Praktikum: funktionierende version
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Bearbeiten2.c
116
Bearbeiten2.c
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@ -1,13 +1,13 @@
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//#include <rtai_mbx.h>
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//#include <rtai_sched.h>
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//#include <rtai_sem.h>
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//#include <sys/rtai_modbus.h>
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#include <rtai_mbx.h>
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#include <rtai_sched.h>
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#include <rtai_sem.h>
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#include <sys/rtai_modbus.h>
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#include "include/rtai_mbx.h"
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#include "include/rtai_sched.h"
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#include "include/rtai_sem.h"
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#include "include/rtai_modbus.h"
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#include <stdbool.h>
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//#include "include/rtai_mbx.h"
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//#include "include/rtai_sched.h"
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//#include "include/rtai_sem.h"
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//#include "include/rtai_modbus.h"
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//#include <stdbool.h>
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#include <uint128.h>
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@ -32,7 +32,7 @@ MODULE_LICENSE("GPL");
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static RT_TASK turntable_task, drill_task, tester_task, output_task;
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static MBX turntable_status_mbx, tester_status_mbx, output_status_mbx, drill_status_mbx;
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static MBX output_data_mbx, drill_data_mbx;
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static MBX output_data_mbx, drill_data_mbx, turntable_data_mbx;
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static SEM semaphore;
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int connection;
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@ -61,7 +61,6 @@ void end(bool fail) {
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rt_printk("failed to read/send Modbus message.\n");
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rt_printk("module needs to be restarted.\n");
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}
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exit(-1);
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}
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/**
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@ -128,25 +127,25 @@ void enable(int actor) {
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void sendMail(MBX * mailbox, int msg) {
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int mbxStatus = rt_mbx_send(mailbox, &msg, sizeof(int));
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if(mbxStatus) end(true);
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if(mbxStatus == EINVAL) end(true);
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}
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void sendMailNonBlocking(MBX * mailbox, int msg) {
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int mbxStatus = rt_mbx_send_if(mailbox, &msg, sizeof(int));
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if(mbxStatus) end(true);
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if(mbxStatus == EINVAL) end(true);
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}
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int receiveMail(MBX * mailbox) {
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int msg = 0;
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int mbxStatus = rt_mbx_receive(mailbox, &msg, sizeof(int));
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if(mbxStatus) end(true);
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if(mbxStatus == EINVAL) end(true);
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return msg;
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}
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int receiveMailNonBlocking(MBX * mailbox) {
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int msg = 0;
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int mbxStatus = rt_mbx_receive_if(mailbox, &msg, sizeof(int));
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if(mbxStatus) end(true);
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if(mbxStatus == EINVAL) end(true);
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return msg;
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}
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@ -155,7 +154,7 @@ void sleepStuff(void) {
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}
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static void turntable(long data) {
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rt_printk("started turntable task");
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rt_printk("started turntable task\n");
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disable(ACTOR_TURNTABLE);
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while (1) {
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@ -163,9 +162,14 @@ static void turntable(long data) {
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receiveMail(&turntable_status_mbx);
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receiveMail(&turntable_status_mbx);
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int partOnTable = readData(SENSOR_PART_TURNTABLE);
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rt_printk("%d", partOnTable);
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enable(ACTOR_TURNTABLE);
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disable(ACTOR_TURNTABLE);
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int msg1 = receiveMailNonBlocking(&turntable_data_mbx);
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int msg2 = receiveMailNonBlocking(&turntable_data_mbx);
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if(partOnTable || msg1 || msg2) {
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enable(ACTOR_TURNTABLE);
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sleepStuff();
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disable(ACTOR_TURNTABLE);
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sleepStuff();
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}
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sendMail(&tester_status_mbx, 1);
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sendMail(&drill_status_mbx, 1);
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sendMail(&output_status_mbx, 1);
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@ -173,23 +177,23 @@ static void turntable(long data) {
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}
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static void tester(long data) {
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rt_printk("started tester task");
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rt_printk("started tester task\n");
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disable(ACTOR_TESTER);
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sendMail(&turntable_status_mbx, 1);
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while (1) {
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receiveMail(&tester_status_mbx);
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int partOnTable = readData(SENSOR_PART_TESTER);
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rt_printk("part: %d\n", partOnTable);
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if(partOnTable) {
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sendMailNonBlocking(&turntable_data_mbx, 1);
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enable(ACTOR_TESTER);
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sleepStuff();
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int partNormal = readData(SENSOR_PART_TEST);
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if(partNormal) {
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sendMail(&drill_data_mbx, 1);
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} else {
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sendMail(&drill_data_mbx, 0);
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sendMailNonBlocking(&drill_data_mbx, 1);
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}else {
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sendMailNonBlocking(&drill_data_mbx, 0);
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}
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rt_printk("normal %d\n", partNormal);
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disable(ACTOR_TESTER);
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}
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sendMail(&turntable_status_mbx, 1);
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@ -197,11 +201,9 @@ static void tester(long data) {
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}
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static void drill(long data) {
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rt_printk("starting drill task");
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disable(ACTOR_DRILL);
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disable(ACTOR_PART_HOLD);
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disable(ACTOR_DRILL_DOWN);
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rt_printk("hello");
