Changeset 2518 for trunk/MagicSoft/Cosy/candrv/nodedrv.cc

Timestamp:

11/17/03 13:50:48 (21 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/candrv/nodedrv.cc (modified) (7 diffs)

trunk/MagicSoft/Cosy/candrv/nodedrv.cc

@@ -61 +61 @@
 // and the node name. The name is a name for debug output.
 //
-NodeDrv::NodeDrv(BYTE_t nodeid, const char *name, MLog &out) : Log(out), fNetwork(NULL), fId(32), fError(0), fIsZombie(kTRUE)
+NodeDrv::NodeDrv(BYTE_t nodeid, const char *name, MLog &out) : Log(out), fNetwork(NULL), fId(32), fError(0), fIsZombie(kTRUE), fGuard(NULL)
 {
     if (nodeid>0x1f)
@@ -79 +79 @@
     }
 
-    fTimerOn = kFALSE;
-    fTimeout = new TTimer(this, 100, kFALSE); // 100ms, asynchronous
-
     lout << "- Node #" << (int)nodeid << " (" << name << ") initialized." << endl;
 
@@ -92 +89 @@
 NodeDrv::~NodeDrv()
 {
-    fTimerOn = kFALSE;
-    delete fTimeout;
 }
 
@@ -492 +487 @@
 // least one Nodeguard message was answered.
 //
+class NodeGuard : public MThread
+{
+    Double_t fTimeoutTime;
+    Double_t fGuardTime;
+    Int_t    fLifeTimeFactor;
+
+    Bool_t   fIsCanOpen;
+
+    NodeDrv *fDrv;
+
+public:
+    NodeGuard(NodeDrv *drv, Int_t guard, Int_t ltf, Bool_t canopen)
+        : MThread(false), fGuardTime(guard/1000.), fLifeTimeFactor(ltf), fIsCanOpen(canopen), fDrv(drv) { }
+
+    void Reset(timeval_t *tv=NULL)
+    {
+        Timer t;
+        if (tv)
+            t.SetTimer(tv);
+        else
+            t.Now();
+
+        fTimeoutTime = t + (fGuardTime*fLifeTimeFactor);
+    }
+
+    void *Thread()
+    {
+        Reset();
+
+        while (!HasStopFlag())
+        {
+            // Sending nodeguards seems to result in
+            // loosing CANbus messages or CANbus answers...
+            // strange. Also protecting VmodIcan::SendCanFrame
+            // by a Mutex doesn't help.
+            if (fIsCanOpen)
+                fDrv->SendNodeguard();
+
+            Timer t;
+            t.Now();
+
+            const Timer t0 = t+fGuardTime;
+
+            while (!HasStopFlag() && t<t0 && t<fTimeoutTime)
+            {
+                usleep(5);
+                t.Now();
+            }
+
+            //cout << "-d-> " << (Long_t)((fTimeoutTime-t)*1000) << endl;
+            //cout << "-o-> " << (ULong_t)((fTimeoutTime)*1000)<< " " << (ULong_t)((t)*1000) << endl;
+            //cout << "-g-> " << (Long_t)((t-t0)*1000)<< endl;
+
+            if (t<fTimeoutTime)
+                continue;
+
+            fDrv->SetZombie(false);
+            return 0;
+        }
+        return 0;
+    }
+};
+
 void NodeDrv::StartGuarding(Bool_t real=kTRUE)
 {
-    if (fTimerOn)
+    if (fGuard)
         return;
 
-    if (!real)
-        SendNodeguard();
-
-    fTimerOn = kTRUE;
-    fTimeout->SetTime(fGuardTime);
-    fTimeout->Reset();
-
-    Timer t;
-    fTimeoutTime = t.Now() + (fGuardTime*fLifeTimeFactor/1000.);
-    //cout << GetNodeName() << ": " << fmod(fTimeoutTime*10000, 10000)/10 << endl;
-
-    fTimeout->TurnOn();
-    //fTimeout->Start(fGuardTime, kTRUE);
+    fGuard = new NodeGuard(this, fGuardTime, fLifeTimeFactor, real);
+    fGuard->Start();
 
     lout << "- " << GetNodeName() << ": Guarding (" << dec;
@@ -517 +564 @@
 void NodeDrv::StartGuarding(Int_t ms, Int_t ltf, Bool_t real)
 {
-    if (fTimerOn)
+    if (fGuard)
     {
         lout << "- " << GetNodeName() << ": ERROR - Guarding already started." << endl;
         return;
     }
+
     fGuardTime      = ms;
     fLifeTimeFactor = ltf;
@@ -530 +578 @@
 void NodeDrv::StopGuarding()
 {
-    if (!fTimerOn)
+    if (!fGuard)
         return;
 
