Event arg added to swap IO method, new event for emergency break

profibus/lib/rt/src/os_linux/rt_io_m_pb_profiboard.c

@@ -107,7 +107,8 @@ static pwr_tStatus IoAgentClose (
 );
 static pwr_tStatus IoAgentSwap (
   io_tCtx	ctx,
-  io_sAgent	*ap
+  io_sAgent	*ap,
+  io_eEvent     event
 );
 
 
@@ -784,36 +785,49 @@ static pwr_tStatus IoAgentInit (
 \*----------------------------------------------------------------------------*/
 static pwr_tStatus IoAgentSwap (
   io_tCtx	ctx,
-  io_sAgent	*ap
+  io_sAgent	*ap,
+  io_eEvent	event
 ) 
 {
-  pwr_sClass_Pb_Profiboard *op;
-  char DeviceName[64];
-  io_sAgentLocal *local;
+
+  switch ( event) {
+  case io_eEvent_IoCommSwapInit:
+  case io_eEvent_IoCommSwap: {
+    pwr_sClass_Pb_Profiboard *op;
+    char DeviceName[64];
+    io_sAgentLocal *local;
   
-  if (ap->Local == NULL) {
-    /* Allocate area for local data structure */
-    ap->Local = calloc(1, sizeof(io_sAgentLocal));
-    if (!ap->Local) {
-      errh_Error( "ERROR swap init Profibus DP Master %s - %s", ap->Name, "calloc");
-      return IO__ERRINIDEVICE;
-    }
+    if (ap->Local == NULL) {
+      /* Allocate area for local data structure */
+      ap->Local = calloc(1, sizeof(io_sAgentLocal));
+      if (!ap->Local) {
+	errh_Error( "ERROR swap init Profibus DP Master %s - %s", ap->Name, "calloc");
+	return IO__ERRINIDEVICE;
+      }
     
-    local = (io_sAgentLocal *) ap->Local;
-
-    errh_Info( "Swap init interface for Profibus DP Master %s", ap->Name);
+      local = (io_sAgentLocal *) ap->Local;
+      
+      errh_Info( "Swap init interface for Profibus DP Master %s", ap->Name);
 
-    op = (pwr_sClass_Pb_Profiboard *) ap->op;
+      op = (pwr_sClass_Pb_Profiboard *) ap->op;
     
-    sprintf(DeviceName, "/dev/pbboard%u", op->BusNumber - 1);
-    local->hDpsBoardDevice = open(DeviceName, O_RDONLY | O_NONBLOCK);
+      sprintf(DeviceName, "/dev/pbboard%u", op->BusNumber - 1);
+      local->hDpsBoardDevice = open(DeviceName, O_RDONLY | O_NONBLOCK);
     
-    if (local->hDpsBoardDevice == -1) {
-      errh_Error( "ERROR swap init Profibus DP Master %s - %s", ap->Name, "open");
-      return IO__ERRINIDEVICE;
+      if (local->hDpsBoardDevice == -1) {
+	errh_Error( "ERROR swap init Profibus DP Master %s - %s", ap->Name, "open");
+	return IO__ERRINIDEVICE;
+      }
     }
+    break;
   }
-      
+  case io_eEvent_EmergencyBreak:
+  case io_eEvent_IoCommEmergencyBreak:
+    IoAgentClose( ctx, ap);
+    break;
+  }
+
+    
   return IO__SUCCESS;
 }
 

src/exe/rt_emon/src/rt_emon.c

@@ -405,6 +405,7 @@ struct sLocal {
   sNodeInfo			nodeDb[cNodes];
   pwr_tBoolean			outunitServer;
   pwr_sClass_IOHandler		*iohp;
+  pwr_sNode			*nodep;
 }; 
 
