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"Stale data delay" bug fix.

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This commit is contained in:
Ron Sluiter
2005-05-10 16:31:21 +00:00
parent a9ba3a5b01
commit 59cdb65c3e
1 changed files with 100 additions and 68 deletions
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motorApp/MotorSrc/motordrvCom.cc
+100 -68
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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: 1.12 $
Version: $Revision: 1.13 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-21 18:53:22 $
Last Modified: $Date: 2005-05-10 16:31:21 $
*/
/*
@@ -43,6 +43,7 @@ Last Modified: $Date: 2004-12-21 18:53:22 $
* 0 < delay <= (quantum * 2).
* .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.
*/
@@ -71,10 +72,10 @@ extern "C" {epicsExportAddress(int, motordrvComdebug);}
/* Function declarations. */
static int query_axis(int card, struct driver_table *tabptr, epicsTime tick);
static void process_messages(struct driver_table *tabptr, epicsTime tick);
static struct mess_node *get_head_node(struct driver_table *tabptr);
static struct mess_node *motor_malloc(struct circ_queue *freelistptr, epicsEvent *lockptr);
static double query_axis(int, struct driver_table *, epicsTime, double);
static void process_messages(struct driver_table *, epicsTime, double);
static struct mess_node *get_head_node(struct driver_table *);
static struct mess_node *motor_malloc(struct circ_queue *, epicsEvent *);
/*
@@ -83,7 +84,10 @@ static struct mess_node *motor_malloc(struct circ_queue *freelistptr, epicsEvent
* WHILE FOREVER
* IF no motors in motion for this board type.
* Set "wait_time" to WAIT_FOREVER.
* ELSE
* ELSE IF stale data timer is active (stale_data_delay != 0).
* Set "wait_time" to the remaining stale data time.
* 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.
@@ -122,7 +126,7 @@ int motor_task(struct thread_args *args)
struct driver_table *tabptr;
bool sem_ret;
epicsTime previous_time, current_time;
double scan_sec, wait_time, time_lapse;
double scan_sec, wait_time, time_lapse, stale_data_max_delay, stale_data_delay = 0.0;
const double quantum = epicsThreadSleepQuantum();
int itera;
@@ -130,10 +134,22 @@ int motor_task(struct thread_args *args)
previous_time = epicsTime::getCurrent();
scan_sec = 1 / (double) args->motor_scan_rate; /* Convert HZ to seconds. */
if (args->update_delay == 0.0)
stale_data_max_delay = 0.0;
else if (args->update_delay < quantum * 2.0)
stale_data_max_delay = quantum * 2.0;
else
stale_data_max_delay = args->update_delay;
for(;;)
{
if (*tabptr->any_inmotion_ptr == 0)
wait_time = 1000; /* Wait forever = 1,000 seconds. */
else if (stale_data_delay != 0)
{
wait_time = stale_data_delay;
stale_data_delay = 0;
}
else
{
current_time = epicsTime::getCurrent();
@@ -148,6 +164,8 @@ int motor_task(struct thread_args *args)
wait_time = quantum;
}
Debug(5, "motor_task: wait_time = %f\n", wait_time);
sem_ret = tabptr->semptr->wait(wait_time);
previous_time = epicsTime::getCurrent();
@@ -160,22 +178,24 @@ int motor_task(struct thread_args *args)
{
struct controller *brdptr = (*tabptr->card_array)[itera];
if (brdptr != NULL && brdptr->motor_in_motion)
query_axis(itera, tabptr, previous_time);
stale_data_delay = query_axis(itera, tabptr, previous_time, stale_data_max_delay);
}
}
if (sem_ret)
process_messages(tabptr, previous_time);
process_messages(tabptr, previous_time, stale_data_max_delay);
}
return(0);
}
static int query_axis(int card, struct driver_table *tabptr, epicsTime tick)
static double query_axis(int card, struct driver_table *tabptr, epicsTime tick,
double max_delay)
{
struct controller *brdptr;
double rtndelay = 0.0;
int index;
/* quantum_x_2 to insure at least one quantum delay. */
const double quantum_x_2 = epicsThreadSleepQuantum() * 2.0;
Debug(5, "query_axis: enter\n");
brdptr = (*tabptr->card_array)[card];
@@ -186,75 +206,86 @@ static int query_axis(int card, struct driver_table *tabptr, epicsTime tick)
double delay = 0.0;
motor_info = &(brdptr->motor_info[index]);
if ((motor_motion = motor_info->motor_motion) != 0)
