more refactoring

This commit is contained in:
Johannes Theiner 2020-10-21 16:15:24 +02:00
parent 4eb994c5c8
commit ed75b5e575
Signed by: joethei
GPG Key ID: 9D2B9A00FDA85BCD
2 changed files with 166 additions and 33 deletions

View File

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

4
CMakeLists.txt Normal file
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@ -0,0 +1,4 @@
cmake_minimum_required(VERSION 3.3)
project(Echtzeitdatenverarbeitung)
add_executable(Bearbeiten2 Bearbeiten2.c)