[Emc-commit] emc2/src/hal hal.h,1.6,1.7 hal_lib.c,1.14,1.15

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

Update of /cvsroot/emc/emc2/src/hal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27198/src/hal

Modified Files:
	hal.h hal_lib.c 
Log Message:
misc hal changes related to threads and parameter types

Index: hal_lib.c
===================================================================
RCS file: /cvsroot/emc/emc2/src/hal/hal_lib.c,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** hal_lib.c	23 Mar 2004 06:49:15 -0000	1.14
--- hal_lib.c	28 Mar 2004 17:34:19 -0000	1.15
***************
*** 1054,1066 ****
  }
  
! int hal_create_thread(char *name, unsigned long period_nsec,
!     int uses_fp, int comp_id)
  {
      int next, cmp, prev_priority;
      int retval, n;
      hal_thread_t *new, *tptr;
-     hal_comp_t *comp;
      long curr_period;
      char buf[HAL_NAME_LEN + 1];
  
      if (hal_data == 0) {
--- 1054,1066 ----
  }
  
! int hal_create_thread(char *name, unsigned long period_nsec, int uses_fp)
  {
      int next, cmp, prev_priority;
      int retval, n;
      hal_thread_t *new, *tptr;
      long curr_period;
+ #if 0
      char buf[HAL_NAME_LEN + 1];
+ #endif
  
      if (hal_data == 0) {
***************
*** 1071,1086 ****
      /* get mutex before accessing shared data */
      rtapi_mutex_get(&(hal_data->mutex));
-     /* validate comp_id */
-     comp = halpr_find_comp_by_id(comp_id);
-     if (comp == 0) {
- 	/* bad comp_id */
- 	rtapi_mutex_give(&(hal_data->mutex));
- 	return HAL_INVAL;
-     }
-     if (comp->type == 0) {
- 	/* not a realtime component */
- 	rtapi_mutex_give(&(hal_data->mutex));
- 	return HAL_INVAL;
-     }
      /* make sure name is unique on thread list */
      next = hal_data->thread_list_ptr;
--- 1071,1074 ----
***************
*** 1168,1177 ****
      new->runtime = 0;
      new->maxtime = 0;
      /* create a parameter with the thread's runtime in it */
      rtapi_snprintf(buf, HAL_NAME_LEN, "%s.time", name);
!     hal_param_s32_new(buf, HAL_RD, &(new->runtime), comp_id);
      /* create a parameter with the thread's maximum runtime in it */
      rtapi_snprintf(buf, HAL_NAME_LEN, "%s.tmax", name);
!     hal_param_s32_new(buf, HAL_RD_WR, &(new->maxtime), comp_id);
      return HAL_SUCCESS;
  }
--- 1156,1172 ----
      new->runtime = 0;
      new->maxtime = 0;
+ #if 0
+ /* These params need to be re-visited when I refactor HAL.  Right
+    now they cause problems - they can no longer be owned by the calling
+    component, and they can't be owned by the hal_lib because it isn't
+    actually a component.
+ */
      /* create a parameter with the thread's runtime in it */
      rtapi_snprintf(buf, HAL_NAME_LEN, "%s.time", name);
!     hal_param_s32_new(buf, HAL_RD, &(new->runtime), lib_module_id);
      /* create a parameter with the thread's maximum runtime in it */
      rtapi_snprintf(buf, HAL_NAME_LEN, "%s.tmax", name);
!     hal_param_s32_new(buf, HAL_RD_WR, &(new->maxtime), lib_module_id);
! #endif
      return HAL_SUCCESS;
  }
***************
*** 2404,2407 ****
--- 2399,2407 ----
      hal_funct_entry_t *funct_entry;
      hal_list_t *list_root, *list_entry;
+ #if 0
+     int *prev, next;
+     char time[HAL_NAME_LEN + 5], tmax[HAL_NAME_LEN + 5];
+     hal_param_t *param;
+ #endif
  
      /* if we're deleting a thread, we need to stop all threads */
***************
*** 2426,2429 ****
--- 2426,2457 ----
  	free_funct_entry_struct(funct_entry);
      }
+ #if 0
+ /* Currently these don't get created, so we don't have to worry
+    about deleting them.  They will come back when the HAL refactor
+    is done, at that time this code or something like it will be
+    needed.
+ */
+     /* need to delete <thread>.time and <thread>.tmax params */
+     rtapi_snprintf(time, HAL_NAME_LEN, "%s.time", thread->name);
+     rtapi_snprintf(tmax, HAL_NAME_LEN, "%s.tmax", thread->name);
+     /* search the parameter list for those parameters */
+     prev = &(hal_data->param_list_ptr);
+     next = *prev;
+     while (next != 0) {
+ 	param = SHMPTR(next);
+ 	/* does this param match either name? */
+ 	if ((strcmp(param->name, time) == 0)
+ 	    || (strcmp(param->name, tmax) == 0)) {
+ 	    /* yes, unlink from list */
+ 	    *prev = param->next_ptr;
+ 	    /* and delete it */
+ 	    free_param_struct(param);
+ 	} else {
+ 	    /* no match, try the next one */
+ 	    prev = &(param->next_ptr);
+ 	}
+ 	next = *prev;
+     }
+ #endif
      thread->name[0] = '\0';
      /* add thread to free list */

Index: hal.h
===================================================================
RCS file: /cvsroot/emc/emc2/src/hal/hal.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** hal.h	23 Mar 2004 06:49:15 -0000	1.6
--- hal.h	28 Mar 2004 17:34:04 -0000	1.7
***************
*** 557,562 ****
      be non-zero for most threads, with the possible exception
      of the very fastest, most critical thread in a system.
-     'comp_id' is the ID of the calling component, as returned by
-     a call to hal_init().
      On success, hal_create_thread() returns a positive integer
      thread ID.  On failure, returns an error code as defined
--- 557,560 ----
***************
*** 565,569 ****
  */
  extern int hal_create_thread(char *name, unsigned long period_nsec,
!     int uses_fp, int comp_id);
  
  /** hal_thread_delete() deletes a realtime thread.
--- 563,567 ----
  */
  extern int hal_create_thread(char *name, unsigned long period_nsec,
!     int uses_fp);
  
  /** hal_thread_delete() deletes a realtime thread.