Dokumentation: Drehteller, Prüfer & Auswerfer
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@ -30,7 +30,8 @@
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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 turntable_status_mbx, tester_status_mbx;
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static MBX output_status_mbx, drill_status_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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@ -75,7 +76,8 @@ void end(bool fail) {
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* @return status code(0: success, 1: failure)
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*/
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int readAll(int type, int *result) {
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int res = rt_modbus_get(connection, type, 0, (unsigned short *) result);
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int res = rt_modbus_get(connection, type, 0,
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(unsigned short *) result);
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return res;
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}
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@ -88,7 +90,8 @@ int readAll(int type, int *result) {
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int readData(int part) {
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int value = 0;
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rt_sem_wait(&semaphore);
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//the semaphore needs to be locked before this code executes, so we can't adhere to the ISO standard here.
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//the semaphore needs to be locked before this code executes,
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// so we can't adhere to the ISO standard here.
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int code = readAll(DIGITAL_IN, &value);
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int result = (part & value);
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rt_sem_signal(&semaphore);
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@ -106,7 +109,8 @@ void disable(int actor) {
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rt_sem_wait(&semaphore);
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if(readAll(DIGITAL_OUT, &value)) end(true);
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else {
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int result = rt_modbus_set(connection, DIGITAL_OUT, 0, value &= ~actor);
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int result = rt_modbus_set(connection, DIGITAL_OUT, 0,
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value &= ~actor);
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rt_sem_signal(&semaphore);
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if (result) end(true);
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}
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@ -122,7 +126,8 @@ void enable(int actor) {
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rt_sem_wait(&semaphore);
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if (readAll(DIGITAL_OUT, &output)) end(true);
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else {
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int result = rt_modbus_set(connection, DIGITAL_OUT, 0, output |= actor);
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int result = rt_modbus_set(connection, DIGITAL_OUT, 0,
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output |= actor);
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rt_sem_signal(&semaphore);
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if(result) end(true);
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}
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@ -211,7 +216,8 @@ static void turntable(long data) {
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//always read from mailbox to make sure that no overflow occurs.
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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(readData(SENSOR_PART_TURNTABLE) || msg1 || msg2) {//if a part is on any of the sensors
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//if a part is on any of the sensors
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if(readData(SENSOR_PART_TURNTABLE) || msg1 || msg2) {
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enable(ACTOR_TURNTABLE);
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sleepMs(100);
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if (!readData(SENSOR_TURNTABLE_POS)) {
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@ -242,10 +248,12 @@ static void tester(long data) {
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while (1) {
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receiveMail(&tester_status_mbx);
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if(readData(SENSOR_PART_TESTER)) {
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sendMailNonBlocking(&turntable_data_mbx, 1);//turntable should turn on the next turn.
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//turntable should turn on the next turn.
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sendMailNonBlocking(&turntable_data_mbx, 1);
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enable(ACTOR_TESTER);
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sleepMs(500);
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if(readData(SENSOR_PART_TEST)) {//should the drill be active on the next turn ?
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//should the drill be active on the next turn ?
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if(readData(SENSOR_PART_TEST)) {
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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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@ -277,9 +285,12 @@ static void drill(long data) {
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//start processing
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while (1) {
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receiveMail(&drill_status_mbx);
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if(readData(SENSOR_PART_DRILL)) {//if part is in drill
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sendMailNonBlocking(&turntable_data_mbx, 1);//turntable should be active on the next turn.
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if(receiveMailNonBlocking(&drill_data_mbx)) {//read test result from mailbox
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//if part is in drill
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if(readData(SENSOR_PART_DRILL)) {
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//turntable should be active on the next turn.
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sendMailNonBlocking(&turntable_data_mbx, 1);
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//read test result from mailbox.
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if(receiveMailNonBlocking(&drill_data_mbx)) {
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enable(ACTOR_PART_HOLD);
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enable(ACTOR_DRILL);
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enable(ACTOR_DRILL_DOWN);
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@ -300,7 +311,8 @@ static void drill(long data) {
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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);//should the output be active on the next turn ?
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//should the output be active on the next turn ?
