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Commit e517a7f4 authored by pwrp's avatar pwrp
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Removed reset inputs stall action when error count har limit reached

parent 29e6e8b2
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Showing with 99 additions and 47 deletions
otherio/lib/rt/src/os_linux/rt_io_m_epl.h
View file @ e517a7f4
......@@ -61,11 +61,12 @@ typedef struct {
} io_sLocalEpl_CN;
typedef struct {
int prevState;
short init;
short timeoutStatus;
int prevState;
int byte_ordering;
int float_representation;
struct timespec tpe, tps;
struct timespec tpe, tps, boot;
int input_area_size;
int output_area_size;
void *input_area;
......
otherio/lib/rt/src/os_linux/rt_io_m_epl_cnserver.c
View file @ e517a7f4
......@@ -52,6 +52,7 @@
#include "Epl.h"
#include <errno.h>
#include <math.h>
#include <rt_pwr_msg.h>
/***************************************************************************/
/* */
......@@ -60,14 +61,6 @@
/* */
/* */
/***************************************************************************/
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
#define IP_ADDR 0xc0a86401 // 192.168.100.1
#define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0 "
#define MAIN_THREAD_PRIORITY 20
//---------------------------------------------------------------------------
// module global vars
//---------------------------------------------------------------------------
......@@ -578,7 +571,7 @@ static pwr_tStatus IoRackInit (
// Get nodeid from attribute in agent
EplApiInitParam.m_uiNodeId = op->NodeId;
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_dwIpAddress = ntohl( inet_addr( op->IpAddress));
// write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
......@@ -622,7 +615,7 @@ static pwr_tStatus IoRackInit (
EplApiInitParam.m_dwApplicationSwDate = 0;
EplApiInitParam.m_dwApplicationSwTime = 0;
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwSubnetMask = ntohl( inet_addr( op->IpNetmask));
EplApiInitParam.m_dwDefaultGateway = 0;
EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
EplApiInitParam.m_uiSyncNodeId = EPL_C_ADR_SYNC_ON_SOA;
......@@ -881,53 +874,88 @@ static pwr_tStatus IoRackRead (
io_sLocalEpl_CNServer *local = (io_sLocalEpl_CNServer *)rp->Local;
pwr_sClass_Epl_CNServer *op = (pwr_sClass_Epl_CNServer *)rp->op;
io_sCard *cp;
pwr_tUInt32 error_count = op->ErrorCount;
pwr_tUInt32 error_count = 0;
int ret = IO__SUCCESS;
if(!rp->Local)
return ret;
// Remeber the time when this functions was called the first time
if( local->init == 0) {
clock_gettime(CLOCK_REALTIME, &local->boot);
local->init = 1;
}
// Time now (tps = time when bad state occurred)
clock_gettime(CLOCK_REALTIME, &local->tpe);
error_count = op->ErrorCount;
// Add to error count if server changed from good to bad state and setup is complete
if( local->prevState == pwr_eEplNmtState_EplNmtCsOperational && op->NmtState != pwr_eEplNmtState_EplNmtCsOperational && ( (local->tpe).tv_sec - (local->boot).tv_sec) >= op->StartupTimeout)
op->ErrorCount++;
// Copy Powerlink process image to temp memory (only if stallaction=resetinputs else tmp_area=input_area)
if( op->StallAction == pwr_eStallActionEnum_ResetInputs)
memcpy( local->tmp_area , local->input_area, local->input_area_size);
// Save time when bad state occurs
if( op->NmtState == pwr_eEplNmtState_EplNmtCsOperational) {
op->ErrorCount = 0;
// If no bad state and were still in startup there can be no error (else remember when error occurred)
if( op->NmtState == pwr_eEplNmtState_EplNmtMsOperational || ( (local->tpe).tv_sec - (local->boot).tv_sec) < op->StartupTimeout) {
(local->tps).tv_sec = 0;
local->timeoutStatus = 0;
}
else if( (local->tps).tv_sec == 0) {
clock_gettime(CLOCK_REALTIME, &local->tps);
}
// If Timeout time has passed and still in bad state, start adding to ErrorCount
if( (local->tpe).tv_sec - (local->tps).tv_sec >= op->Timeout && (local->tps).tv_sec != 0)
op->ErrorCount++;
// Agent error soft limit reached, tell log (once)
// Server error soft limit reached, tell log (once)
if ( op->ErrorCount >= op->ErrorSoftLimit && error_count < op->ErrorSoftLimit) {
errh_Warning( "IO Agent ErrorSoftLimit reached, '%s'", rp->Name);
errh_Warning( "IO Server ErrorSoftLimit reached, '%s'", rp->Name);
}
// Agent error hard limit reached, tell log (once)
// Server error hard limit reached, tell log (once)
if ( op->ErrorCount >= op->ErrorHardLimit && error_count < op->ErrorHardLimit) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
errh_Error( "IO Agent ErrorHardLimit reached '%s', IO stopped", rp->Name);
errh_Error( "IO Server ErrorHardLimit reached '%s', IO stopped", rp->Name);
}
else
errh_Error( "IO Server ErrorHardLimit reached '%s'", rp->Name);
}
// Server timeout has elapsed, tell log (once)
if( ( (local->tpe).tv_sec - (local->tps).tv_sec) >= op->Timeout && local->timeoutStatus == 0 && (local->tps).tv_sec != 0) {
local->timeoutStatus = 1;
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
