Fixed Save As... function in Beremiz
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Cosateq GmbH & Co.KG
http://www.cosateq.com/
http://www.scale-rt.com/
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <asm/current.h>
#include <native/task.h>
#include <native/timer.h>
#include <native/sem.h>
#include <native/mutex.h>
#include <native/cond.h>
#include <native/alarm.h>
#include "applicfg.h"
#include "can_driver.h"
#include "timer.h"
#define TIMERLOOP_TASK_CREATED 1
TimerCallback_t exitall;
RT_MUTEX condition_mutex;
RT_SEM CanFestival_mutex;
RT_SEM control_task;
RT_COND timer_set;
RT_TASK timerloop_task;
RTIME last_time_read;
RTIME last_occured_alarm;
RTIME last_timeout_set;
int stop_timer = 0;
/**
* Init Mutex, Semaphores and Condition variable
*/
void TimerInit(void)
{
int ret = 0;
char taskname[32];
// lock process in to RAM
//mlockall(MCL_CURRENT | MCL_FUTURE);
snprintf(taskname, sizeof(taskname), "S1-%d", current->pid);
rt_sem_create(&CanFestival_mutex, taskname, 1, S_FIFO);
snprintf(taskname, sizeof(taskname), "S2-%d", current->pid);
rt_sem_create(&control_task, taskname, 0, S_FIFO);
snprintf(taskname, sizeof(taskname), "M1-%d", current->pid);
rt_mutex_create(&condition_mutex, taskname);
snprintf(taskname, sizeof(taskname), "C1-%d", current->pid);
rt_cond_create(&timer_set, taskname);
}
/**
* Stop Timer Task
* @param exitfunction
*/
void StopTimerLoop(TimerCallback_t exitfunction)
{
exitall = exitfunction;
stop_timer = 1;
rt_cond_signal(&timer_set);
}
void cleanup_all(void)
{
/* normally this will fail with a non-periodic task that has already ended at this time */
if (rt_task_suspend(&timerloop_task) != 0){
printk("Failed to join with Timerloop task\n");
}
rt_task_delete(&timerloop_task);
}
/**
* Clean all Semaphores, mutex, condition variable and main task
*/
void TimerCleanup(void)
{
rt_sem_delete(&CanFestival_mutex);
rt_mutex_delete(&condition_mutex);
rt_cond_delete(&timer_set);
rt_sem_delete(&control_task);
/* normally this will fail with a non-periodic task that has already ended at this time */
if (rt_task_suspend(&timerloop_task) != 0){
printk("Failed to join with Timerloop task\n");
}
rt_task_delete(&timerloop_task);
}
/**
* Take a semaphore
*/
void EnterMutex(void)
{
rt_sem_p(&CanFestival_mutex, TM_INFINITE);
}
/**
* Signaling a semaphore
*/
void LeaveMutex(void)
{
rt_sem_v(&CanFestival_mutex);
}
static TimerCallback_t init_callback;
/**
* Timer Task
*/
void timerloop_task_proc(void *arg)
{
int ret = 0;
getElapsedTime();
last_timeout_set = 0;
last_occured_alarm = last_time_read;
/* trigger first alarm */
SetAlarm(NULL, 0, init_callback, 0, 0);
RTIME current_time;
RTIME real_alarm;
do{
rt_mutex_acquire(&condition_mutex, TM_INFINITE);
if(last_timeout_set == TIMEVAL_MAX)
{
ret = rt_cond_wait(
&timer_set,
&condition_mutex,
TM_INFINITE
); /* Then sleep until next message*/
rt_mutex_release(&condition_mutex);
}else{
current_time = rt_timer_read();
real_alarm = last_time_read + last_timeout_set;
ret = rt_cond_wait( /* sleep until next deadline */
&timer_set,
&condition_mutex,
(real_alarm - current_time)); /* else alarm consider expired */
if(ret == -ETIMEDOUT){
last_occured_alarm = real_alarm;
rt_mutex_release(&condition_mutex);
EnterMutex();
TimeDispatch();
LeaveMutex();
}else{
rt_mutex_release(&condition_mutex);
}
}
}while ((ret == 0 || ret == -EINTR || ret == -ETIMEDOUT) && !stop_timer);
if(exitall){
EnterMutex();
exitall(NULL,0);
LeaveMutex();
}
}
/**
* Create the Timer Task
* @param _init_callback
*/
void StartTimerLoop(TimerCallback_t _init_callback)
{
int ret = 0;
stop_timer = 0;
init_callback = _init_callback;
char taskname[32];
snprintf(taskname, sizeof(taskname), "timerloop-%d", current->pid);
/* create timerloop_task */
ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0); /* T_JOINABLE only in user space */
if (ret) {
printk("Failed to create timerloop_task, code %d\n",ret);
return;
}
/* start timerloop_task */
ret = rt_task_start(&timerloop_task,&timerloop_task_proc,NULL);
if (ret) {
printk("Failed to start timerloop_task, code %u\n",ret);
goto error;
}
return;
error:
cleanup_all();
}
/**
* Create the CAN Receiver Task
* @param fd0 CAN port
* @param *ReceiveLoop_task CAN receiver task
* @param *ReceiveLoop_task_proc CAN receiver function
*/
void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
{
int ret;
static int id = 0;
char taskname[32];
snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, current->pid);
id++;
/* create ReceiveLoop_task */
ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0); /* T_JOINABLE only in user space */
if (ret) {
printk("Failed to create ReceiveLoop_task number %d, code %d\n", id, ret);
return;
}
/* periodic task for Xenomai kernel realtime */
rt_task_set_periodic(ReceiveLoop_task, 0, 1 * 1000 * 1000); /* 1ms */
/* start ReceiveLoop_task */
ret = rt_task_start(ReceiveLoop_task, ReceiveLoop_task_proc,(void*)fd0);
if (ret) {
printk("Failed to start ReceiveLoop_task number %d, code %d\n", id, ret);
return;
}
rt_sem_v(&control_task);
}
/**
* Wait for the CAN Receiver Task end
* @param *ReceiveLoop_task CAN receiver thread
*/
void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)
{
/* normally this will fail with a non-periodic task that has already ended at this time */
if (rt_task_suspend(ReceiveLoop_task) != 0){
printk("Failed to join with Receive task\n");
}
rt_task_delete(ReceiveLoop_task);
}
/**
* Set timer for the next wakeup
* @param value
*/
void setTimer(TIMEVAL value)
{
rt_mutex_acquire(&condition_mutex, TM_INFINITE);
last_timeout_set = value;
rt_mutex_release(&condition_mutex);
rt_cond_signal(&timer_set);
}
/**
* Get the elapsed time since the last alarm
* @return a time in nanoseconds
*/
TIMEVAL getElapsedTime(void)
{
RTIME res;
rt_mutex_acquire(&condition_mutex, TM_INFINITE);
last_time_read = rt_timer_read();
res = last_time_read - last_occured_alarm;
rt_mutex_release(&condition_mutex);
return res;
}