[Emc-commit] rtapi/examples/watchdog watchdog.c,1.2,1.3

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/watchdog
In directory sc8-pr-cvs1:/tmp/cvs-serv3121/examples/watchdog

Modified Files:
	watchdog.c 
Log Message:
Added module ID, now rtapi_exit() should remove all items allocated by the module.  Added a mutex to protect RTAPI internal data from simultaneous access.  Basic testing complete, needs more detailed testing.

Index: watchdog.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/watchdog/watchdog.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** watchdog.c	16 Aug 2003 20:29:39 -0000	1.2
--- watchdog.c	24 Aug 2003 09:38:25 -0000	1.3
***************
*** 63,66 ****
--- 63,67 ----
  #endif
  
+ static int module;
  static int hi_task;		/* the high priority task ID */
  static int lo_task;		/* the low priority task ID */
***************
*** 111,142 ****
    int retval;
    int prio;
  
    rtapi_print_msg(RTAPI_MSG_INFO, "WATCHDOG: Installing watchdog\n");
!   if (rtapi_init() != RTAPI_SUCCESS ) {
      return -1;
    }
!   /* set the base timer period */
!   retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   if ( retval < 0 ) {
!     /* See rtapi.h for the error codes returned */
!     rtapi_print_msg( RTAPI_MSG_ERR,
! 		    "watchdog init: rtapi_clock_set_period returned %d\n", retval );
      return -1;
    }
    /* low priority task first */
    prio = rtapi_prio_lowest();
!   lo_task = rtapi_task_new(lo_code, 0 /* arg */, prio, STACKSIZE, RTAPI_NO_FP );
    if ( lo_task < 0 ) {
      /* See rtapi.h for the error codes returned */
      rtapi_print_msg( RTAPI_MSG_ERR,
  		    "watchdog init: rtapi_task_new(lo) returned %d\n", lo_task );
      return -1;
    }
    /* now the high priority task */
    prio = rtapi_prio_highest();
!   hi_task = rtapi_task_new(hi_code, 0 /* arg */, prio, STACKSIZE, RTAPI_NO_FP );
    if ( hi_task < 0 ) {
      rtapi_print_msg( RTAPI_MSG_ERR,
  		    "watchdog init: rtapi_task_new(hi) returned %d\n", hi_task );
      return -1;
    }
--- 112,164 ----
    int retval;
    int prio;
+   long int period;
  
    rtapi_print_msg(RTAPI_MSG_INFO, "WATCHDOG: Installing watchdog\n");
!   module = rtapi_init("WATCHDOG");
!   if ( module < 0 ) {
!     rtapi_print( "watchdog init: rtapi_init returned %d\n", module );
      return -1;
    }
!   /* is timer started? if so, what period? */
!   period = rtapi_clock_set_period(0);
!   if ( period == 0 ) {
!     /* not running, start it */
!     rtapi_print("watchdog init: starting timer with period %ld\n", TIMER_PERIOD_NSEC);
!     period = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!     if (period < 0) {
!       rtapi_print("watchdog init: rtapi_clock_set_period failed with %ld\n",
! 		   period);
!       rtapi_exit(module);
!       return -1;
!     }
!   }
!   /* make sure period <= desired period (allow 1% roundoff error) */
!   if ( period > (TIMER_PERIOD_NSEC+(TIMER_PERIOD_NSEC/100))) {
!     /* timer period too long */
!     rtapi_print("watchdog init: clock period too long: %ld\n", period );
!     rtapi_exit(module);
      return -1;
    }
+   rtapi_print("watchdog init: desired clock %ld, actual %ld\n",
+ 		TIMER_PERIOD_NSEC, period );
    /* low priority task first */
    prio = rtapi_prio_lowest();
!   lo_task = rtapi_task_new(lo_code, 0 /* arg */, prio, module,
!   				STACKSIZE, RTAPI_NO_FP );
    if ( lo_task < 0 ) {
      /* See rtapi.h for the error codes returned */
      rtapi_print_msg( RTAPI_MSG_ERR,
  		    "watchdog init: rtapi_task_new(lo) returned %d\n", lo_task );
+     rtapi_exit(module);
      return -1;
    }
    /* now the high priority task */
    prio = rtapi_prio_highest();
!   hi_task = rtapi_task_new(hi_code, 0 /* arg */, prio, module,
!   				STACKSIZE, RTAPI_NO_FP );
    if ( hi_task < 0 ) {
      rtapi_print_msg( RTAPI_MSG_ERR,
  		    "watchdog init: rtapi_task_new(hi) returned %d\n", hi_task );
+     rtapi_exit(module);
      return -1;
    }
***************
*** 146,149 ****
--- 168,172 ----
      rtapi_print_msg( RTAPI_MSG_ERR,
  		    "watchdog init: rtapi_task_start(lo) returned %d\n", retval );
+     rtapi_exit(module);
      return -1;
    }
***************
*** 152,155 ****
--- 175,179 ----
      rtapi_print_msg( RTAPI_MSG_ERR,
  		    "watchdog init: rtapi_task_start(hi) returned %d\n", retval );
+     rtapi_exit(module);
      return -1;
    }
***************
*** 186,190 ****
  		    "watchdog exit: rtapi_task_delete(lo) returned %d\n", retval );
    }
!   rtapi_exit();
    rtapi_print_msg(RTAPI_MSG_INFO, "WATCHDOG: Watchdog removed.\n");
  }
--- 210,214 ----
  		    "watchdog exit: rtapi_task_delete(lo) returned %d\n", retval );
    }
!   rtapi_exit(module);
    rtapi_print_msg(RTAPI_MSG_INFO, "WATCHDOG: Watchdog removed.\n");
  }