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Common CA task

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This commit is contained in:
kozubal
1993-07-26 13:01:42 +00:00
parent 997527a6f4
commit 9d44bf0a27
1 changed files with 81 additions and 68 deletions
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149
src/sequencer/seq_task.c
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@@ -18,22 +18,19 @@
30apr92,ajk Periodically call ca_pend_event() to detect connection failures.
21may92,ajk In sprog_delete() wait for loggin semaphore before suspending tasks.
Some minor changes in the way semaphores are deleted.
18feb92,ajk Changed to allow sharing of single CA task by all state programs.
Added seqAuxTask() and removed ca_pend_event() from ss_entry().
***************************************************************************/
#define ANSI
#include "seq.h"
/* Function declarations */
#ifdef ANSI
LOCAL VOID ss_task_init(SPROG *, SSCB *);
long seq_getTimeout(SSCB *);
#else
LOCAL VOID ss_task_init();
long seq_getTimeout();
#endif ANSI
LOCAL long seq_getTimeout(SSCB *);
#define TASK_NAME_SIZE 10
#define MAX_DELAY (60*10) /* max delay time pending for events */
#define MAX_DELAY (10000000) /* max delay time pending for events */
/*
* sequencer() - Sequencer main task entry point.
@@ -48,23 +45,19 @@ char *ptask_name; /* Parent task name */
int nss, task_id, i;
char task_name[TASK_NAME_SIZE+10];
extern VOID ss_entry();
extern int seqAuxTaskId;
pSP->task_id = taskIdSelf(); /* my task id */
pSS = pSP->sscb;
pSS->task_id = pSP->task_id;
/* Clear all event flags */
for (i = 0; i < NWRDS; i++)
pSP->events[i] = 0;
/* Add the program to the state program list */
seqAddProg(pSP);
/*
* Connect to database channels & initiate monitor requests.
* Returns here immediately if "connect" option is not set (-c),
* otherwise, waits for all channels to connect (+c).
*/
/* Import Channel Access context from the auxillary seq. task */
ca_import(seqAuxTaskId);
/* Initiate connect & monitor requests to database channels. */
seq_connect(pSP);
/* Additional state set task names are derived from the first ss */
@@ -84,9 +77,7 @@ char *ptask_name; /* Parent task name */
SPAWN_OPTIONS, /* task options */
stack_size, /* stack size */
(FUNCPTR)ss_entry, /* entry point */
(int)pSP,
(int)pSS, /* pass 2 parameters */
0,0,0,0,0,0,0,0);
(int)pSP, (int)pSS, 0,0,0,0,0,0,0,0); /* pass 2 parameters */
seq_log(pSP, "Spawning task %d: \"%s\"\n", task_id, task_name);
}
@@ -106,12 +97,14 @@ SSCB *pSS;
STATE *pST, *pStNext;
long delay;
char *pVar;
LOCAL VOID seq_waitConnect();
pSS->task_id = taskIdSelf();
/* Initialize all tasks except the main task */
if (pSS->task_id != pSP->task_id)
ss_task_init(pSP, pSS);
/* Initialize all ss tasks */
ss_task_init(pSP, pSS);
/* If "+c" option, wait for all channels to connect */
if (pSP->options & OPT_CONN)
seq_waitConnect(pSP, pSS);
/* Initilaize state set to enter the first state */
pST = pSS->states;
@@ -141,14 +134,8 @@ SSCB *pSS;
/*
* Loop until an event is triggered, i.e. when() returns TRUE
* or at least every MAX_DELAY ticks.
*
*/
do {
/* Allow CA to check for connect/disconnect on channels */
if (pSP->task_id == pSS->task_id)
ca_pend_event(0.001); /* returns immediately */
/* Wake up on CA event, event flag, or expired time delay */
delay = seq_getTimeout(pSS);
if (delay > 0)
@@ -199,16 +186,45 @@ LOCAL VOID ss_task_init(pSP, pSS)
SPROG *pSP;
SSCB *pSS;
{
/* Import Channel Access context from the main task */
ca_import(pSP->task_id);
extern int seqAuxTaskId;
/* Get this task's id */
pSS->task_id = taskIdSelf();
/* Import Channel Access context from the auxillary seq. task */
if (pSP->task_id != pSS->task_id)
ca_import(seqAuxTaskId);
return;
}
/* Wait for all channels to connect */
LOCAL VOID seq_waitConnect(pSP, pSS)
SPROG *pSP;
SSCB *pSS;
{
STATUS status;
long delay;
delay = 600; /* 10, 20, 30, 40, 40,... sec */
while (pSP->conn_count < pSP->nchan)
{
status = semTake(pSS->syncSemId, delay);
if ((status != OK) && (pSP-> task_id == pSS->task_id))
{
logMsg("%d of %d channels connected\n",
pSP->conn_count, pSP->nchan);
}
if (delay < 2400)
delay = delay + 600;
}
}
/*
* seq_getTimeout() - return time-out for pending on events.
