SENSOR_PART_TESTER 1<<2
#define SENSOR_DRILL_UP 1<<3
#define SENSOR_DRILL_DOWN 1<<4
#define SENSOR_TURNTABLE_POS 1<<5
@ -29,7 +25,7 @@
MODULE_LICENSE("GPL");
static RT_TASK turntable_task, drill_task, tester_task, output_task;
static MBX tester_mbx, output_mbx;
static MBX tester_mbx, output_mbx, drill_mbx, turntable_mbx;
static SEM semaphore;
int connection;
@ -64,26 +60,26 @@ void end(bool fail) {
* @return status code(0: success, 1: failure)
*/
int readAll(int type, int *result) {
return rt_modbus_get(connection, type, 0, (unsigned short *) &result));
int res = rt_modbus_get(connection, type, 0, (unsigned short *) result);
//rt_printk("%d\n", res);
//rt_printk("%d", &result);
return res;
}
/**
*
* this function is thread safe.
* @param connection
* @param part
* @param result value to write the result to
* @return status code(0: success, 1: failure)
* @return
*/
int readData(int part) {
rt_sem_wait(&semaphore);
int value;
int * result;
int value = 0;
int code = readAll(DIGITAL_IN, &value);
*result = (value & part) != 0;
int result = (part & value);
rt_sem_signal(&semaphore);
if(code) end(true);
return *result;
return result;
}
/**
@ -94,10 +90,10 @@ int readData(int part) {
*/
void disable(int actor) {
rt_sem_wait(&semaphore);
int value;
int value = 0;
int code = readAll(DIGITAL_OUT, &value);
if(code) end(true);
int result = rt_modbus_set(connection, DIGITAL_OUT, value &= ~actor)
int result = rt_modbus_set(connection, DIGITAL_OUT, 0, value &= ~actor);
rt_sem_signal(&semaphore);
if (result) end(true);
}
@ -110,72 +106,135 @@ void disable(int actor) {
*/
void enable(int actor) {
rt_sem_wait(&semaphore);
int output;
int output = 0;
int code = readAll(DIGITAL_OUT, &output);
if (code) end(true);
int result = rt_modbus_set(connection, DIGITAL_OUT, output |= actor)
int result;
result = rt_modbus_set(connection, DIGITAL_OUT, 0, output |= actor);
rt_sem_signal(&semaphore);
if(result) end(true);
}
void sleepStuff() {
void sleepStuff(void) {
rt_sleep(1000 * nano2count(1000000));
}
static void turntable(long x) {
rt_printk("turntable: MODBUS communication opened\n");
static void turntable(long data) {
// rt_printk("started turntable task");
// disable(ACTOR_TURNTABLE);
//
// while (1) {
// int partOnTable = readData(SENSOR_PART_TURNTABLE);
// rt_printk("%d", partOnTable);
// if (partOnTable) {
// enable(ACTOR_TURNTABLE);
// } else {
// disable(ACTOR_TURNTABLE);
// }
//
// sleepStuff();
// }
while (1) {
disable(ACTOR_TURNTABLE);
while (1) {
int partOnTable = readData(SENSOR_PART_TURNTABLE);
if (partOnTable) {
enable(ACTOR_TURNTABLE);
} else {
disable(ACTOR_TURNTABLE);
}
rt_task_resume(&drill_task);
rt_task_resume(&tester_task);
rt_task_resume(&output_task);
}
sleepStuff();
}
}
static void drill(long x) {
static void tester(long data) {
disable(ACTOR_TESTER);
while (1) {
int partOnTable = readData(SENSOR_PART_TESTER);
rt_printk("part: %d\n", partOnTable);
if(partOnTable) {
enable(ACTOR_TESTER);
sleepStuff();
int partNormal = readData(SENSOR_PART_TEST);
if(partNormal) {
//nachricht bohrer(ON)
int msg = 1;
int mbxStatus = rt_mbx_send(&drill_mbx, &msg, sizeof(int));
if(mbxStatus) end(true);
} else {
//nachricht bohrer(OFF)
int msg = 0;
int mbxStatus = rt_mbx_send(&drill_mbx, &msg, sizeof(int));
if(mbxStatus) end(true);
}
rt_printk("normal %d\n", partNormal);
disable(ACTOR_TESTER);
//Nachricht drehteller
}
sleepStuff();
}
}
