411 lines
11 KiB
C
411 lines
11 KiB
C
#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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//======================
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//Author: Charlotte Friedemann(7011467), Johannes Theiner(7010923)
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//Description: Praktikum EZDV Gruppe A5(Bearbeiten 2)
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//Created: 19.10.2020
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//Finished: 30.11.2020
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//======================
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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_TESTER 1<<2
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#define SENSOR_DRILL_UP 1<<3
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#define SENSOR_DRILL_DOWN 1<<4
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#define SENSOR_TURNTABLE_POS 1<<5
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#define SENSOR_PART_TEST 1<<6
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#define ACTOR_DRILL 1<<0
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#define ACTOR_TURNTABLE 1<<1
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#define ACTOR_DRILL_DOWN 1<<2
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#define ACTOR_DRILL_UP 1<<3
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#define ACTOR_PART_HOLD 1<<4
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#define ACTOR_TESTER 1<<5
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#define ACTOR_EXIT 1<<6
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#define ACTOR_ENTRANCE 1<<7
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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;
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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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int connection;
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char node[] = "modbus-node";
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/**
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* deinitialize all tasks, mailboxes, modbus connections & semaphores
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* @param fail should a error message be printed.
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*/
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void end(bool fail) {
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rt_modbus_disconnect(connection);
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rt_task_delete(&turntable_task);
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rt_task_delete(&tester_task);
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rt_task_delete(&drill_task);
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rt_task_delete(&output_task);
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rt_mbx_delete(&turntable_status_mbx);
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rt_mbx_delete(&tester_status_mbx);
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rt_mbx_delete(&drill_status_mbx);
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rt_mbx_delete(&output_status_mbx);
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rt_mbx_delete(&turntable_data_mbx);
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rt_mbx_delete(&drill_data_mbx);
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rt_mbx_delete(&output_data_mbx);
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rt_sem_delete(&semaphore);
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stop_rt_timer();
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if(fail) {
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rt_printk("an error has occurred.\n");
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rt_printk("module needs to be restarted.\n");
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}
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}
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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 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 *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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/**
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* read a single bit for the specified part
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* this function is thread safe.
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* @param part bitmask to read the sensor/actor
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* @return read bit.
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*/
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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,
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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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if(code) end(true);
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return result;
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}
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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 actor bitmask of the actor to disable
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*/
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void disable(int actor) {
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int value = 0;
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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,
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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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}
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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 actor bitmask of the actor to enable
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*/
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void enable(int actor) {
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int output = 0;
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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,
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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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}
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/**
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* send a blocking message to the specified mailbox
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* @param mailbox where should the message be send to ?
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* @param msg message to send
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*/
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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 == EINVAL) end(true);
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}
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/**
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* send a non blocking message to the specified mailbox
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* @param mailbox where should the message be send to ?
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* @param msg message to send
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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 == EINVAL) end(true);
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}
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/**
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* receive a blocking message
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* @param mailbox mailbox to receive the message
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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 == EINVAL) end(true);
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return msg;
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}
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/**
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* receive a non blocking message
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* @param mailbox mailbox to receive the message
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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 == EINVAL) end(true);
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return msg;
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}
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/**
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* sleep for x milliseconds
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* @param ms specified time to sleep in milliseconds.
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*/
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void sleepMs(int ms) {
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rt_sleep(ms * nano2count(1000000));
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}
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/**
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* turntable task
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*/
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static void turntable(long data) {
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int times = 0;
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rt_printk("started turntable task\n");
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//reset everything first
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disable(ACTOR_TURNTABLE);
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disable(ACTOR_ENTRANCE);
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//throw out all parts that might be on the table.
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do {
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enable(ACTOR_TURNTABLE);
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sleepMs(1000);
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disable(ACTOR_TURNTABLE);
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sleepMs(500);
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enable(ACTOR_EXIT);
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sleepMs(500);
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disable(ACTOR_EXIT);
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times++;
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}while (times < 5);
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//start processing
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while (1) {
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//receive status mail from: tester, drill & output
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receiveMail(&turntable_status_mbx);
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receiveMail(&turntable_status_mbx);
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receiveMail(&turntable_status_mbx);
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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 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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do {
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sleepMs(10);
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} while (readData(SENSOR_TURNTABLE_POS) == 0);
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}
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disable(ACTOR_TURNTABLE);
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sleepMs(500);
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}
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//send status mails
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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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}
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}
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/**
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* tester task
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*/
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static void tester(long data) {
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rt_printk("started tester task\n");
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//reset everything first
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disable(ACTOR_TESTER);
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sendMail(&turntable_status_mbx, 1);
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//start processing
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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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//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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//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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}
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disable(ACTOR_TESTER);
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}
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sendMail(&turntable_status_mbx, 1);
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}
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}
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/**
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* drill task
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*/
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static void drill(long data) {
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rt_printk("started drill task\n");
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//reset everything first
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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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enable(ACTOR_DRILL_UP);
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if (!readData(SENSOR_DRILL_UP)) {
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do {
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sleepMs(10);
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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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//start processing
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while (1) {
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receiveMail(&drill_status_mbx);
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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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if (!readData(SENSOR_DRILL_DOWN)) {
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do {
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sleepMs(10);
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} while (readData(SENSOR_DRILL_DOWN) == 0);
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}
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sleepMs(1000);
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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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if (!readData(SENSOR_DRILL_UP)) {
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do {
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sleepMs(10);
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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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//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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}
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/**
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* output task
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*/
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static void output(long data) {
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rt_printk("started output task\n");
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//reset everything first
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disable(ACTOR_EXIT);
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sendMail(&turntable_status_mbx, 1);
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//start processing
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while (1) {
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receiveMail(&output_status_mbx);
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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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}
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sendMail(&turntable_status_mbx, 1);
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}
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}
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static int __init
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example_init(void) {
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rt_set_oneshot_mode();
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start_rt_timer(0);
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modbus_init();
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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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}
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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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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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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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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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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(&turntable_status_mbx, sizeof(int))) {
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end(true);
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}
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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_status_mbx, sizeof(int))) {
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end(true);
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}
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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(&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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rt_printk("loaded module Bearbeiten2\n");
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return (0);
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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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rt_printk("module Bearbeiten2 unloaded\n");
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}
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module_exit(example_exit)
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module_init(example_init)
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