445 lines
11 KiB
C
445 lines
11 KiB
C
/**************************************************************************
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GTA PROJECT AT division
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Copyright, 1990, 1991, 1992
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The Regents of the University of California
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Los Alamos National Laboratory
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$Id$
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DESCRIPTION: Seq_tasks.c: Task creation and control for sequencer
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state sets.
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ENVIRONMENT: VxWorks
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HISTORY
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04dec91,ajk Implemented linked list of state programs, eliminating task
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variables.
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11dec91,ajk Made cosmetic changes and cleaned up comments.
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19dec91,ajk Changed algoritm in seq_getTimeout().
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29apr92,ajk Implemented new event flag mode.
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30apr92,ajk Periodically call ca_pend_event() to detect connection failures.
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21may92,ajk In sprog_delete() wait for loggin semaphore before suspending tasks.
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Some minor changes in the way semaphores are deleted.
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18feb92,ajk Changed to allow sharing of single CA task by all state programs.
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Added seqAuxTask() and removed ca_pend_event() from ss_entry().
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9aug93,ajk Added calls to taskwdInsert() & taskwdRemove().
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***************************************************************************/
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#define ANSI
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#include "seq.h"
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#include <taskwd.h>
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/* Function declarations */
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LOCAL VOID ss_task_init(SPROG *, SSCB *);
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LOCAL long seq_getTimeout(SSCB *);
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#define TASK_NAME_SIZE 10
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#define MAX_DELAY (10000000) /* max delay time pending for events */
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/*
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* sequencer() - Sequencer main task entry point.
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* */
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sequencer(pSP, stack_size, ptask_name)
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SPROG *pSP; /* ptr to original (global) state program table */
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int stack_size; /* stack size */
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char *ptask_name; /* Parent task name */
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{
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SSCB *pSS;
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STATE *pST;
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int nss, task_id, i;
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char task_name[TASK_NAME_SIZE+10];
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extern VOID ss_entry();
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extern int seqAuxTaskId;
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pSP->task_id = taskIdSelf(); /* my task id */
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pSS = pSP->sscb;
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pSS->task_id = pSP->task_id;
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/* Add the program to the state program list */
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seqAddProg(pSP);
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/* Import Channel Access context from the auxillary seq. task */
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ca_import(seqAuxTaskId);
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/* Initiate connect & monitor requests to database channels. */
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seq_connect(pSP);
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/* Additional state set task names are derived from the first ss */
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if (strlen(ptask_name) > TASK_NAME_SIZE)
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ptask_name[TASK_NAME_SIZE] = 0;
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/* Create each additional state set task */
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for (nss = 1, pSS = pSP->sscb + 1; nss < pSP->nss; nss++, pSS++)
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{
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/* Form task name from program name + state set number */
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sprintf(task_name, "%s_%d", ptask_name, nss);
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/* Spawn the task */
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task_id = taskSpawn(
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task_name, /* task name */
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SPAWN_PRIORITY+pSS->task_priority, /* priority */
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SPAWN_OPTIONS, /* task options */
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stack_size, /* stack size */
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(FUNCPTR)ss_entry, /* entry point */
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(int)pSP, (int)pSS, 0,0,0,0,0,0,0,0); /* pass 2 parameters */
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seq_log(pSP, "Spawning task %d: \"%s\"\n", task_id, task_name);
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}
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/* First state set jumps directly to entry point */
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ss_entry(pSP, pSP->sscb);
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}
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/*
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* ss_entry() - Task entry point for all state sets.
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* Provides the main loop for state set processing.
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*/
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VOID ss_entry(pSP, pSS)
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SPROG *pSP;
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SSCB *pSS;
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{
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BOOL ev_trig;
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STATE *pST, *pStNext;
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long delay;
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char *pVar;
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LOCAL VOID seq_waitConnect();
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/* Initialize all ss tasks */
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ss_task_init(pSP, pSS);
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/* If "+c" option, wait for all channels to connect */
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if (pSP->options & OPT_CONN)
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seq_waitConnect(pSP, pSS);
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/* Initilaize state set to enter the first state */
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pST = pSS->states;
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pSS->current_state = 0;
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/* Use the event mask for this state */
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pSS->pMask = (pST->eventMask);
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/* Local ptr to user variables (for reentrant code only) */
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pVar = pSP->user_area;
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/*
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* ============= Main loop ==============
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*/
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while (1)
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{
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pSS->time = tickGet(); /* record time we entered this state */
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/* Call delay function to set up delays */
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pSS->ndelay = 0;
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pST->delay_func(pSP, pSS, pVar);
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/* Generate a phoney event.