 /* Global variables */
@@ -1253,6 +1254,7 @@ cSup_exec (
 	o->DelayNoted = TRUE;
 	if (o->DelayAction == 2) {
 	  l.iohp->IOReadWriteFlag = FALSE;
+	  l.nodep->EmergBreakTrue = TRUE;
 	  errh_SetStatus( MH__IOSTALLED);
 	}
       }
@@ -1996,6 +1998,7 @@ getHandlerObject ()
   pwr_sAttrRef aref; 
   pwr_tDlid dlid;
   pwr_tBoolean created = FALSE;
+  pwr_tOid 	node_oid;
 
   sts = gdh_GetClassList(pwr_eClass_Node, &nodeOid);            
   if (EVEN(sts)) {
@@ -2099,7 +2102,14 @@ getHandlerObject ()
 
   l.iohp = NULL;
   gdh_ObjidToPointer(oid, (void *) &l.iohp);
-
+  
+  sts = gdh_GetNodeObject( 0, &node_oid);
+  if (ODD(sts))
+    sts = gdh_ObjidToPointer( node_oid, (void **)&l.nodep);
+  if (EVEN(sts)) {
+    errh_Fatal("No node object found\n%m", sts);
+    exit(sts);
+  }
 }
 
 static mh_eAgent

src/exe/rt_io_comm/src/rt_io_comm.c

@@ -70,7 +70,7 @@
  EVENT           io_comm_terminate;
 #endif
 
-static pwr_sClass_IOHandler* init(qcom_sQid*, lst_sEntry**);
+static pwr_sClass_IOHandler* init(qcom_sQid*, lst_sEntry**, pwr_sNode**);
 
 static void usage()
 {
@@ -100,6 +100,8 @@ int main (int argc, char **argv)
   pwr_tDeltaTime cycle;
   lst_sEntry *csup_lh;
   int delay_action = 0;
+  pwr_sNode *nodep;
+  pwr_tBoolean old_emergency_break = 0;
 
   if ( argc > 1) {
     if ( strcmp( argv[1], "-m") == 0) {
@@ -112,7 +114,7 @@ int main (int argc, char **argv)
     }
   }
 
-  ihp = init(&qid, &csup_lh);
+  ihp = init(&qid, &csup_lh, &nodep);
 
   plc_UtlWaitForPlc();
 
@@ -146,13 +148,28 @@ int main (int argc, char **argv)
     get.data = mp;
     qcom_Get(&sts,&qid, &get, tmo);
     if (sts == QCOM__TMO || sts == QCOM__QEMPTY) {
-    
+
+      if ( nodep->EmergBreakTrue && !old_emergency_break)
+        sts = io_swap(io_ctx_swap, io_eEvent_IoCommEmergencyBreak);
+
       sts = io_read(io_ctx);
+      if (EVEN(sts)) {
+	ihp->IOReadWriteFlag = FALSE;
+	errh_Error("IO read, %m", sts);
+      }
       sts = io_write(io_ctx);
+      if (EVEN(sts)) {
+	ihp->IOReadWriteFlag = FALSE;
+	errh_Error("IO write, %m", sts);
+      }
+
+      if ( nodep->EmergBreakTrue && !old_emergency_break)
+        sts = io_swap(io_ctx, io_eEvent_EmergencyBreak);
+      old_emergency_break = nodep->EmergBreakTrue;
 
       if (swap_io) 
       {
-        sts = io_swap(io_ctx_swap);
+        sts = io_swap(io_ctx_swap, io_eEvent_IoCommSwap);
       }
       io_ScanSupLst( io_ctx->SupCtx);
 
@@ -193,13 +210,14 @@ int main (int argc, char **argv)
 }
 
 static pwr_sClass_IOHandler *
-init (qcom_sQid *qid, lst_sEntry **csup_lh)
+init (qcom_sQid *qid, lst_sEntry **csup_lh, pwr_sNode **nodep)
 {
   pwr_tStatus sts = 1;
   pwr_sClass_IOHandler *ihp;
   qcom_sQattr qAttr;
   qcom_sQid qini;
-  pwr_tObjid oid;
+  pwr_tOid oid;
+  pwr_tOid node_oid;
 
   errh_Init("pwr_io", errh_eAnix_io);
 
@@ -238,6 +256,18 @@ init (qcom_sQid *qid, lst_sEntry **csup_lh)
     exit(sts);
   }
 
+  sts = gdh_GetNodeObject( 0, &node_oid);
+  if (EVEN(sts)) {
+    errh_Fatal("rt_io_comm aborted, no node object found\n%m", sts);
+    exit(sts);
+  }
+
+  sts = gdh_ObjidToPointer( node_oid, (void **)nodep);
+  if (EVEN(sts)) {
+    errh_Fatal("rt_io_comm aborted, no node object found\n%m", sts);
+    exit(sts);
+  }
+
   aproc_RegisterObject( oid);
 