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enable(ACTOR_DRILL_UP);
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if (!readData(SENSOR_DRILL_UP)) {
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@ -209,11 +211,14 @@ static void drill(long data) {
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} while (readData(SENSOR_DRILL_UP) == 0);
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}
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disable(ACTOR_DRILL_UP);
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sendMail(&turntable_status_mbx, 1);
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while (1) {
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receiveMail(&drill_status_mbx);
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int part = readData(SENSOR_PART_DRILL);
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if(part) {
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int partOnTable = readData(SENSOR_PART_DRILL);
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int msg = receiveMailNonBlocking(&drill_data_mbx);
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if(partOnTable) {
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sendMailNonBlocking(&turntable_data_mbx, 1);
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int msg = receiveMailNonBlocking(&drill_data_mbx);
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if(msg) {
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enable(ACTOR_PART_HOLD);
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@ -224,7 +229,6 @@ static void drill(long data) {
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} while (readData(SENSOR_DRILL_DOWN) == 0);
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}
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sleepStuff();
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disable(ACTOR_PART_HOLD);
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disable(ACTOR_DRILL);
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disable(ACTOR_DRILL_DOWN);
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enable(ACTOR_DRILL_UP);
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@ -233,17 +237,19 @@ static void drill(long data) {
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} while (readData(SENSOR_DRILL_UP) == 0);
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}
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disable(ACTOR_DRILL_UP);
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disable(ACTOR_PART_HOLD);
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}
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sendMailNonBlocking(&output_data_mbx, 1);
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}
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sendMailNonBlocking(&output_data_mbx, 1);
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sendMail(&turntable_status_mbx, 1);
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}
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}
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static void output(long data) {
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rt_printk("starting output task");
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disable(ACTOR_EXIT);
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sendMail(&turntable_status_mbx, 1);
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while (1) {
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receiveMail(&output_status_mbx);
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int msg = receiveMailNonBlocking(&output_data_mbx);
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@ -263,63 +269,65 @@ example_init(void) {
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start_rt_timer(0);
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modbus_init();
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rt_printk("init: task started\n");
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rt_printk("init: started\n");
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if ((connection = rt_modbus_connect(node)) == -1) {
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rt_printk("init: could not connect to %s\n", node);
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return 1;
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return -1;
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}
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rt_sem_init(&semaphore, 1);
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if (rt_task_init(&turntable_task, turntable, 0, 1024, 0, 0, NULL)) {
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printk("turntable: cannot initialize task\n");
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goto fail;
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rt_printk("turntable: cannot initialize task\n");
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end(true);
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}
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if (rt_task_init(&drill_task, drill, 0, 1024, 0, 0, NULL)) {
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printk("drill: cannot initialize task\n");
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goto fail;
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rt_printk("drill: cannot initialize task\n");
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end(true);
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}
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if (rt_task_init(&output_task, output, 0, 1024, 0, 0, NULL)) {
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printk("output: cannot initialize task\n");
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goto fail;
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rt_printk("output: cannot initialize task\n");
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end(true);
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}
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if (rt_task_init(&tester_task, tester, 0, 1024, 0, 0, NULL)) {
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printk("tester: cannot initialize task\n");
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goto fail;
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rt_printk("tester: cannot initialize task\n");
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end(true);
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}
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if (rt_mbx_init(&tester_mbx, sizeof(int))) {
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if (rt_mbx_init(&turntable_status_mbx, sizeof(int))) {
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end(true);
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}
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if (rt_mbx_init(&output_mbx, sizeof(int))) {
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if (rt_mbx_init(&tester_status_mbx, sizeof(int))) {
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end(true);
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}
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if (rt_mbx_init(&drill_mbx, sizeof(int))) {
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if (rt_mbx_init(&drill_status_mbx, sizeof(int))) {
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end(true);
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}
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if (rt_mbx_init(&output_mbx, sizeof(int))) {
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if (rt_mbx_init(&output_status_mbx, sizeof(int))) {
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end(true);
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}
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if (rt_mbx_init(&turntable_mbx, sizeof(int))) {
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if (rt_mbx_init(&output_data_mbx, sizeof(int))) {
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end(true);
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}
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if (rt_mbx_init(&drill_data_mbx, sizeof(int))) {
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end(true);
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}
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if (rt_mbx_init(&turntable_data_mbx, sizeof(int))) {
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end(true);
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}
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rt_task_resume(&turntable_task);
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rt_task_resume(&drill_task);
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rt_task_resume(&output_task);
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rt_task_resume(&tester_task);
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printk("loaded module Bearbeiten2\n");
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rt_printk("loaded module Bearbeiten2\n");
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return (0);
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fail:
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end(true);
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return (1);
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}
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static void __exit
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example_exit(void) {
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end(false);
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printk("module Bearbeiten2 unloaded\n");
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rt_printk("module Bearbeiten2 unloaded\n");
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}
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module_exit(example_exit)
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