lin-epics-modules/motorBase
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Use epicsThreadSleepQuantum() to generalize time delays.

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Ron Sluiter
2003-11-06 21:21:57 +00:00
parent 9c016d102d
commit 35cb0b6179
1 changed files with 16 additions and 11 deletions
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motorApp/MotorSrc/motordrvCom.cc
+16 -11
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@@ -3,9 +3,9 @@ FILENAME... motordrvCom.cc
USAGE... This file contains driver functions that are common
to all motor record driver modules.
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-11-06 15:56:10 $
Last Modified: $Date: 2003-11-06 21:21:57 $
*/
/*
@@ -69,11 +69,11 @@ static struct mess_node *motor_malloc(struct circ_queue *freelistptr, epicsEvent
* return from semaphore pend.
* IF elapsed time (time_lapse) < user delay (scan_sec).
* Set "wait_time" to (user delay - elapsed time).
* IF "wait_time" < 10 msec.
* Set "wait_time" to 10 msec..
* IF "wait_time" < 1 quantum time unit.
* Set "wait_time" to 1 quantum time unit.
* ENDIF
* ELSE
* Set "wait_time" to 10 msec..
* Set "wait_time" to 1 quantum time unit.
* ENDIF
* ENDIF
* Pend on semaphore with "wait_time" timeout argument.
@@ -103,6 +103,7 @@ int motor_task(struct thread_args *args)
bool sem_ret;
epicsTime previous_time, current_time;
double scan_sec, wait_time, time_lapse;
const double quantum = epicsThreadSleepQuantum();
int itera;
tabptr = args->table;
@@ -120,11 +121,11 @@ int motor_task(struct thread_args *args)
if (time_lapse < scan_sec)
{
wait_time = scan_sec - time_lapse;
if (wait_time < 0.010)
wait_time = 0.010;
if (wait_time < quantum)
wait_time = quantum;
}
else
wait_time = 0.010;
wait_time = quantum;
}
sem_ret = tabptr->semptr->wait(wait_time);
@@ -153,6 +154,8 @@ static int query_axis(int card, struct driver_table *tabptr, epicsTime tick)
{
struct controller *brdptr;
int index;
/* quantum_x_2 to insure at least one quantum delay. */
const double quantum_x_2 = epicsThreadSleepQuantum() * 2.0;
brdptr = (*tabptr->card_array)[card];
@@ -169,7 +172,7 @@ static int query_axis(int card, struct driver_table *tabptr, epicsTime tick)
delay = tick - motor_info->status_delay;
}
if (motor_motion && (delay >= 0.01) && (*tabptr->setstat) (card, index))
if (motor_motion && (delay >= quantum_x_2) && (*tabptr->setstat) (card, index))
{
struct mess_node *mess_ret;
bool ls_active;
@@ -230,6 +233,8 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick)
{
struct mess_node *node, *motor_motion;
double delay;
/* quantum_x_2 to insure at least one quantum delay. */
const double quantum_x_2 = epicsThreadSleepQuantum() * 2.0;
while ((node = get_head_node(tabptr)))
{
@@ -306,8 +311,8 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick)
case INFO:
if (tick >= motor_info->status_delay)
delay = tick - motor_info->status_delay;
if (delay < 0.01) /* Status update delay - needed for OMS. */
epicsThreadSleep(0.01); /* 10 ms. delay. */
if (delay < quantum_x_2) /* Status update delay - needed for OMS. */
epicsThreadSleep(quantum_x_2 - delay);
if (tabptr->strtstat != NULL)
(*tabptr->strtstat) (card);