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sendMailNonBlocking(&output_data_mbx, 1);
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}
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sendMail(&turntable_status_mbx, 1);
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}
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@ -317,7 +329,8 @@ static void output(long data) {
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//start processing
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while (1) {
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receiveMail(&output_status_mbx);
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if(receiveMailNonBlocking(&output_data_mbx)) {//should the output be activated
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//should the output be activated
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if(receiveMailNonBlocking(&output_data_mbx)) {
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enable(ACTOR_EXIT);
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sleepMs(500);
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disable(ACTOR_EXIT);
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@ -1,9 +1,8 @@
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%Copyright: 2020, Johannes Theiner <kontakt@joethei.de>
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\ProvidesPackage{hs-el-text}
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\RequirePackage{graphicx}
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\RequirePackage[ngerman]{babel}
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\RequirePackage[iso]{isodate}
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\RequirePackage{graphicx}
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\RequirePackage{amsmath}
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\RequirePackage{amssymb}
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\RequirePackage{amstext}
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@ -38,14 +37,17 @@ anchorcolor = black]{hyperref}
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\RequirePackage{makecell}
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\RequirePackage{plantuml}
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\RequirePackage{fontspec}
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\RequirePackage{wrapfig}
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\RequirePackage{lipsum}
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\RequirePackage{subfig}
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\usetikzlibrary{positioning, shapes.geometric}
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\RequirePackage[final]{draftwatermark}
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\RequirePackage[]{draftwatermark}
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%watermark
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\SetWatermarkText{Preview}
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\SetWatermarkColor{gray}
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\SetWatermarkColor{red}
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\SetWatermarkFontSize{35.83pt}
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\titlespacing\section{0pt}{12pt}{10pt}
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@ -101,7 +103,6 @@ autogobble
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\ofoot{Seite \thepage \hspace{1pt} von \pageref{LastPage}}
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\makeindex
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\isodate
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\renewcommand*{\maketitle}{%
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174
index.tex
174
index.tex
@ -1,7 +1,5 @@
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\documentclass[german, a4paper, headheight=36pt, parskip=true]{scrartcl}
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\usepackage{hs-el-text}
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\usepackage{wrapfig}
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\usepackage{lipsum}
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\modul{Echtzeitdatenverarbeitung}
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\semester{Wintersemester 2020/21}
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@ -16,15 +14,22 @@
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\section{Tasks}\label{sec:tasks}
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\subsection{Drehteller}\label{subsec:task_turntable}
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\begin{wrapfigure}{L}{0.5\textwidth}
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\begin{figure}[H]
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\centering
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\begin{plantuml}
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\begin{minipage}{.5\textwidth}
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\centering
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\begin{plantuml}
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@startuml
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scale 150 width
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!include https://raw.githubusercontent.com/bharatrajagopalan/plantuml-styles/master/activity_skin.pu
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start
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:Drehteller ausschalten;
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:Auswefer Eingang ausschalten;
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repeat
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:Drehteller kurz anschalten;
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:Auswerfer kurz betätigen;
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repeat while(5 Durchläufe ?)
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repeat
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:Prüfer fertig?<
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:Bohrer fertig?<
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@ -41,24 +46,23 @@
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repeatwhile()
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kill
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@enduml
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\end{plantuml}
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\caption{SDL Diagramm Drehteller}
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\label{fig:sdl-turntable}
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\end{wrapfigure}
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\lipsum[1-2]
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\subsection{Prüfer}\label{subsec:task_tester}
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\begin{wrapfigure}{R}{0.5\textwidth}
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\begin{plantuml}
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\end{plantuml}
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\captionof{figure}{SDL Diagramm Drehteller}
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\label{fig:sdl-turntable}
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\end{minipage}%
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\begin{minipage}{.5\textwidth}
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\centering
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\begin{plantuml}
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@startuml
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!include https://raw.githubusercontent.com/bharatrajagopalan/plantuml-styles/master/activity_skin.pu
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start
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:Prüfer einfahren;
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:Prüfer fertig>
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repeat
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:Drehteller fertig?<
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if(Werkstück vorhanden ?) then (ja)
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:Prüfer ausfahren;
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if(Werkstück Normallage ?) then (ja)
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if(Werkstück in Normallage ?) then (ja)
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:Sende Bohrer(an)>
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else (nein)
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:Sende Bohrer(aus)>
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@ -70,72 +74,108 @@
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repeatwhile()
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kill
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@enduml
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\end{plantuml}
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\caption{SDL Diagramm Prüfer}
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\label{fig:sdl-tester}
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\end{wrapfigure}
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\end{plantuml}
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\captionof{figure}{SDL Diagramm Prüfer}
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\label{fig:sdl-tester}
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\end{minipage}
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\end{figure}
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\lipsum[2-4]
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\subsection{Bohrer}\label{subsec:task_drill}
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\begin{wrapfigure}{L}{0.5\textwidth}
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\begin{plantuml}
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@startuml
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scale 150 width
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!include https://raw.githubusercontent.com/bharatrajagopalan/plantuml-styles/master/activity_skin.pu
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:Bohrer ausschalten;
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:Bohrer hochfahren;
