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ethercat
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Removed state machine running() methods.

This commit is contained in:
Florian Pose 2006-10-23 14:00:58 +00:00
parent 3b431ec5c4
commit daf2544626
7 changed files with 26 additions and 96 deletions
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70
master/fsm.c
View File

@ -168,11 +168,15 @@ void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
/**
Executes the current state of the state machine.
\return false, if state machine has terminated
*/
void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->master_state(fsm);
return fsm->master_state != ec_fsm_end &&
fsm->master_state != ec_fsm_error;
}
/*****************************************************************************/
@ -188,19 +192,6 @@ void ec_fsm_startup(ec_fsm_t *fsm)
/*****************************************************************************/
/**
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;
}
/*****************************************************************************/
/**
Returns, if the master startup state machine terminated with success.
\return non-zero if successful.
@ -224,19 +215,6 @@ void ec_fsm_configuration(ec_fsm_t *fsm)
/*****************************************************************************/
/**
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 @@ void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
{
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 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
{
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 @@ void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
{
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 @@ void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
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 @@ void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
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 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
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 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
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 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
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 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
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;

4
master/fsm.h
View File

@ -89,14 +89,12 @@ struct ec_fsm
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 *);
/*****************************************************************************/

13
master/fsm_change.c
View File

@ -97,22 +97,13 @@ void ec_fsm_change(ec_fsm_change_t *fsm, /**< finite state machine */
/**
Executes the current state of the state machine.
\return false, if the state machine has terminated
*/
void ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
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;
}

3
master/fsm_change.h
View File

@ -72,8 +72,7 @@ void ec_fsm_change_clear(ec_fsm_change_t *);
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 *);
/*****************************************************************************/

13
master/fsm_sii.c
View File

@ -120,22 +120,13 @@ void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
/**
Executes the SII state machine.
\return false, if the state machine has terminated
*/
void ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
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;
}

3
master/fsm_sii.h
View File

@ -86,8 +86,7 @@ void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
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 *);
/*****************************************************************************/

16
master/master.c
View File

@ -555,11 +555,9 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
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 @@ void ec_master_idle_run(void *data /**< master pointer */)
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 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
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 @@ void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
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 @@ void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
ec_master_output_stats(master);
// execute master state machine
ec_fsm_execute(&master->fsm);
ec_fsm_exec(&master->fsm);
}
/*****************************************************************************/