   *csup_lh = csup_Init(&sts, oid, ihp->CycleTimeBus);

src/lib/rt/src/rt_io_base.c

@@ -2143,7 +2143,7 @@ static pwr_tStatus io_init_agent(
   io_tCtx	ctx,
   void		*dummy,
   int		agent_type,
-  int           swap)
+  int           iocomm_swap)
 {
   pwr_tStatus	sts;
   pwr_tClassId	class;  
@@ -2181,7 +2181,7 @@ static pwr_tStatus io_init_agent(
 	strcat( attrname, ".Process");
 	sts = gdh_GetObjectInfo( attrname, &process, sizeof(process));
 	if (( EVEN(sts) ||
-	     (ODD(sts) && ctx->Process & process)) && !swap) {
+	     (ODD(sts) && ctx->Process & process)) && !iocomm_swap) {
 	  if ( EVEN(sts))
 	    process = io_mProcess_All;
 	  if ( ctx->Process == io_mProcess_Profibus)
@@ -2199,7 +2199,7 @@ static pwr_tStatus io_init_agent(
 	  else
 	    ok = 1;
 	}
-	else if (ODD(sts) && swap && AgentSwap != NULL) {
+	else if (ODD(sts) && iocomm_swap && AgentSwap != NULL) {
 	  /* IoComm-process should always handle the Swap-method */
 	  ok = 1;
 	}
@@ -2213,11 +2213,13 @@ static pwr_tStatus io_init_agent(
 	  ap->Objid = objid;
 	  strcpy( ap->Name, aname);
 	  ap->Process = process;
-          if (!swap) {
+          if (!iocomm_swap) {
 	    if ( AgentRead != NULL)
 	      ap->Action |= io_mAction_Read;
 	    if ( AgentWrite != NULL)
 	      ap->Action |= io_mAction_Write;
+	    if ( AgentSwap != NULL)
+	      ap->Action |= io_mAction_Swap;
 	    ap->Init = AgentInit;
 	    ap->Close = AgentClose;
 	    ap->Read = AgentRead;
@@ -2252,7 +2254,7 @@ static pwr_tStatus io_init_agent(
 	    alp->next = ap;
 	  }
 	  
-	  sts = io_trv_child( objid, 0, io_init_rack, ctx, ap, agent_type, swap);
+	  sts = io_trv_child( objid, 0, io_init_rack, ctx, ap, agent_type, iocomm_swap);
 	}
       }
     }
@@ -2646,7 +2648,7 @@ pwr_tStatus io_init_swap (
   {
     if (ap->Action & io_mAction_Swap)
     {
-      sts = (ap->Swap) ( *ctx, ap);
+      sts = (ap->Swap) ( *ctx, ap, io_eEvent_IoCommSwapInit);
       if ( EVEN(sts)) return sts;
     }
   }
@@ -2798,59 +2800,42 @@ pwr_tStatus io_write(
   Swap io racks and cards.
 \*----------------------------------------------------------------------------*/
 pwr_tStatus io_swap(
-  io_tCtx 	ctx)
+  io_tCtx 	ctx,
+  io_eEvent	event)
 {
   pwr_tStatus	sts;
   io_sAgent	*ap;
   io_sRack	*rp;
   io_sCard	*cp;
 
-  if ( ctx->Node->EmergBreakTrue || !ctx->IOHandler->IOReadWriteFlag)
-    return IO__IS_STOPPED;
+  switch ( event) {
+  case io_eEvent_EmergencyBreak:
+  case io_eEvent_IoCommEmergencyBreak:
+    break;
+  default:
+    if ( ctx->Node->EmergBreakTrue || !ctx->IOHandler->IOReadWriteFlag)
+      return IO__IS_STOPPED;
+  }
 