static void drill(long data) {
rt_printk("drill: MODBUS communication opened\n");
disable(ACTOR_DRILL);
disable(ACTOR_PART_HOLD);
disable(ACTOR_DRILL_DOWN);
rt_printk("hello");
enable(ACTOR_DRILL_UP);
rt_sem_wait(&semaphore);
if (!readData(SENSOR_DRILL_UP)) {
do {
} while (readData(SENSOR_DRILL_UP) == 0);
}
rt_sem_signal(&semaphore);
disable(ACTOR_DRILL_UP);
while (1) {
int part = readData(SENSOR_PART_DRILL);
if(part) {
int msg = 0;
int mbxStatus = rt_mbx_receive(&drill_mbx, &msg, sizeof(int));
if(mbxStatus) end(true);
if(msg) {
enable(ACTOR_PART_HOLD);
enable(ACTOR_DRILL);
enable(ACTOR_DRILL_DOWN);
if (!readData(SENSOR_DRILL_DOWN)) {
do {
} while (readData(SENSOR_DRILL_DOWN) == 0);
}
sleepStuff();
disable(ACTOR_PART_HOLD);
disable(ACTOR_DRILL);
disable(ACTOR_DRILL_DOWN);
enable(ACTOR_DRILL_UP);
if (!readData(SENSOR_DRILL_UP)) {
do {
} while (readData(SENSOR_DRILL_UP) == 0);
}
disable(ACTOR_DRILL_UP);
}
}
int msg = part;
int mbxStatus = rt_mbx_send(&output_mbx, &msg, sizeof(int));
if(mbxStatus) end(true);
sleepStuff();
}
}
static void tester(long x) {
static void output(long data) {
while (1) {
//turntable msg
sleepStuff();
}
}
int msg = 0;
int mbxStatus = rt_mbx_receive(&output_mbx, &msg, sizeof(int));
if(mbxStatus) end(true);
static void output(long x) {
while (1) {
if(msg) {
enable(ACTOR_EXIT);
sleepStuff();
disable(ACTOR_EXIT);
}
//nachricht an turntable
sleepStuff();
}
@ -190,12 +249,12 @@ example_init(void) {
rt_printk("init: task started\n");
if ((connection = rt_modbus_connect(node)) == -1) {
rt_printk("init: could not connect to %s\n", node);
return;
return 1;
}
rt_sem_init(&semaphore, 1);
if (rt_task_init(&turntable_task, turntable, 0, 1024, 10, 0, NULL)) {
if (rt_task_init(&turntable_task, turntable, 0, 1024, 0, 0, NULL)) {
printk("turntable: cannot initialize task\n");
goto fail;
}
@ -203,16 +262,35 @@ example_init(void) {
printk("drill: cannot initialize task\n");
goto fail;
}
if (rt_task_init(&turntable_task, tester, 0, 1024, 0, 0, NULL)) {
if (rt_task_init(&output_task, output, 0, 1024, 0, 0, NULL)) {
printk("output: cannot initialize task\n");
goto fail;
}
if (rt_task_init(&tester_task, tester, 0, 1024, 0, 0, NULL)) {
printk("tester: cannot initialize task\n");
goto fail;
}
if (rt_task_init(&turntable_task, output, 0, 1024, 0, 0, NULL)) {
printk("output: cannot initialize task\n");
goto fail;
if (rt_mbx_init(&tester_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&output_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&drill_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&output_mbx, sizeof(int))) {
end(true);
}
if (rt_mbx_init(&turntable_mbx, sizeof(int))) {
end(true);
}
rt_task_resume(&turntable_task);
rt_task_resume(&drill_task);
rt_task_resume(&output_task);
rt_task_resume(&tester_task);
printk("loaded module Bearbeiten2\n");
return (0);

View File

@ -7,6 +7,9 @@ start
:Drehteller ausschalten;
while(Dauerschleife) is (true)
:Prüfer fertig?<
:Bohrer fertig?<
:Auswerfer fertig?<
if(Sensor aktiv ?) then (true)
:Drehteller anschalten;
else (false)
@ -32,7 +35,7 @@ while(Dauerschleife) is (true)
:Prüfer einfahren;
else (false)
endif
:Prüfer fertig>
endwhile (false)
stop
}
@ -62,7 +65,7 @@ if(Werkstück vorhanden?) then(true)
else (false)
endif
:Bohrer fertig>
endwhile(false)
stop
@ -77,7 +80,7 @@ while(Dauerschleife) is (true)
:Auswerfer<
:Auswerfen;
:Auswerfer fertig>
endwhile(false)
stop