315 lines
7.8 KiB
C
315 lines
7.8 KiB
C
/**************************************************************************
|
||
GTA PROJECT AT division
|
||
Copyright, 1990, The Regents of the University of California.
|
||
Los Alamos National Laboratory
|
||
|
||
$Id$
|
||
DESCRIPTION: Seq_tasks.c: Task creation and control for sequencer
|
||
state sets.
|
||
|
||
ENVIRONMENT: VxWorks
|
||
***************************************************************************/
|
||
|
||
#include "seq.h"
|
||
#include "vxWorks.h"
|
||
#include "taskLib.h"
|
||
|
||
#define TASK_NAME_SIZE 10
|
||
/* Sequencer main task entry point */
|
||
sequencer(sp_ptr, stack_size, ptask_name)
|
||
SPROG *sp_ptr; /* ptr to original (global) state program table */
|
||
int stack_size; /* stack size */
|
||
char *ptask_name; /* Parent task name */
|
||
{
|
||
extern SPROG *seq_task_ptr;
|
||
SSCB *ss_ptr;
|
||
STATE *st_ptr;
|
||
int nss, task_id;
|
||
char task_name[TASK_NAME_SIZE+10];
|
||
extern ss_entry();
|
||
|
||
sp_ptr->task_id = taskIdSelf(); /* my task id */
|
||
|
||
/* Make "seq_task_ptr" a task variable */
|
||
if (taskVarAdd(sp_ptr->task_id, &seq_task_ptr) != OK)
|
||
{
|
||
seqLog(sp_ptr, "%s: taskVarAdd failed\n", sp_ptr->name);
|
||
return -1;
|
||
}
|
||
seq_task_ptr = sp_ptr;
|
||
|
||
/* Initilaize state set to first task, and set event mask */
|
||
ss_ptr = sp_ptr->sscb;
|
||
for (nss = 0; nss < sp_ptr->nss; nss++, ss_ptr++)
|
||
{
|
||
st_ptr = ss_ptr->states;
|
||
ss_ptr->current_state = 0;
|
||
ss_ptr->pMask = (st_ptr->eventMask);
|
||
}
|
||
|
||
/* Connect to database channels & initiate monitor requests.
|
||
Returns here immediately if "connect" switch is not set */
|
||
connect_db_channels(sp_ptr);
|
||
|
||
/* Create the state set tasks */
|
||
if (strlen(ptask_name) > TASK_NAME_SIZE);
|
||
ptask_name[TASK_NAME_SIZE] = 0;
|
||
|
||
ss_ptr = sp_ptr->sscb + 1;
|
||
for (nss = 1; nss < sp_ptr->nss; nss++, ss_ptr++)
|
||
{
|
||
/* Form task name from program name + state set number */
|
||
sprintf(task_name, "%s_%d", ptask_name, nss);
|
||
|
||
/* Spawn the task */
|
||
task_id = taskSpawn(task_name,
|
||
SPAWN_PRIORITY+ss_ptr->task_priority,
|
||
SPAWN_OPTIONS, stack_size, ss_entry, sp_ptr, ss_ptr);
|
||
|
||
seqLog(sp_ptr, "Spawning task %d: \"%s\"\n", task_id, task_name);
|
||
}
|
||
|
||
/* Main task handles first state set */
|
||
ss_entry(sp_ptr, sp_ptr->sscb);
|
||
}
|
||
/* Task entry point for state sets */
|
||
/* Provides main loop for state set processing (common, re-entrant code) */
|
||
ss_entry(sp_ptr, ss_ptr)
|
||
SPROG *sp_ptr;
|
||
SSCB *ss_ptr;
|
||
{
|
||
BOOL ev_trig;
|
||
STATE *st_ptr, *st_pNext;
|
||
ULONG delay, get_timeout();
|
||
int i;
|
||
char *var_ptr;
|
||
|
||
/* Initialize all tasks except the main task */
|
||
ss_ptr->task_id = taskIdSelf();
|
||
if (ss_ptr->task_id != sp_ptr->task_id)
|
||
ss_task_init(sp_ptr, ss_ptr);
|
||
|
||
var_ptr = sp_ptr->user_area;
|
||
st_ptr = ss_ptr->states;
|
||
|
||
/* Main loop */
|
||
while (1)
|
||
{
|
||
/* Clear event bits */
|
||