errh_Error( "IO Server timeout time elapsed '%s', IO stopped", rp->Name);
}
else if( op->StallAction == pwr_eStallActionEnum_ResetInputs) {
errh_Error( "IO Agent ErrorHardLimit reached '%s', IO input area reset", rp->Name);
errh_Error( "IO Server timeout time elapsed '%s', IO input area reset", rp->Name);
}
else
errh_Error( "IO Agent ErrorHardLimit reached '%s'", rp->Name);
errh_Error( "IO Server timeout time elapsed '%s'", rp->Name);
}
// Agent error hard limit reached, take action (always)
// Server error hard limit reached, take action (always)
if ( op->ErrorCount >= op->ErrorHardLimit) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
errh_SetStatus(PWR__SRVFATAL);
IoRackClose(ctx, ap, rp);
}
ret = IO__ERRDEVICE;
}
// Server timeout time elapsed, take action (always)
if ( ( (local->tpe).tv_sec - (local->tps).tv_sec) >= op->Timeout && (local->tps).tv_sec != 0) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
errh_SetStatus(PWR__SRVFATAL);
IoRackClose(ctx, ap, rp);
}
else if( op->StallAction == pwr_eStallActionEnum_ResetInputs) {
memset( local->tmp_area, 0, local->input_area_size);
......@@ -935,6 +963,9 @@ static pwr_tStatus IoRackRead (
ret = IO__ERRDEVICE;
}
// Remember server state til next scan
local->prevState = op->NmtState;
// Update Proview chan-objects with data from Powerlink process image
for ( cp = rp->cardlist; cp; cp = cp->next) {
io_bus_card_read( ctx, rp, cp, local->tmp_area, 0, local->byte_ordering,
......@@ -953,6 +984,9 @@ static pwr_tStatus IoRackWrite (
io_sLocalEpl_CNServer *local = (io_sLocalEpl_CNServer *)rp->Local;
io_sCard *cp;
if(!rp->Local)
return IO__SUCCESS;
for ( cp = rp->cardlist; cp; cp = cp->next) {
io_bus_card_write( ctx, cp, local->output_area, local->byte_ordering, pwr_eFloatRepEnum_FloatIEEE);
}
......
otherio/lib/rt/src/os_linux/rt_io_m_epl_mn.c
View file @ e517a7f4
......@@ -866,9 +866,6 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
errh_Error( "IO Agent ErrorHardLimit reached '%s', IO stopped", ap->Name);
}
else if( op->StallAction == pwr_eStallActionEnum_ResetInputs) {
errh_Error( "IO Agent ErrorHardLimit reached '%s', IO input area reset", ap->Name);
}
else
errh_Error( "IO Agent ErrorHardLimit reached '%s'", ap->Name);
}
......@@ -888,8 +885,8 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) {
}
// Agent error hard limit reached or timeout time elapsed, take action (always)
if ( op->ErrorCount >= op->ErrorHardLimit || ( (local->tpe).tv_sec - (local->tps).tv_sec) >= op->Timeout && (local->tps).tv_sec != 0) {
// Agent error hard limit reached, take action (always)
if ( op->ErrorCount >= op->ErrorHardLimit) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
......@@ -902,6 +899,17 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) {
ret = IO__ERRDEVICE;
}
// Agent timeout time elapsed, take action (always)
if ( ( (local->tpe).tv_sec - (local->tps).tv_sec) >= op->Timeout && (local->tps).tv_sec != 0) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
errh_SetStatus(PWR__SRVFATAL);
IoAgentClose(ctx, ap);
}
ret = IO__ERRDEVICE;
}
// Remember agent state til next scan
local->prevState = op->NmtState;
......@@ -936,9 +944,6 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) {
if( ((pwr_sClass_Epl_CN *)rp->op)->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
errh_Error( "IO Rack ErrorHardLimit reached '%s', IO stopped", rp->Name);
}
else if( ((pwr_sClass_Epl_CN *)rp->op)->StallAction == pwr_eStallActionEnum_ResetInputs) {
errh_Error( "IO Rack ErrorHardLimit reached '%s', IO input area reset", rp->Name);
}
else
errh_Error( "IO Rack ErrorHardLimit reached '%s'", rp->Name);
}
......@@ -956,9 +961,21 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) {
errh_Error( "Rack timeout time elapsed '%s'", rp->Name);
}
// Slave error hard limit reached or timeout time elapsed, take action (always)
if ( ((pwr_sClass_Epl_CN *)rp->op)->ErrorCount >= ((pwr_sClass_Epl_CN *)rp->op)->ErrorHardLimit || ( (local1->tpe).tv_sec - (local1->tps).tv_sec) >= ((pwr_sClass_Epl_CN *)rp->op)->Timeout && (local1->tps).tv_sec != 0) {
// Slave error hard limit reached, take action (always)
if ( ((pwr_sClass_Epl_CN *)rp->op)->ErrorCount >= ((pwr_sClass_Epl_CN *)rp->op)->ErrorHardLimit) {
if( ((pwr_sClass_Epl_CN *)rp->op)->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
errh_SetStatus(PWR__SRVFATAL);
IoAgentClose(ctx, ap);
}
else if( ((pwr_sClass_Epl_CN *)rp->op)->StallAction == pwr_eStallActionEnum_ResetInputs) {
memset( local->tmp_area + ((pwr_sClass_Epl_CN *)rp->op)->InputAreaOffset, 0, ((pwr_sClass_Epl_CN *)rp->op)->InputAreaSize);
}
ret = IO__ERRDEVICE;
}
// Slave timeout elapsed, take action (always)
if( ( (local1->tpe).tv_sec - (local1->tps).tv_sec) >= ((pwr_sClass_Epl_CN *)rp->op)->Timeout && (local1->tps).tv_sec != 0) {
if( ((pwr_sClass_Epl_CN *)rp->op)->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
errh_SetStatus(PWR__SRVFATAL);
......
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