* Returns number of tics to next expected timeout of a delay() call.
* Returns MAX_DELAY if no delays pending */
long seq_getTimeout(pSS)
LOCAL long seq_getTimeout(pSS)
SSCB *pSS;
{
int ndelay;
@@ -277,20 +293,19 @@ int delay_id;
return FALSE;
}
/*
* Delete the state set tasks and do general clean-up.
* Delete all state set tasks and do general clean-up.
* General procedure is:
* 1. Suspend all state set tasks except self.
* 2. Call the user program's exit routine.
* 3. Delete all state set tasks except self.
* 4. Delete semaphores, close log file, and free allocated memory.
* 5. Return, causing self to be deleted.
* 3. Disconnect all channels for this state program.
* 4. Cancel the channel access context.
* 5. Delete all state set tasks except self.
* 6. Delete semaphores, close log file, and free allocated memory.
* 7. Return, causing self to be deleted.
*
* This task is run whenever ANY task in the system is deleted.
* Therefore, we have to check the task belongs to a state program.
* With VxWorks 5.0 we need to change references to the TCBX to handle
* the Wind kernel.
*/
#ifdef V5_vxWorks
sprog_delete(tid)
int tid;
{
@@ -298,19 +313,9 @@ int tid;
SPROG *pSP, *seqFindProg();
SSCB *pSS;
#else
sprog_delete(pTcbX)
TCBX *pTcbX; /* ptr to TCB of task to be deleted */
{
int tid, nss, tid_ss;
SPROG *pSP, *seqFindProg();
SSCB *pSS;
tid = pTcbX->taskId;
#endif
pSP = seqFindProg(tid);
if (pSP == NULL)
return(0); /* not a state program task */
return -1; /* not a state program task */
logMsg("Delete %s: pSP=%d=0x%x, tid=%d\n",
pSP->name, pSP, pSP, tid);
@@ -354,6 +359,15 @@ TCBX *pTcbX; /* ptr to TCB of task to be deleted */
pSP->exit_func(pSP, pSP->user_area);
}
/* Disconnect all channels */
seq_disconnect(pSP);
/* Cancel the CA context for each state set task */
for (nss = 0, pSS = pSP->sscb; nss < pSP->nss; nss++, pSS++)
{
ca_import_cancel(pSS->task_id);
}
/* Close the log file */
if (pSP->logFd > 0 && pSP->logFd != ioGlobalStdGet(1))
{
@@ -400,23 +414,22 @@ TCBX *pTcbX; /* ptr to TCB of task to be deleted */
return 0;
}
/* VxWorks Version 4 only */
#ifndef V5_vxWorks
/* seq_semTake - take semaphore:
* VxWorks semTake() with timeout added. (emulates VxWorks 5.0)
/*
* Sequencer auxillary task -- loops on ca_pend_event().
*/
VOID seq_semTake(semId, timeout)
SEM_ID semId; /* semaphore id to take */
long timeout; /* timeout in tics */
seqAuxTask()
{
int dummy;
extern int seqAuxTaskId;
if (timeout == WAIT_FOREVER)
vrtxPend(&semId->count, 0, &dummy);
else if (timeout == NO_WAIT)
semClear(semId);
else
vrtxPend(&semId->count, timeout, &dummy);
/* Set up so all state program tasks will use a common CA context */
ca_task_initialize();
seqAuxTaskId = taskIdSelf(); /* must follow ca_task_initialize() */
/* This loop allows CA to check for connect/disconnect on channels */
for (;;)
{
ca_pend_event(10.0); /* returns every 10 sec. */
}
}
#endif V5_vxWorks