semTake(sp_ptr->sem_id, 0); /* Lock CA */
|
||
for (i = 0; i < NWRDS; i++)
|
||
ss_ptr->events[i] = 0;
|
||
semGive(sp_ptr->sem_id); /* Unlock CA */
|
||
|
||
ss_ptr->time = tickGet(); /* record time we entered this state */
|
||
|
||
/* Call delay function to set up delays */
|
||
ss_ptr->ndelay = 0;
|
||
st_ptr->delay_func(sp_ptr, ss_ptr, var_ptr);
|
||
|
||
/* On 1-st pass fall thru w/o wake up */
|
||
semGive(ss_ptr->sem_id);
|
||
|
||
/* Loop until an event is triggered */
|
||
do {
|
||
/* Wake up on CA event, event flag, or expired time delay */
|
||
semTake(ss_ptr->sem_id, get_timeout(ss_ptr, st_ptr));
|
||
#ifdef DEBUG
|
||
printf("%s: semTake returned, events[0]=0x%x\n",
|
||
ss_ptr->name, ss_ptr->events[0]);
|
||
#endif DEBUG
|
||
ss_ptr->time = tickGet();
|
||
|
||
/* Apply CA resource lock: any new events coming in will
|
||
be deferred until after event tests */
|
||
semTake(sp_ptr->sem_id, 0);
|
||
|
||
/* Call event function to check for event trigger */
|
||
ev_trig = st_ptr->event_func(sp_ptr, ss_ptr, var_ptr);
|
||
|
||
/* Unlock CA resource */
|
||
semGive(sp_ptr->sem_id);
|
||
|
||
} while (!ev_trig);
|
||
/* Event triggered */
|
||
|
||
/* Change event mask ptr for next state */
|
||
st_pNext = ss_ptr->states + ss_ptr->next_state;
|
||
ss_ptr->pMask = (st_pNext->eventMask);
|
||
|
||
/* Execute the action for this event */
|
||
ss_ptr->action_complete = FALSE;
|
||
st_ptr->action_func(sp_ptr, ss_ptr, var_ptr);
|
||
|
||
/* Flush any outstanding DB requests */
|
||
ca_flush_io();
|
||
|
||
/* Change to next state */
|
||
ss_ptr->prev_state = ss_ptr->current_state;
|
||
ss_ptr->current_state = ss_ptr->next_state;
|
||
st_ptr = ss_ptr->states + ss_ptr->current_state;
|
||
ss_ptr->action_complete = TRUE;
|
||
}
|
||
}
|
||
/* Initialize state-set tasks */
|
||
LOCAL ss_task_init(sp_ptr, ss_ptr)
|
||
SPROG *sp_ptr;
|
||
SSCB *ss_ptr;
|
||
{
|
||
extern SPROG *seq_task_ptr;
|
||
|
||
|
||
/* Import task variable context from main task */
|
||
taskVarAdd(ss_ptr->task_id, &seq_task_ptr);
|
||
seq_task_ptr = sp_ptr;
|
||
|
||
/* Import Channel Access context from main task */
|
||
ca_import(sp_ptr->task_id);
|
||
|
||
return;
|
||
}
|
||
/* Return time-out for semTake() */
|
||
LOCAL ULONG get_timeout(ss_ptr)
|
||
SSCB *ss_ptr;
|
||
{
|
||
int ndelay;
|
||
ULONG time, timeout, tmin;
|
||
|
||
if (ss_ptr->ndelay == 0)
|
||
return 0;
|
||
|
||
time = tickGet();
|
||
tmin = 0;
|
||
/* find lowest timeout that's not expired */
|
||
for (ndelay = 0; ndelay < ss_ptr->ndelay; ndelay++)
|
||
{
|
||
timeout = ss_ptr->timeout[ndelay];
|
||
if (time < timeout)
|
||
{
|
||
if (tmin == 0 || timeout < tmin)
|
||
tmin = timeout;
|
||
}
|
||
}
|
||
if (tmin != 0)
|
||
tmin -= time; /* convert timeout to delay */
|
||
return tmin;
|
||
}
|
||
/* Set-up for delay() on entering a state. This routine is called
|
||
by the state program for each delay in the "when" statement */
|
||
VOID seq_start_delay(sp_ptr, ss_ptr, delay_id, delay)
|
||
SPROG *sp_ptr;
|
||
SSCB *ss_ptr;
|
||
int delay_id; /* delay id */