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:Werkstück loslassen;
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repeat
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:Drehteller fertig?<
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if(Werkstück vorhanden?) then(ja)
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:Empfange Lage des Werkstücks<
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:Sende Auswerfer>
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if(Teil in Normallage?) then(ja)
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:Werkstück festhalten;
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:Bohrer anschalten;
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:Bohrer herunterfahren;
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:Warte bis Bohrer unten;
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:Bohrer hochfahren;
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:Warte bis Bohrer oben;
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\begin{figure}[H]
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\centering
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\begin{minipage}{.5\textwidth}
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\centering
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\begin{plantuml}
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@startuml
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scale 150 width
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!include https://raw.githubusercontent.com/bharatrajagopalan/plantuml-styles/master/activity_skin.pu
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start
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:Bohrer ausschalten;
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:Bohrer hochfahren;
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:Werkstück loslassen;
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else(nein)
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endif
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else (nein)
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endif
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:Bohrer fertig>
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repeatwhile()
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kill
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@enduml
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\end{plantuml}
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\caption{SDL Diagramm Bohrer}
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\label{fig:sdl-drill}
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\end{wrapfigure}
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\lipsum[2-4]
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\subsection{Auswerfer}\label{subsec:output}
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\begin{wrapfigure}{R}{0.5\textwidth}
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\begin{plantuml}
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:Bohrer fertig>
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repeat
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:Drehteller fertig?<
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if(Werkstück vorhanden?) then(ja)
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:Empfange Lage des Werkstücks<
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:Sende Auswerfer>
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if(Teil in Normallage?) then(ja)
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:Werkstück festhalten;
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:Bohrer anschalten;
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:Bohrer herunterfahren;
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:Warte bis Bohrer unten;
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:Bohrer hochfahren;
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:Warte bis Bohrer oben;
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:Bohrer ausschalten;
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:Werkstück loslassen;
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else(nein)
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endif
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else (nein)
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endif
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:Bohrer fertig>
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repeatwhile()
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kill
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@enduml
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\end{plantuml}
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\captionof{figure}{SDL Diagramm Bohrer}
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\label{fig:sdl-drill}
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\end{minipage}%
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\begin{minipage}{.5\textwidth}
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\centering
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\begin{plantuml}
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scale 250 width
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@startuml
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!include https://raw.githubusercontent.com/bharatrajagopalan/plantuml-styles/master/activity_skin.pu
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start
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:Auswerfer einfahren;
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:Auswerfer fertig>
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repeat
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:Drehteller fertig?<
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:Auswerfer<
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:Auswerfen;
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if(Auswerfen ?) then (ja)
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:Auswerfer betätigen;
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endif
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:Auswerfer fertig>
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repeatwhile()
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kill
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@enduml
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\end{plantuml}
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\caption{SDL Diagramm Auswerfer}
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\label{fig:sdl-output}
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\end{wrapfigure}
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\end{plantuml}
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\captionof{figure}{SDL Diagramm Auswerfer}
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\label{fig:sdl-output}
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\end{minipage}
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\end{figure}
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\lipsum[2-4]
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Um einen konsistenten Startpunkt zu erhalten werden bei allen Tasks zu Beginn sämtliche vom entsprechenden
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Task verwendeten Aktoren auf Ausgangsposition zurückgesetzt.
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\subsection{Drehteller}\label{subsec:task_turntable}
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Nach dem Zurücksetzen vom Drehteller und des Auswerfers am Eingang fährt der Drehteller zuerst fünf Runden,
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bei denen der Auswerfer am Ausgang bedingungslos betätigt wird,
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um Teile die sich vielleicht noch in der Anlage befinden aus dieser zu entfernen.
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Um eine Synchronisierung zu erlangen wird der Drehteller erst aktiv, wenn Prüfer, Bohrer und Auswerfer
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mit einer Nachricht auf die Status Mailbox signalisiert haben das sie mit ihren Aktionen fertig sind.
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Liegt auf mindestens einem Sensor(Eingang, Tester oder Bohrer) ein Teil wird der Drehteller
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aktiviert und erst wieder deaktiviert, wenn dieser wieder in Position ist.
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Nun wird den anderen Tasks über Nachrichten signalisiert das diese aktiv werden können
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und der Prozess beginnt erneut.
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\subsection{Prüfer}\label{subsec:task_tester}
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Sobald der Prüfer aktiv werden darf(Nachricht auf Status Mailbox) wird überprüft ob
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ein Teil auf dem Sensor liegt.
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Liegt ein Teil auf dem Sensor fährt der Prüfer aus und das Testergebnis wird dem
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Bohrer über eine Nachricht mitgeteilt.
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Nun wird der Prüfer wieder eingefahren und der Drehteller kann wieder aktiv werden.
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Der Prozess beginnt nun wieder von vorne.
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\subsection{Bohrer}\label{subsec:task_drill}
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\lipsum[2-3]
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\subsection{Auswerfer}\label{subsec:output}
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Da für den Auswerfer keine Sensoren existieren sendet der Bohrer den Status seines Sensors per Nachricht
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an den Auswerfer, der auf Basis dieser auslöst.
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\section{Hilfsfunktionen}\label{sec:functions}
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\lipsum[2-4]
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