diff --git a/Bearbeiten2.c b/Bearbeiten2.c index 827a22a..b740bb7 100644 --- a/Bearbeiten2.c +++ b/Bearbeiten2.c @@ -1,17 +1,13 @@ #include #include +#include #include #include -#include -#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); diff --git a/diagram.puml b/diagram.puml index 54a8490..f8fa71b 100644 --- a/diagram.puml +++ b/diagram.puml @@ -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