   /* Call the read methods for agents, racks and cards */
-  for ( ap = ctx->agentlist; ap != NULL; ap = ap->next)
-  {
-    if (ap->Action & io_mAction_Swap)
-    {
-      if ( ap->scan_interval_cnt <= 1)
-      {
-        sts = (ap->Swap) ( ctx, ap);
-        if ( EVEN(sts)) return sts;
-        ap->scan_interval_cnt = ap->scan_interval;
-      }
-      else
-        ap->scan_interval_cnt--;
+  for ( ap = ctx->agentlist; ap != NULL; ap = ap->next) {
+    if (ap->Action & io_mAction_Swap) {
+      sts = (ap->Swap) ( ctx, ap, event);
+      if ( EVEN(sts)) return sts;
     }
 
-    for ( rp = ap->racklist; rp != NULL; rp = rp->next)
-    {
+    for ( rp = ap->racklist; rp != NULL; rp = rp->next) {
       if (rp->Action & io_mAction_Swap &&
-	  !rp->MethodDisabled)
-      {
-        if ( rp->scan_interval_cnt <= 1)
-        {
-          sts = (rp->Swap) ( ctx, ap, rp);
-          if ( EVEN(sts)) return sts;
-          rp->scan_interval_cnt = rp->scan_interval;
-        }
-        else
-          rp->scan_interval_cnt--;
+	  !rp->MethodDisabled) {
+	sts = (rp->Swap) ( ctx, ap, rp, event);
+	if ( EVEN(sts)) return sts;
       }
 
-      for ( cp = rp->cardlist; cp != NULL; cp = cp->next)
-      {
+      for ( cp = rp->cardlist; cp != NULL; cp = cp->next) {
         if (cp->Action & io_mAction_Swap &&
-	    !cp->MethodDisabled)
-        {
-          if ( cp->scan_interval_cnt <= 1)
-          {
-            sts = (cp->Swap) ( ctx, ap, rp, cp);
-            if ( EVEN(sts)) return sts;
-            cp->scan_interval_cnt = cp->scan_interval;
-          }
-          else
-            cp->scan_interval_cnt--;
+	    !cp->MethodDisabled) {
+	  sts = (cp->Swap) ( ctx, ap, rp, cp, event);
+	  if ( EVEN(sts)) return sts;
 	}
       }
     }

src/lib/rt/src/rt_io_base.h

@@ -105,6 +105,13 @@ typedef enum {
   io_mProcess_All      	= ~0
 } io_mProcess;
 
+typedef enum {
+  io_eEvent_EmergencyBreak,
+  io_eEvent_IoCommEmergencyBreak,
+  io_eEvent_IoCommSwapInit,
+  io_eEvent_IoCommSwap
+} io_eEvent;
+
 typedef struct {
   void		*cop;		/* Pointer to channel object */
   pwr_tDlid	ChanDlid;	/* Dlid for pointer to channel */
@@ -245,7 +252,8 @@ pwr_tStatus io_write(
 );
 
 pwr_tStatus io_swap(
-  io_tCtx 	ctx
+  io_tCtx 	ctx,
+  io_eEvent	event
 );
 
 pwr_tStatus io_close(

src/lib/rt/src/rt_plc.h

@@ -172,6 +172,7 @@ struct plc_sThread {
   io_tCtx		plc_io_ctx;
   pwr_tBoolean		first_scan;
   int			skip_count;
+  pwr_tBoolean		emergency_break_old;
 };
 
 struct plc_sProcess {

src/lib/rt/src/rt_plc_thread.c

@@ -250,6 +250,9 @@ scan (
       errh_SetStatus( PLC__IOREAD);
     }
   }
+  if ( pp->Node->EmergBreakTrue && !tp->emergency_break_old)
+    io_swap(tp->plc_io_ctx, io_eEvent_EmergencyBreak);
+  tp->emergency_break_old = pp->Node->EmergBreakTrue;
 
   thread_MutexLock(&pp->io_copy_mutex);
 
@@ -307,6 +310,7 @@ scan (
 	delay_action = csup_Exec(&sts, tp->csup_lh, (pwr_tDeltaTime *) &tp->sync_time, (pwr_tDeltaTime *) &tp->after_scan, &now);
 	if (delay_action == 2) {
 	  pp->IOHandler->IOReadWriteFlag = FALSE;
+	  pp->Node->EmergBreakTrue = TRUE;
 	  errh_SetStatus( PLC__IOSTALLED);
 	}
       }

ssabox/lib/rt/src/os_linux/rt_io_m_rack_ssab.c

@@ -84,25 +84,33 @@ static pwr_tStatus IoRackInit (
 static pwr_tStatus IoRackSwap (
   io_tCtx	ctx,
   io_sAgent	*ap,
-  io_sRack	*rp
+  io_sRack	*rp,
+  io_eEvent	event
+
 ) 
 {
   io_sRackLocal 	*local;
 