-    fTimeout->TurnOff();
-    fTimerOn = kFALSE;
+    delete fGuard;
+    fGuard=NULL;
 
     lout << "- " << GetNodeName() << ": Guarding stopped." << endl;
-}
-
-// --------------------------------------------------------------------------
-//
-// Handle the Nodeguard-Timer Event.
-// It checks whether the node timed out. If it timed out it is set to
-// the Zombie state.
-// A new Nodeguard request is send and a new timer event is triggered.
-//
-Bool_t NodeDrv::HandleTimer(TTimer *t)
-{
-    //
-    // WARNING:
-    //           It seems, that you should never access ANY output from
-    //           here. Neither the GUI, nor COUT. This can result in
-    //           'unexpected async reply'
-    //
-
-   /*
-     Fons:
-     -----
-
-     timers never trigger at the same time or when in a TTimer::Notify.
-     Little explanation:
-
-     - there are two types of timers synchronous and a-synchronous.
-     - synchronous timers are only handled via the ROOT eventloop
-       (see TUnixSystem::DispatchOneEvent()). If there are no mouse/keyboard
-       events then the synchronous timer queue is checked. So if the processing
-       of a mouse/keyboard event takes a long time synchronous timers are not
-       called for a while. To prevent this from happening one can call in long
-       procedures gSystem->ProcessEvents(). The system schedules only the
-       next timer in the queue when the current one's Notify() has finished.
-     - a-synchronous timers are triggered via SIGALARM, i.e. the program is
-       interupted and execution jumps to the Notify() function. When the
-       notify is finished the next a-sync timer is scheduled and the system
-       resumes from the place where it was initially interrupted. One of the
-       things to remember when using a-sync timers is don't make any graphics
-       calls in them. X11 is not re-entrant and it might be that the SIGALARM
-       signal interrupted the system while being in X11. A-sync timers are best
-       used to set flags that you can test at a convenient and controlled
-       time.
-       */
-    if (fIsZombie)
-        return kTRUE;
-
-    Timer time;
-    Double_t now = time.Now();
-    if (now > fTimeoutTime)
-    {
-        cout << GetNodeName() << ": " << "==out==> " << fmod(now*1000, 10000)/10 << " > " << fmod(fTimeoutTime*10000, 10000)/10 << endl;
-        //cout << "ERROR - " << GetNodeName() << " didn't respond in timeout window." << endl;
-        //lout << "ERROR - " << GetNodeName() << " didn't respond in timeout window." << endl;
-        //cout << dec << "+" << (int)GetId() << ": Handle: " << fmod(now, 500) << endl;
-        //cout << dec << "+" << (int)GetId() << ": Handle: " << fmod(fTimeoutTime, 500) << endl;
-        //cout << fGuardTime << endl;
-        fIsZombie = true;
-        //SetZombie();
-
-        return kTRUE;
-    }
-
-    SendNodeguard();
-
-    return kTRUE;
 }
 
@@ -611 +594 @@
 void NodeDrv::HandleNodeguard(timeval_t *tv)
 {
-    Timer t(tv);
-    fTimeoutTime = t + (fGuardTime*fLifeTimeFactor/1000.);
-    //cout << GetNodeName() << ": " << fmod(fTimeoutTime*10000, 10000)/10 << endl;
-}
-
-void NodeDrv::SetZombie()
+    if (fGuard)
+        fGuard->Reset(tv);
+}
+
+void NodeDrv::SetZombie(bool stopguard)
 {
     fIsZombie = true;
-    StopGuarding();
-}
+    if (stopguard)
+        StopGuarding();
+    else
+        lout << " - " << GetNodeName() << ": Zombie set due to timeout." << endl;
+}