|
||
float delay;
|
||
{
|
||
int td_tics;
|
||
|
||
/* Note: the following 2 lines could be combined, but doing so produces
|
||
* the undefined symbol "Mund", which is not in VxWorks library */
|
||
td_tics = delay*60.0;
|
||
ss_ptr->timeout[delay_id] = ss_ptr->time + td_tics;
|
||
delay_id += 1;
|
||
if (delay_id > ss_ptr->ndelay)
|
||
ss_ptr->ndelay = delay_id;
|
||
return;
|
||
}
|
||
|
||
/* Test for time-out expired */
|
||
BOOL seq_test_delay(sp_ptr, ss_ptr, delay_id)
|
||
SPROG *sp_ptr;
|
||
SSCB *ss_ptr;
|
||
int delay_id;
|
||
{
|
||
return (ss_ptr->time >= ss_ptr->timeout[delay_id]);
|
||
}
|
||
/* This task is run whenever ANY task in the system is deleted */
|
||
sprog_delete(pTcbX)
|
||
TCBX *pTcbX; /* ptr to TCB of task to be deleted */
|
||
{
|
||
int tid, nss, val, tid_ss;
|
||
SPROG *sp_ptr;
|
||
SSCB *ss_ptr;
|
||
extern SPROG *seq_task_ptr;
|
||
|
||
tid = pTcbX->taskId;
|
||
/* Note: seq_task_ptr is a task variable */
|
||
val = taskVarGet(tid, &seq_task_ptr);
|
||
if (val == ERROR)
|
||
return 0; /* not one of our tasks */
|
||
sp_ptr = (SPROG *)val;
|
||
logMsg("Delete %s: sp_ptr=%d=0x%x, tid=%d\n",
|
||
sp_ptr->name, sp_ptr, sp_ptr, tid);
|
||
|
||
/* Is this a real sequencer task? */
|
||
if (sp_ptr->magic != MAGIC)
|
||
{
|
||
logMsg(" Not main state program task\n");
|
||
return -1;
|
||
}
|
||
|
||
/* Suspend state set tasks */
|
||
ss_ptr = sp_ptr->sscb;
|
||
for (nss = 0; nss < sp_ptr->nss; nss++, ss_ptr++)
|
||
{
|
||
tid_ss = ss_ptr->task_id;
|
||
if ( tid_ss > 0)
|
||
{
|
||
/* Don't suspend self */
|
||
if (tid != tid_ss)
|
||
{
|
||
logMsg(" suspend ss task: tid=%d\n", tid_ss);
|
||
taskVarSet(tid_ss, &seq_task_ptr, ERROR);
|
||
taskSuspend(tid_ss);
|
||
}
|
||
}
|
||
}
|
||
|
||
/* Call user exit routine */
|
||
sp_ptr->exit_func(sp_ptr, sp_ptr->user_area);
|
||
|
||
/* Close the log file */
|
||
if (sp_ptr->logFd > 0 && sp_ptr->logFd != ioGlobalStdGet(1))
|
||
{
|
||
logMsg("Closing log fd=%d\n", sp_ptr->logFd);
|
||
close(sp_ptr->logFd);
|
||
sp_ptr->logFd = ioGlobalStdGet(1);
|
||
}
|
||
|
||
/* Delete state set tasks & delete semaphores */
|
||
ss_ptr = sp_ptr->sscb;
|
||
for (nss = 0; nss < sp_ptr->nss; nss++, ss_ptr++)
|
||
{
|
||
tid_ss = ss_ptr->task_id;
|
||
if ( tid_ss > 0)
|
||
{
|
||
/* Don't delete self */
|
||
if (tid != tid_ss)
|
||
{
|
||
logMsg(" delete ss task: tid=%d\n", tid_ss);
|
||
taskVarSet(tid_ss, &seq_task_ptr, ERROR);
|
||
taskDelete(tid_ss);
|
||
}
|
||
semDelete(ss_ptr->sem_id);
|
||
}
|
||
}
|
||
|
||
/* Delete semaphores & free the task area */
|
||
semDelete(sp_ptr->sem_id);
|
||
semDelete(sp_ptr->logSemId);
|
||
logMsg("free sp_ptr->dyn_ptr=0x%x\n", sp_ptr->dyn_ptr);
|
||
taskDelay(5);
|
||
free(sp_ptr->dyn_ptr);
|
||
|
||
return 0;
|
||
}
|
||
/* semTake - take semaphore:
|
||
VxWorks semTake with timeout added. */
|
||
LOCAL VOID semTake (semId, timeout)
|
||
SEM_ID semId; /* semaphore id to take */
|
||
UINT timeout; /* timeout in tics */
|
||
{
|
||
int dummy;
|
||
|
||
vrtxPend(&semId->count, timeout, &dummy);
|
||
}
|