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* This guarantees that a when() is always executed at
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* least once when a state is entered. */
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semGive(pSS->syncSemId);
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/*
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* Loop until an event is triggered, i.e. when() returns TRUE
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*/
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do {
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/* Wake up on CA event, event flag, or expired time delay */
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delay = seq_getTimeout(pSS);
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if (delay > 0)
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semTake(pSS->syncSemId, delay);
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/* Call the event function to check for an event trigger.
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* The statement inside the when() statement is executed.
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* Note, we lock out CA events while doing this.
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*/
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semTake(pSP->caSemId, WAIT_FOREVER);
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ev_trig = pST->event_func(pSP, pSS, pVar); /* check events */
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if ( ev_trig && (pSP->options & OPT_NEWEF) == 0 )
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{ /* Clear all event flags (old mode only) */
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register int i;
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for (i = 0; i < NWRDS; i++)
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pSP->events[i] = pSP->events[i] & !pSS->pMask[i];
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}
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semGive(pSP->caSemId);
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} while (!ev_trig);
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/*
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* An event triggered:
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* execute the action statements and enter the new state.
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*/
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/* Change event mask ptr for next state */
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pStNext = pSS->states + pSS->next_state;
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pSS->pMask = (pStNext->eventMask);
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/* Execute the action for this event */
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pSS->action_complete = FALSE;
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pST->action_func(pSP, pSS, pVar);
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/* Flush any outstanding DB requests */
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ca_flush_io();
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/* Change to next state */
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pSS->prev_state = pSS->current_state;
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pSS->current_state = pSS->next_state;
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pST = pSS->states + pSS->current_state;
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pSS->action_complete = TRUE;
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}
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}
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/* Initialize state-set tasks */
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LOCAL VOID ss_task_init(pSP, pSS)
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SPROG *pSP;
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SSCB *pSS;
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{
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extern int seqAuxTaskId;
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/* Get this task's id */
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pSS->task_id = taskIdSelf();
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/* Import Channel Access context from the auxillary seq. task */
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if (pSP->task_id != pSS->task_id)
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ca_import(seqAuxTaskId);
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/* Register this task with the EPICS watchdog (no callback function) */
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taskwdInsert(pSS->task_id, (VOIDFUNCPTR)0, (VOID *)0);
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return;
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}
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/* Wait for all channels to connect */
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LOCAL VOID seq_waitConnect(pSP, pSS)
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SPROG *pSP;
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SSCB *pSS;
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{
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STATUS status;
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long delay;
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delay = 600; /* 10, 20, 30, 40, 40,... sec */
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while (pSP->conn_count < pSP->nchan)
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{
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status = semTake(pSS->syncSemId, delay);
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if ((status != OK) && (pSP-> task_id == pSS->task_id))
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{
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logMsg("%d of %d channels connected\n",
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pSP->conn_count, pSP->nchan);
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}
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if (delay < 2400)
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delay = delay + 600;
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}
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}
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/*
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* seq_getTimeout() - return time-out for pending on events.
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* Returns number of tics to next expected timeout of a delay() call.
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* Returns MAX_DELAY if no delays pending */
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LOCAL long seq_getTimeout(pSS)
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SSCB *pSS;
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{
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int ndelay;
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long timeout; /* expiration clock time (tics) */
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long delay, delayMin; /* remaining & min. delay (tics) */
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if (pSS->ndelay == 0)
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return MAX_DELAY;
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delayMin = MAX_DELAY; /* start with largest possible delay */
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/* Find the minimum delay among all non-expired timeouts */
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for (ndelay = 0; ndelay < pSS->ndelay; ndelay++)
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{
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timeout = pSS->timeout[ndelay];
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if (timeout == 0)
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continue; /* already expired */
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delay = timeout - tickGet(); /* convert timeout to remaining delay */
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if (delay <= 0)
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{ /* just expired */
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delayMin = 0;
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pSS->timeout[ndelay] = 0; /* mark as expired */
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}
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else if (delay < delayMin)
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{
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delayMin = delay; /* this is the min. delay so far */
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}
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}
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return delayMin;
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}
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/* Set-up for delay() on entering a state. This routine is called
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by the state program for each delay in the "when" statement */
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VOID seq_start_delay(pSP, pSS, delay_id, delay)
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SPROG *pSP;
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SSCB *pSS;
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int delay_id; /* delay id */
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float delay;
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{
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int td_tics;
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/* Note: the following 2 lines could be combined, but doing so produces
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* the undefined symbol "Mund", which is not in VxWorks library */
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td_tics = delay*60.0;
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pSS->timeout[delay_id] = pSS->time + td_tics;
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delay_id += 1;
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if (delay_id > pSS->ndelay)
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pSS->ndelay = delay_id;
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return;
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}
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/* Test for time-out expired */
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BOOL seq_test_delay(pSP, pSS, delay_id)
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SPROG *pSP;
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SSCB *pSS;
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int delay_id;
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{
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if (pSS->timeout[delay_id] == 0)
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return TRUE; /* previously expired t-o */
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if (tickGet() >= pSS->timeout[delay_id])
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{
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pSS->timeout[delay_id] = 0; /* mark as expired */
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return TRUE;
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}
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return FALSE;
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}
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/*
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* Delete all state set tasks and do general clean-up.
