lin-epics-modules/motorBase
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Under some conditions, skip delay.

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This commit is contained in:
Ron Sluiter
2008-09-22 19:49:46 +00:00
parent 043194019f
commit 454db2608a
1 changed files with 21 additions and 13 deletions
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motorApp/MotorSrc/motordrvCom.cc
+21 -13
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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: 1.14 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-08 00:13:22 $
Version: $Revision: 1.15 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-09-22 19:49:46 $
*/
/*
@@ -44,6 +44,9 @@ Last Modified: $Date: 2005-12-08 00:13:22 $
* .03 02/11/04 rls Limit valid "delay" in process_messages() to;
* 0 <= delay <= (quantum * 2).
* .04 05/10/05 rls "Stale data delay" bug fix.
* .05 09/22/08 rls Skip delay if time lapsed since last update (time_lapse)
* is > polling rate delay (scan_sec) or if wait time
* is < 1/2 time quantum.
*/
@@ -92,18 +95,19 @@ static struct mess_node *motor_malloc(struct circ_queue *, epicsEvent *);
* Clear stale data timer active indicator (stale_data_delay = 0).
* ELSE
* Update current_time.
* Set "time_lapse" to time elapsed (in seconds) since last timeout
* return from semaphore pend.
* Set "time_lapse" to time elapsed (in seconds) since last update.
* IF elapsed time (time_lapse) < user delay (scan_sec).
* Set "wait_time" to (user delay - elapsed time).
* IF "wait_time" < 1 quantum time unit.
* Set "wait_time" to 1 quantum time unit.
* IF "wait_time" < 1/2 quantum time unit.
* Set "wait_time" to zero.
* ENDIF
* ELSE
* Set "wait_time" to 1 quantum time unit.
* Set "wait_time" to zero.
* ENDIF
* ENDIF
* Pend on semaphore with "wait_time" timeout argument.
* IF wait_time nonzero.
* Pend on semaphore with "wait_time" timeout argument.
* ENDIF
* Update "previous_time".
* IF the "any_motor_in_motion" indicator is true.
* IF VME58 instance of this task.
@@ -131,6 +135,7 @@ epicsShareFunc int motor_task(struct thread_args *args)
epicsTime previous_time, current_time;
double scan_sec, wait_time, time_lapse, stale_data_max_delay, stale_data_delay = 0.0;
const double quantum = epicsThreadSleepQuantum();
double half_quantum;
int itera;
tabptr = args->table;
@@ -144,6 +149,8 @@ epicsShareFunc int motor_task(struct thread_args *args)
else
stale_data_max_delay = args->update_delay;
half_quantum = quantum / 2;
for(;;)
{
if (*tabptr->any_inmotion_ptr == 0)
@@ -160,16 +167,17 @@ epicsShareFunc int motor_task(struct thread_args *args)
if (time_lapse < scan_sec)
{
wait_time = scan_sec - time_lapse;
if (wait_time < quantum)
wait_time = quantum;
if (wait_time < half_quantum)
wait_time = 0.0;
}
else
wait_time = quantum;
wait_time = 0.0;
}
Debug(5, "motor_task: wait_time = %f\n", wait_time);
sem_ret = tabptr->semptr->wait(wait_time);
if (wait_time != 0.0)
sem_ret = tabptr->semptr->wait(wait_time);
previous_time = epicsTime::getCurrent();
if (*tabptr->any_inmotion_ptr)