Removed state machine running() methods.
authorFlorian Pose <fp@igh-essen.com>
Mon, 23 Oct 2006 14:00:58 +0000
changeset 435 779a18d12e6c
parent 434 0180d8277311
child 436 63214beb641d
Removed state machine running() methods.
master/fsm.c
master/fsm.h
master/fsm_change.c
master/fsm_change.h
master/fsm_sii.c
master/fsm_sii.h
master/master.c
--- a/master/fsm.c	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/fsm.c	Mon Oct 23 14:00:58 2006 +0000
@@ -168,33 +168,13 @@
 
 /**
    Executes the current state of the state machine.
-*/
-
-void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
 {
     fsm->master_state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Initializes the master startup state machine.
-*/
-
-void ec_fsm_startup(ec_fsm_t *fsm)
-{
-    fsm->master_state = ec_fsm_startup_start;
-}
-
-/*****************************************************************************/
-
-/**
-   Returns the running state of the master startup state machine.
-   \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_startup_running(ec_fsm_t *fsm /**< Finite state machine */)
-{
+
     return fsm->master_state != ec_fsm_end &&
         fsm->master_state != ec_fsm_error;
 }
@@ -202,6 +182,17 @@
 /*****************************************************************************/
 
 /**
+   Initializes the master startup state machine.
+*/
+
+void ec_fsm_startup(ec_fsm_t *fsm)
+{
+    fsm->master_state = ec_fsm_startup_start;
+}
+
+/*****************************************************************************/
+
+/**
    Returns, if the master startup state machine terminated with success.
    \return non-zero if successful.
 */
@@ -225,19 +216,6 @@
 /*****************************************************************************/
 
 /**
-   Returns the running state of the master configuration state machine.
-   \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_configuration_running(ec_fsm_t *fsm /**< Finite state machine */)
-{
-    return fsm->master_state != ec_fsm_end &&
-        fsm->master_state != ec_fsm_error;
-}
-
-/*****************************************************************************/
-
-/**
    Returns, if the master confuguration state machine terminated with success.
    \return non-zero if successful.
 */
@@ -796,9 +774,7 @@
 {
     ec_slave_t *slave = fsm->slave;
 
-    ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
-
-    if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 
     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
         fsm->slave->error_flag = 1;
@@ -864,9 +840,7 @@
 {
     ec_slave_t *slave = fsm->slave;
 
-    ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
-
-    if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 
     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
         fsm->slave->error_flag = 1;
@@ -1001,9 +975,7 @@
 {
     ec_slave_t *slave = fsm->slave;
 
-    ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
-
-    if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 
     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
         fsm->slave->error_flag = 1;
@@ -1266,10 +1238,7 @@
     ec_slave_t *slave = fsm->slave;
     uint16_t cat_type, cat_size;
 
-    // execute SII state machine
-    ec_fsm_sii_exec(&fsm->fsm_sii);
-
-    if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 
     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
         fsm->slave->error_flag = 1;
@@ -1326,10 +1295,7 @@
     ec_slave_t *slave = fsm->slave;
     uint16_t *cat_word, cat_type, cat_size;
 
-    // execute SII state machine
-    ec_fsm_sii_exec(&fsm->fsm_sii);
-
-    if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+    if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
 
     if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
         fsm->slave->error_flag = 1;
@@ -1446,9 +1412,7 @@
     const ec_sii_sync_t *sync;
     ec_sii_sync_t mbox_sync;
 
-    ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
-    if (ec_fsm_change_running(&fsm->fsm_change)) return;
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 
     if (!ec_fsm_change_success(&fsm->fsm_change)) {
         slave->error_flag = 1;
@@ -1571,9 +1535,7 @@
     ec_datagram_t *datagram = &fsm->datagram;
     unsigned int j;
 
-    ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
-    if (ec_fsm_change_running(&fsm->fsm_change)) return;
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 
     if (!ec_fsm_change_success(&fsm->fsm_change)) {
         slave->error_flag = 1;
@@ -1708,9 +1670,7 @@
     ec_master_t *master = fsm->master;
     ec_slave_t *slave = fsm->slave;
 
-    ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
-    if (ec_fsm_change_running(&fsm->fsm_change)) return;
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 
     if (!ec_fsm_change_success(&fsm->fsm_change)) {
         fsm->slave->error_flag = 1;
@@ -1750,9 +1710,7 @@
     ec_master_t *master = fsm->master;
     ec_slave_t *slave = fsm->slave;
 
