more refactoring
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4eb994c5c8
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195
Bearbeiten2.c
195
Bearbeiten2.c
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@ -4,8 +4,6 @@
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#include <uint128.h>
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#include <sys/rtai_modbus.h>
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#define DEBUG 1
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#define SENSOR_PART_TURNTABLE 1<<0
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#define SENSOR_PART_DRILL 1<<1
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#define SENSOR_PART_MESURING 1<<2
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@ -25,69 +23,108 @@
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MODULE_LICENSE("GPL");
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static RT_TASK entry_task;
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static RT_TASK turntable_task, drill_task, tester_task, output_task;
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static MBX drill_mbx, tester_mbx, output_mbx;
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static SEM semaphore;
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int readAll(int connection, int *value) {
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if (rt_modbus_get(fd_node, DIGITAL_IN, 0, (unsigned short *) &value)) {
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return 1;
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}
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return 0;
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char node[] = "modbus-node";
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/**
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* read all bits of the specified type
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* this function is *not* thread safe.
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* @param type (DIGITAL_IN, DIGITAL_OUT, ANALOG_IN, ANALOG_OUT)
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* @param connection modbus connection id
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* @param result value to write the result to
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* @return status code(0: success, 1: failure)
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*/
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int readAll(int type, int connection, int *result) {
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return rt_modbus_get(fd_node, type, 0, (unsigned short *) &result));
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}
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/**
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*
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* this function is thread safe.
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* @param connection
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* @param part
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* @param result value to write the result to
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* @return status code(0: success, 1: failure)
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*/
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int read(int connection, int part, int *result) {
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rt_sem_wait(&semaphore);
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int value;
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int code = readAll(connection, &value);
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int code = readAll(DIGITAL_IN, connection, &value);
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*result = (value & part) != 0;
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rt_sem_signal(&semaphore);
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return code;
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}
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int disable(int connection, int part) {
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/**
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* disable a specified actor of the system.
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* this function is thread safe.
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* @param connection modbus connection id
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* @param actor bitmask of the actor to disable
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* @return status code(0: success, 1: failure)
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*/
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int disable(int connection, int actor) {
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rt_sem_wait(&semaphore);
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int value;
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int code = readAll(connection, &value);
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int code = readAll(DIGITAL_OUT, connection, &value);
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if (code) return code;
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if (rt_modbus_set(connection, DIGITAL_OUT, output &= part))
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return 1;
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return 0;
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int result = rt_modbus_set(connection, DIGITAL_OUT, output &= ~actor)
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rt_sem_signal(&semaphore);
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return result;
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}
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int enable(int connection, int part) {
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int value;
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int code = readAll(connection, &value);
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/**
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* enable one specified actor of the system.
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* this function is thread safe.
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* @param connection modbus connection id
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* @param actor bitmask of the actor to enable
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* @return status code (0: success, 1: failure)
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*/
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int enable(int connection, int actor) {
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rt_sem_wait(&semaphore);
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int output;
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int code = readAll(DIGITAL_OUT, connection, &output);
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if (code) return code;
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if (rt_modbus_set(connection, DIGITAL_OUT, output |= part))
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return 1;
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return 0;
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int result = rt_modbus_set(connection, DIGITAL_OUT, output |= actor)
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rt_sem_signal(&semaphore);
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return result;
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}
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static void
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turntable(long x) {
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void sleep() {
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rt_sleep(1000 * nano2count(1000000));
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}
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static void turntable(long x) {
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int connection;
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int ready = 0;
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rt_printk("turntable: task started\n");
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if ((connection = rt_modbus_connect("modbus-node")) == -1) {
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rt_printk("turntable: task exited\n");
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if ((connection = rt_modbus_connect(node)) == -1) {
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rt_printk("turntable: could not connect to %s\n", node);
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return;
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}
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rt_printk("turntable: MODBUS communication opened\n");
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disable(connection, ACTOR_TURNTABLE);
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while (1) {
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int partOnTable;
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if (read(connection, SENSOR_PART_TURNTABLE, &partOnTable)) goto fail;
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if (partOnTable) {
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rt_printk("halloo welt");
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if (enable(connection, ACTOR_TURNTABLE)) goto fail;
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} else {
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if (disable(connection, ACTOR_TURNTABLE)) goto fail;
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}
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if (ready)
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goto fail;
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rt_task_resume(&drill_task);
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rt_task_resume(&tester_task);
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rt_task_resume(&output_task);
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rt_sleep(1000 * nano2count(1000000));
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//rt_sleep(1000 * nano2count(1000000));
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}
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/* Aufraeumen */
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@ -96,11 +133,89 @@ turntable(long x) {
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rt_printk("turntable: task exited with failure\n");
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}
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static void drill(long x) {
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int connection;
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rt_printk("drill: task started\n");
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if ((connection = rt_modbus_connect(node)) == -1) {
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rt_printk("drill: could not connect to %s\n", node);
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return;
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}
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rt_printk("drill: MODBUS communication opened\n");
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disable(connection, ACTOR_DRILL);
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disable(connection, ACTOR_PART_HOLD);
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disable(connection, ACTOR_DRILL_DOWN);
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enable(connection, ACTOR_DRILL_UP);
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int drill_up = 0;
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if (read(connection, SENSOR_DRILL_UP, drill_up)) goto fail;
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if (!drill_up) {
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do {
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read(connection, SENSOR_DRILL_UP, drill_up);
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} while (drill_up == 0);
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}
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disable(connection, ACTOR_DRILL_UP);
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while (1) {
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sleep();
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}
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fail:
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rt_modbus_disconnect(connection);
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rt_printk("drill: task exited with failure\n");
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}
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static void tester(long x) {
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int connection;
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rt_printk("tester: task started\n");
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if ((connection = rt_modbus_connect(node)) == -1) {
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rt_printk("tester: could not connect to %s\n", node);
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return;
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}
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while (1) {
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sleep();
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}
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fail:
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rt_modbus_disconnect(connection);
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rt_printk("tester: task exited with failure\n");
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}
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static void output(long x) {
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int connection;
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rt_printk("output: task started\n");
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if ((connection = rt_modbus_connect(node)) == -1) {
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rt_printk("output: could not connect to %s\n", node);
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return;
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}
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while (1) {
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sleep();
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}
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fail:
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rt_modbus_disconnect(connection);
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rt_printk("output: task exited with failure\n");
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}
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static void __exit
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example_exit(void) {
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rt_task_delete(&entry_task);
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rt_task_delete(&turntable_task);
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rt_task_delete(&drill_task);
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rt_task_delete(&tester_task);
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rt_task_delete(&output_task);
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stop_rt_timer();
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rt_sem_delete(&semaphore);
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printk("module Bearbeiten2 unloaded\n");
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}
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@ -111,12 +226,26 @@ example_init(void) {
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start_rt_timer(0);
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modbus_init();
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if (rt_task_init(&entry_task, entry, 0, 1024, 0, 0, NULL)) {
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printk("cannot initialize control task\n");
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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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}
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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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}
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if (rt_task_init(&turntable_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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}
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if (rt_task_init(&turntable_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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}
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rt_task_resume(&entry_task);
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rt_task_resume(&turntable_task);
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printk("loaded module Bearbeiten2\n");
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return (0);
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@ -0,0 +1,4 @@
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cmake_minimum_required(VERSION 3.3)
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project(Echtzeitdatenverarbeitung)
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add_executable(Bearbeiten2 Bearbeiten2.c)
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