-  if (!rp->Local) {
-    /* Open Qbus driver */
-    local = calloc( 1, sizeof(*local));
-    rp->Local = local;
-
-    local->Qbus_fp = open("/dev/qbus", O_RDWR);
-    if ( local->Qbus_fp == -1)
-    {
-      errh_Error( "Qbus swap initialization error, IO rack %s", rp->Name);
-      return IO__ERRDEVICE;
+  switch ( event) {
+  case io_eEvent_IoCommSwapInit:
+  case io_eEvent_IoCommSwap:
+    if (!rp->Local) {
+      /* Open Qbus driver */
+      local = calloc( 1, sizeof(*local));
+      rp->Local = local;
+      
+      local->Qbus_fp = open("/dev/qbus", O_RDWR);
+      if ( local->Qbus_fp == -1)
+	{
+	  errh_Error( "Qbus swap initialization error, IO rack %s", rp->Name);
+	  return IO__ERRDEVICE;
+	}
+      
+      errh_Info( "Swap init of IO rack %s", rp->Name);
     }
-  
-    errh_Info( "Swap init of IO rack %s", rp->Name);
+  default: ;
   }
+
   return 1;
 }
 

ssabox/lib/rt/src/os_linux/rt_io_m_ssab_do.c

@@ -278,7 +278,8 @@ static pwr_tStatus IoCardSwap (
   io_tCtx	ctx,
   io_sAgent	*ap,
   io_sRack	*rp,
-  io_sCard	*cp  
+  io_sCard	*cp,
+  io_eEvent	event
 ) 
 {
   io_sLocal 		*local;
@@ -289,32 +290,37 @@ static pwr_tStatus IoCardSwap (
   qbus_io_read		rb;
   int			sts;
 
-  op = (pwr_sClass_Ssab_BaseDoCard *) cp->op;
-
-  if (!cp->Local) {
-    local = calloc( 1, sizeof(*local));
-    cp->Local = local;
+  switch ( event) {
+  case io_eEvent_IoCommSwapInit:
+  case io_eEvent_IoCommSwap:
+    op = (pwr_sClass_Ssab_BaseDoCard *) cp->op;
 
-    local->Address[0] = op->RegAddress;
-    local->Address[1] = op->RegAddress + 2;
-    local->Qbus_fp = ((io_sRackLocal *)(rp->Local))->Qbus_fp;
-  }
+    if (!cp->Local) {
+      local = calloc( 1, sizeof(*local));
+      cp->Local = local;
 
-  for ( i = 0; i < 2; i++)
-  { 
-    if (r_local->Qbus_fp != 0 && r_local->s == 0) {
-      /* Write to local Q-bus */
-      rb.Address = local->Address[i];
-      sts = read( local->Qbus_fp, &rb, sizeof(rb));
-    }
-    else {
-      /* Ethernet I/O, Get data from current address */
-      data = bfbeth_get_data(r_local, (pwr_tUInt16) local->Address[i], &sts);
-      /* Yes, we want to read this address the next time aswell */
-      bfbeth_set_read_req(r_local, (pwr_tUInt16) local->Address[i]);
-      sts = 1;      
+      local->Address[0] = op->RegAddress;
+      local->Address[1] = op->RegAddress + 2;
+      local->Qbus_fp = ((io_sRackLocal *)(rp->Local))->Qbus_fp;
     }
+
+    for ( i = 0; i < 2; i++) { 
+      if (r_local->Qbus_fp != 0 && r_local->s == 0) {
+	/* Write to local Q-bus */
+	rb.Address = local->Address[i];
+	sts = read( local->Qbus_fp, &rb, sizeof(rb));
+      }
+      else {
+	/* Ethernet I/O, Get data from current address */
+	data = bfbeth_get_data(r_local, (pwr_tUInt16) local->Address[i], &sts);
+	/* Yes, we want to read this address the next time aswell */
+	bfbeth_set_read_req(r_local, (pwr_tUInt16) local->Address[i]);
+	sts = 1;      
+      }
         
