# HG changeset patch
# User Edouard Tisserant
# Date 1348018258 -7200
# Node ID 21eb91dc707148d2e9bb51a336e0dc9010032e59
# Parent  bf2fa4cb62a90cd83bbe9d833870b0f0311ae7b3
Different etherlab sequencing within retrieve and publish. Now, timer is polled after PLC exec until frame have to be sent. This slightly reduce jitter, compared to previous sequencing

diff -r bf2fa4cb62a9 -r 21eb91dc7071 etherlab/plc_etherlab.c
--- a/etherlab/plc_etherlab.c	Thu Sep 13 11:07:51 2012 +0200
+++ b/etherlab/plc_etherlab.c	Wed Sep 19 03:30:58 2012 +0200
@@ -46,6 +46,7 @@
 // EtherCAT
 static ec_master_t *master = NULL;
 static ec_domain_t *domain1 = NULL;
+static int first_sent=0;
 %(slaves_declaration)s
 
 /* Beremiz plugin functions */
@@ -103,7 +104,9 @@
     }
 
     fprintf(stdout, "Master %(master_number)d activated...\n");
-     
+    
+    first_sent = 0;
+
     return 0;
 }
 
@@ -114,24 +117,45 @@
 	}
 	//release master
 	ecrt_release_master(master);
+    first_sent = 0;
 }
 
 void __retrieve_%(location)s(void)
 {
-    // send process data
-    ecrt_rtdm_domain_queque(rt_fd);
-    ecrt_rtdm_master_send(rt_fd);
-
-    rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
+//    // send process data
+//    ecrt_rtdm_domain_queque(rt_fd);
+//    ecrt_rtdm_master_send(rt_fd);
+//
+//    rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
 
     // receive ethercat
-    ecrt_rtdm_master_recieve(rt_fd);
-    ecrt_rtdm_domain_process(rt_fd);
+    if(first_sent){
+        ecrt_rtdm_master_recieve(rt_fd);
+        ecrt_rtdm_domain_process(rt_fd);
+%(retrieve_variables)s
+    }
 
-%(retrieve_variables)s
 }
 
+static RTIME _last_occur=0;
+RTIME _current_lag=0;
+
 void __publish_%(location)s(void)
 {
 %(publish_variables)s
+    ecrt_rtdm_domain_queque(rt_fd);
+    {
+        RTIME _current_time = rt_timer_read();
+        RTIME deadline = _last_occur ?
+            _last_occur + common_ticktime__:
+            _current_time; 
+        _last_occur = _current_time;
+        _current_lag = deadline - _current_time;
+        while(_current_time < deadline) {
+            _last_occur = _current_time;
+            _current_time = rt_timer_read();
+        }
+    }
+    ecrt_rtdm_master_send(rt_fd);
+    first_sent = 1;
 }