-    ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
-    if (ec_fsm_change_running(&fsm->fsm_change)) return;
+    if (ec_fsm_change_exec(&fsm->fsm_change)) return;
 
     if (!ec_fsm_change_success(&fsm->fsm_change)) {
         slave->error_flag = 1;
--- a/master/fsm.h	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/fsm.h	Mon Oct 23 14:00:58 2006 +0000
@@ -89,14 +89,12 @@
 int ec_fsm_init(ec_fsm_t *, ec_master_t *);
 void ec_fsm_clear(ec_fsm_t *);
 void ec_fsm_reset(ec_fsm_t *);
-void ec_fsm_execute(ec_fsm_t *);
+int ec_fsm_exec(ec_fsm_t *);
 
 void ec_fsm_startup(ec_fsm_t *);
-int ec_fsm_startup_running(ec_fsm_t *);
 int ec_fsm_startup_success(ec_fsm_t *);
 
 void ec_fsm_configuration(ec_fsm_t *);
-int ec_fsm_configuration_running(ec_fsm_t *);
 int ec_fsm_configuration_success(ec_fsm_t *);
 
 /*****************************************************************************/
--- a/master/fsm_change.c	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/fsm_change.c	Mon Oct 23 14:00:58 2006 +0000
@@ -97,22 +97,13 @@
 
 /**
    Executes the current state of the state machine.
-*/
-
-void ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
+   \return false, if the state machine has terminated
+*/
+
+int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
 {
     fsm->state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Returns the running state of the state machine.
-   \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_change_running(ec_fsm_change_t *fsm /**< Finite state machine */)
-{
+
     return fsm->state != ec_fsm_change_end
         && fsm->state != ec_fsm_change_error;
 }
--- a/master/fsm_change.h	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/fsm_change.h	Mon Oct 23 14:00:58 2006 +0000
@@ -72,8 +72,7 @@
 
 void ec_fsm_change(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
 
-void ec_fsm_change_exec(ec_fsm_change_t *);
-int ec_fsm_change_running(ec_fsm_change_t *);
+int ec_fsm_change_exec(ec_fsm_change_t *);
 int ec_fsm_change_success(ec_fsm_change_t *);
 
 /*****************************************************************************/
--- a/master/fsm_sii.c	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/fsm_sii.c	Mon Oct 23 14:00:58 2006 +0000
@@ -120,22 +120,13 @@
 
 /**
    Executes the SII state machine.
-*/
-
-void ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
+   \return false, if the state machine has terminated
+*/
+
+int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
 {
     fsm->state(fsm);
-}
-
-/*****************************************************************************/
-
-/**
-   Returns the running state of the master startup state machine.
-   \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_sii_running(ec_fsm_sii_t *fsm /**< Finite state machine */)
-{
+
     return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error;
 }
 
--- a/master/fsm_sii.h	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/fsm_sii.h	Mon Oct 23 14:00:58 2006 +0000
@@ -86,8 +86,7 @@
 void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t, uint16_t *,
                       ec_fsm_sii_addressing_t);
 
-void ec_fsm_sii_exec(ec_fsm_sii_t *);
-int ec_fsm_sii_running(ec_fsm_sii_t *);
+int ec_fsm_sii_exec(ec_fsm_sii_t *);
 int ec_fsm_sii_success(ec_fsm_sii_t *);
 
 /*****************************************************************************/
--- a/master/master.c	Mon Oct 23 13:45:09 2006 +0000
+++ b/master/master.c	Mon Oct 23 14:00:58 2006 +0000
@@ -555,11 +555,9 @@
 
     ec_fsm_startup(fsm); // init startup state machine
 
-    do {
-        ec_fsm_execute(fsm);
+    while (ec_fsm_exec(fsm)) {
         ec_master_sync_io(master);
     }
-    while (ec_fsm_startup_running(fsm));
 
     if (!ec_fsm_startup_success(fsm)) {
         ec_master_clear_slaves(master);
@@ -669,7 +667,7 @@
     ecrt_master_receive(master);
 
     // execute master state machine
-    ec_fsm_execute(&master->fsm);
+    ec_fsm_exec(&master->fsm);
 
     ecrt_master_send(master);
     cycles_end = get_cycles();
@@ -1246,11 +1244,9 @@
 
     ec_fsm_configuration(fsm); // init configuration state machine
 
-    do {
-        ec_fsm_execute(fsm);
+    while (ec_fsm_exec(fsm)) {
         ec_master_sync_io(master);
     }
-    while (ec_fsm_configuration_running(fsm));
 
     if (!ec_fsm_configuration_success(fsm)) {
         return -1;
@@ -1279,11 +1275,9 @@
 
     ec_fsm_configuration(fsm); // init configuration state machine
 
-    do {
-        ec_fsm_execute(fsm);
+    while (ec_fsm_exec(fsm)) {
         ec_master_sync_io(master);
     }
-    while (ec_fsm_configuration_running(fsm));
 }
 
 /*****************************************************************************/
@@ -1429,7 +1423,7 @@
     ec_master_output_stats(master);
 
     // execute master state machine
-    ec_fsm_execute(&master->fsm);
+    ec_fsm_exec(&master->fsm);
 }
 
 /*****************************************************************************/