+    }
+    break;
+  default: ;
   }
   return 1;
 }

ssabox/lib/rt/src/os_linux/rt_io_m_ssab_remoterack.c

@@ -209,7 +209,9 @@ static pwr_tStatus IoRackInit (
 static pwr_tStatus IoRackSwap (
   io_tCtx	ctx,
   io_sAgent	*ap,
-  io_sRack	*rp
+  io_sRack	*rp,
+  io_eEvent	event
+
 ) 
 {
   io_sRackLocal *local;
@@ -220,44 +222,51 @@ static pwr_tStatus IoRackSwap (
   struct bfb_buf rbuf;
   int size;
 
-  if (!rp->Local) {
+  switch ( event) {
+  case io_eEvent_IoCommSwapInit:
+  case io_eEvent_IoCommSwap:
 
-    sts = IoRackInitSwap(ctx, ap, rp);
-    if (sts != IO__SUCCESS)
-      return IO__ERRINIDEVICE;
-  }
-  
-  local = (io_sRackLocal *) rp->Local;
-  op = (pwr_sClass_Ssab_RemoteRack *) rp->op;
-
-  // Calc length and send read request
-  local->read_req.service = BFB_SERVICE_READ;  
-  local->read_req.length = local->next_read_req_item*4 + 4;
-  sts = send(local->s, &local->read_req, local->read_req.length, 0);
-  op->TX_packets++;
-  local->next_read_req_item = 0;
-  bzero(&local->read_area, sizeof(local->read_area));
+    if (!rp->Local) {
 
-  sts = 1;
-  while (sts > 0) {
-    FD_ZERO(&fds);
-    FD_SET(local->s, &fds);
-    tv.tv_sec = 0;
-    tv.tv_usec = 0;
-    sts = select(32, &fds, NULL, NULL, &tv);
-    if (sts > 0) {
-      size = recv(local->s, &rbuf, sizeof(rbuf), 0);
-      if (rbuf.service == BFB_SERVICE_READ) {
-        bzero(&local->read_area, sizeof(local->read_area));
-        memcpy(&local->read_area, &rbuf, size);
-      }
-      else if (rbuf.service == BFB_SERVICE_WRITE) {
-        bzero(&local->write_area, sizeof(local->write_area));
-        memcpy(&local->write_area, &rbuf, size);
-      }
-      op->RX_packets++;
+      sts = IoRackInitSwap(ctx, ap, rp);
+      if (sts != IO__SUCCESS)
+	return IO__ERRINIDEVICE;
     }
-  } 
+  
+    local = (io_sRackLocal *) rp->Local;
+    op = (pwr_sClass_Ssab_RemoteRack *) rp->op;
+
+    // Calc length and send read request
+    local->read_req.service = BFB_SERVICE_READ;  
+    local->read_req.length = local->next_read_req_item*4 + 4;
+    sts = send(local->s, &local->read_req, local->read_req.length, 0);
+    op->TX_packets++;
+    local->next_read_req_item = 0;
+    bzero(&local->read_area, sizeof(local->read_area));
+
+    sts = 1;
+    while (sts > 0) {
+      FD_ZERO(&fds);
+      FD_SET(local->s, &fds);
+      tv.tv_sec = 0;
+      tv.tv_usec = 0;
+      sts = select(32, &fds, NULL, NULL, &tv);
+      if (sts > 0) {
+	size = recv(local->s, &rbuf, sizeof(rbuf), 0);
+	if (rbuf.service == BFB_SERVICE_READ) {
+	  bzero(&local->read_area, sizeof(local->read_area));
+	  memcpy(&local->read_area, &rbuf, size);
+	}
+	else if (rbuf.service == BFB_SERVICE_WRITE) {
+	  bzero(&local->write_area, sizeof(local->write_area));
+	  memcpy(&local->write_area, &rbuf, size);
+	}
+	op->RX_packets++;
+      }
+    } 
+    break;
+  default: ;
+  }
   
   return IO__SUCCESS;