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* General procedure is:
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* 1. Suspend all state set tasks except self.
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* 2. Call the user program's exit routine.
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* 3. Disconnect all channels for this state program.
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* 4. Cancel the channel access context.
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* 5. Delete all state set tasks except self.
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* 6. Delete semaphores, close log file, and free allocated memory.
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* 7. Return, causing self to be deleted.
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*
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* This task is run whenever ANY task in the system is deleted.
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* Therefore, we have to check the task belongs to a state program.
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*/
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sprog_delete(tid)
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int tid;
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{
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int nss, tid_ss;
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SPROG *pSP, *seqFindProg();
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SSCB *pSS;
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pSP = seqFindProg(tid);
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if (pSP == NULL)
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return -1; /* not a state program task */
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logMsg("Delete %s: pSP=%d=0x%x, tid=%d\n",
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pSP->name, pSP, pSP, tid);
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/* Is this a real sequencer task? */
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if (pSP->magic != MAGIC)
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{
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logMsg(" Not main state program task\n");
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return -1;
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}
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/* Wait for log semaphore (in case a task is doing a write) */
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semTake(pSP->logSemId, 600);
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/* Remove tasks' watchdog & suspend all state set tasks except self */
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#ifdef DEBUG
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logMsg(" Suspending state set tasks:\n");
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#endif /*DEBUG */
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pSS = pSP->sscb;
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for (nss = 0; nss < pSP->nss; nss++, pSS++)
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{
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tid_ss = pSS->task_id;
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/* Remove the task from EPICS watchdog */
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taskwdRemove(tid_ss);
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if ( (tid_ss != 0) && (tid != tid_ss) )
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{
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#ifdef DEBUG
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logMsg(" suspend task: tid=%d\n", tid_ss);
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#endif /*DEBUG */
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taskSuspend(tid_ss);
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}
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}
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/* Give back log semaphore */
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semGive(pSP->logSemId);
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/* Call user exit routine (only if task has run) */
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if (pSP->sscb->task_id != 0)
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{
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#ifdef DEBUG
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logMsg(" Call exit function\n");
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#endif /*DEBUG */
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pSP->exit_func(pSP, pSP->user_area);
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}
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/* Disconnect all channels */
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seq_disconnect(pSP);
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/* Cancel the CA context for each state set task */
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for (nss = 0, pSS = pSP->sscb; nss < pSP->nss; nss++, pSS++)
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{
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ca_import_cancel(pSS->task_id);
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}
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/* Close the log file */
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if (pSP->logFd > 0 && pSP->logFd != ioGlobalStdGet(1))
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{
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#ifdef DEBUG
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logMsg("Closing log fd=%d\n", pSP->logFd);
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#endif /*DEBUG */
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close(pSP->logFd);
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pSP->logFd = ioGlobalStdGet(1);
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}
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/* Remove the state program from the state program list */
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seqDelProg(pSP);
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/* Delete state set tasks (except self) & delete their semaphores */
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pSS = pSP->sscb;
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for (nss = 0; nss < pSP->nss; nss++, pSS++)
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{
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tid_ss = pSS->task_id;
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if ( (tid != tid_ss) && (tid_ss != 0) )
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{
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#ifdef DEBUG
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logMsg(" delete ss task: tid=%d\n", tid_ss);
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#endif /*DEBUG */
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taskDelete(tid_ss);
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}
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if (pSS->syncSemId != 0)
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semDelete(pSS->syncSemId);
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if (pSS->getSemId != 0)
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semDelete(pSS->getSemId);
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}
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/* Delete program-wide semaphores */
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semDelete(pSP->caSemId);
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semDelete(pSP->logSemId);
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/* Free the memory that was allocated for the task area */
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#ifdef DEBUG
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logMsg("free pSP->dyn_ptr=0x%x\n", pSP->dyn_ptr);
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#endif /*DEBUG */
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taskDelay(5);
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free(pSP->dyn_ptr);
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return 0;
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}
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/*
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* Sequencer auxillary task -- loops on ca_pend_event().
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*/
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seqAuxTask()
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{
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extern int seqAuxTaskId;
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/* Set up so all state program tasks will use a common CA context */
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ca_task_initialize();
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seqAuxTaskId = taskIdSelf(); /* must follow ca_task_initialize() */
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/* This loop allows CA to check for connect/disconnect on channels */
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for (;;)
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{
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ca_pend_event(10.0); /* returns every 10 sec. */
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}
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}
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