motor_motion = motor_info->motor_motion;
if (motor_motion != 0)
{
if (tick >= motor_info->status_delay)
delay = tick - motor_info->status_delay;
}
if (motor_motion && (delay >= quantum_x_2) && (*tabptr->setstat) (card, index))
{
struct mess_node *mess_ret;
bool ls_active;
motor_motion->position = motor_info->position;
motor_motion->encoder_position = motor_info->encoder_position;
motor_motion->velocity = motor_info->velocity;
motor_motion->status = motor_info->status;
mess_ret = (struct mess_node *) motor_malloc(tabptr->freeptr, tabptr->freelockptr);
mess_ret->callback = motor_motion->callback;
mess_ret->mrecord = motor_motion->mrecord;
mess_ret->position = motor_motion->position;
mess_ret->encoder_position = motor_motion->encoder_position;
mess_ret->velocity = motor_motion->velocity;
mess_ret->status = motor_motion->status;
mess_ret->type = motor_motion->type;
if (motor_motion->status.Bits.RA_DIRECTION)
{
if (motor_motion->status.Bits.RA_PLUS_LS)
ls_active = true;
else
ls_active = false;
}
else
delay = 0.0;
if (delay < max_delay)
{
if (motor_motion->status.Bits.RA_MINUS_LS)
ls_active = true;
delay = max_delay - delay;
if (delay > rtndelay)
rtndelay = delay;
}
else if ((*tabptr->setstat) (card, index))
{
struct mess_node *mess_ret;
bool ls_active;
motor_motion->position = motor_info->position;
motor_motion->encoder_position = motor_info->encoder_position;
motor_motion->velocity = motor_info->velocity;
motor_motion->status = motor_info->status;
mess_ret = (struct mess_node *) motor_malloc(tabptr->freeptr, tabptr->freelockptr);
mess_ret->callback = motor_motion->callback;
mess_ret->mrecord = motor_motion->mrecord;
mess_ret->position = motor_motion->position;
mess_ret->encoder_position = motor_motion->encoder_position;
mess_ret->velocity = motor_motion->velocity;
mess_ret->status = motor_motion->status;
mess_ret->type = motor_motion->type;
if (motor_motion->status.Bits.RA_DIRECTION)
{
if (motor_motion->status.Bits.RA_PLUS_LS)
ls_active = true;
else
ls_active = false;
}
else
ls_active = false;
}
if (ls_active == true ||
motor_motion->status.Bits.RA_DONE ||
motor_motion->status.Bits.RA_PROBLEM)
{
(*tabptr->query_done) (card, index, motor_motion);
brdptr->motor_in_motion--;
motor_free(motor_motion, tabptr);
motor_motion = (struct mess_node *) NULL;
motor_info->motor_motion = (struct mess_node *) NULL;
}
{
if (motor_motion->status.Bits.RA_MINUS_LS)
ls_active = true;
else
ls_active = false;
}
callbackRequest(&mess_ret->callback);
if (ls_active == true ||
motor_motion->status.Bits.RA_DONE ||
motor_motion->status.Bits.RA_PROBLEM)
{
(*tabptr->query_done) (card, index, motor_motion);
brdptr->motor_in_motion--;
motor_free(motor_motion, tabptr);
motor_motion = (struct mess_node *) NULL;
motor_info->motor_motion = (struct mess_node *) NULL;
}
if (brdptr->motor_in_motion == 0)
{
SET_MM_OFF(*tabptr->any_inmotion_ptr, card);
callbackRequest(&mess_ret->callback);
if (brdptr->motor_in_motion == 0)
{
SET_MM_OFF(*tabptr->any_inmotion_ptr, card);
}
}
}
}
return (0);
Debug(5, "query_axis: exit\n");
return(rtndelay);
}
static void process_messages(struct driver_table *tabptr, epicsTime tick)
static void process_messages(struct driver_table *tabptr, epicsTime tick,
double max_delay)
{
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;
Debug(5, "process_messages: entry\n");
while ((node = get_head_node(tabptr)))
{
@@ -331,11 +362,11 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick)
case INFO:
/* Status update delay - needed for OMS. */
delay = tick - motor_info->status_delay;
/* Limit delay to; 0 < delay <= max_delay. */
if (delay < 0.0) /* Protect against negative delay. */
delay = 0.0;
/* Limit delay to; 0 < delay <= (quantum * 2). */
if (delay >= 0.0 && delay < quantum_x_2)
epicsThreadSleep(quantum_x_2 - delay);
if (delay < max_delay)
epicsThreadSleep(max_delay - delay);
if (tabptr->strtstat != NULL)
(*tabptr->strtstat) (card);
@@ -388,6 +419,7 @@ static void process_messages(struct driver_table *tabptr, epicsTime tick)
callbackRequest((CALLBACK *) node);
}
}
Debug(5, "process_messages: exit\n");
}