SCSIParallelTaskIdentifier
SCSIParallelTimer::GetExpiredTask ( void )
{
SCSIParallelTask * expiredTask = NULL;
closeGate ( );
if ( queue_empty ( &fListHead ) == false )
{
uint64_t now;
AbsoluteTime deadline1;
AbsoluteTime deadline2;
SCSIParallelTask * task;
task = ( SCSIParallelTask * ) queue_first ( &fListHead );
now = mach_absolute_time ( );
deadline1 = *( AbsoluteTime * ) &now;
deadline2 = GetDeadline ( task );
if ( CompareDeadlines ( deadline1, deadline2 ) == 1 )
{
queue_remove_first ( &fListHead, expiredTask, SCSIParallelTask *, fTimeoutChain );
}
IOReturn IOFWWorkLoop::wake(void *token)
{
#if 0
if( fSleepToken != token )
{
DEBUGLOG( "IOFWWorkLoop::wake: wrong token: %p<->%p\n", token, fSleepToken );
return kIOReturnError;
}
#endif
if( fSleepToken )
{
IORecursiveLockLock( gateLock );
void * the_token = fSleepToken;
fSleepToken = NULL;
// delete any event sources that were removed during sleep
fRemoveSourceDeferredSet->flushCollection();
// wake up waiting threads
wakeupGate( the_token, false );
}
else
{
closeGate();
}
return kIOReturnSuccess;
}
// Free is called twice:
// First when the atomic retainCount transitions from 1 -> 0
// Secondly when the work loop itself is commiting hari kari
// Hence the each leg of the free must be single threaded.
void IOWorkLoop::free()
{
if (workThread) {
IOInterruptState is;
// If we are here then we must be trying to shut down this work loop
// in this case disable all of the event source, mark the loop
// as terminating and wakeup the work thread itself and return
// Note: we hold the gate across the entire operation mainly for the
// benefit of our event sources so we can disable them cleanly.
closeGate();
disableAllEventSources();
is = IOSimpleLockLockDisableInterrupt(workToDoLock);
SETP(&fFlags, kLoopTerminate);
thread_wakeup_one((void *) &workToDo);
IOSimpleLockUnlockEnableInterrupt(workToDoLock, is);
openGate();
}
else /* !workThread */ {
IOEventSource *event, *next;
for (event = eventChain; event; event = next) {
next = event->getNext();
event->setWorkLoop(0);
event->setNext(0);
event->release();
}
eventChain = 0;
// Either we have a partial initialization to clean up
// or the workThread itself is performing hari-kari.
// Either way clean up all of our resources and return.
if (controlG) {
controlG->release();
controlG = 0;
}
if (workToDoLock) {
IOSimpleLockFree(workToDoLock);
workToDoLock = 0;
}
if (gateLock) {
IORecursiveLockFree(gateLock);
gateLock = 0;
}
if (reserved) {
IODelete(reserved, ExpansionData, 1);
reserved = 0;
}
super::free();
}
}
/* virtual */ void IOCommandGate::enable()
{
if (workLoop) {
closeGate();
super::enable();
wakeupGate(&enabled, /* oneThread */ false); // Unblock sleeping threads
openGate();
}
}
void
SCSIParallelTimer::EndTimeoutContext ( void )
{
closeGate ( );
fHandlingTimeout = false;
openGate ( );
}
void
SCSIParallelTimer::BeginTimeoutContext ( void )
{
closeGate ( );
fHandlingTimeout = true;
openGate ( );
}
void gateIn(void)
{
char msgBuf[MAX_MESSAGE_LENGTH];
while(1)
{
/*obtain new values of sensors*/
/* newSensors = getSensorValues(); */
/* receieve message from gete in queue*/
if(msgQReceive(gateInQueue, msgBuf, MAX_MESSAGE_LENGTH,
WAIT_FOREVER) == ERROR){
printf("msgQReceive - gate in queue\n");
}else{
if(newSensors != oldSensors)
{
/*IN*/
oldCarIn = oldSensors & 0x0010;
newCarIn = newSensors & 0x0010;
if(oldCarIn != newCarIn)
{
/* A car has arrived or a car has left */
if(newCarIn > oldCarIn) /* A car has arrived*/
{
/*check lot count*/
openGate(1); /* 1 = in*/
printf("A CAR WANTS TO ENTER THE LOT \n");
taskDelay(10);
}
else /* a car has succesfullly entered*/
{
closeGate(1); /* 1 = in*/
printf("A CAR ENTERED THE LOT!\n");
/*semaphore*/
parkingLotCount++;
taskDelay(10);
}
}
}
/*set current value to sensors as the old value*/
/* oldSensors = newSensors;*/
}
}
}
bool com_apple_dts_SCSIEmulatorEventSource::addItemToQueue(SCSIEmulatorRequestBlock* elem)
{
closeGate();
queue_enter(&mResponderQueue, elem, SCSIEmulatorRequestBlock *, fQueueChain);
openGate();
signalWorkAvailable();
return true;
}
IOReturn IOWorkLoop::runAction(Action inAction, OSObject *target,
void *arg0, void *arg1,
void *arg2, void *arg3)
{
IOReturn res;
// closeGate is recursive so don't worry if we already hold the lock.
closeGate();
res = (*inAction)(target, arg0, arg1, arg2, arg3);
openGate();
return res;
}
/* virtual */ void IOCommandGate::setWorkLoop(IOWorkLoop *inWorkLoop)
{
uintptr_t *sleepersP = (uintptr_t *) &reserved;
if (!inWorkLoop && workLoop) { // tearing down
closeGate();
*sleepersP |= 1;
while (*sleepersP >> 1) {
thread_wakeup_with_result(&enabled, THREAD_INTERRUPTED);
sleepGate(sleepersP, THREAD_UNINT);
}
*sleepersP = 0;
openGate();
}
bool
self::targetRescan(void)
{
bool result;
closeGate();
result = actionMask & ARCMSR_ESFLAG_RESCAN;
if (result)
actionMask &= ~ARCMSR_ESFLAG_RESCAN;
openGate();
debug(DEBUGF_RESCAN, "async handler checking for rescan - %s", result ? "true" : "false");
return(result);
}
/* virtual */ bool IOWorkLoop::runEventSources()
{
bool res = false;
bool traceWL = (gIOKitTrace & kIOTraceWorkLoops) ? true : false;
bool traceES = (gIOKitTrace & kIOTraceEventSources) ? true : false;
closeGate();
if (ISSETP(&fFlags, kLoopTerminate))
goto abort;
if (traceWL)
IOTimeStampStartConstant(IODBG_WORKLOOP(IOWL_WORK), (uintptr_t) this);
bool more;
do {
CLRP(&fFlags, kLoopRestart);
more = false;
IOInterruptState is = IOSimpleLockLockDisableInterrupt(workToDoLock);
workToDo = false;
IOSimpleLockUnlockEnableInterrupt(workToDoLock, is);
/* NOTE: only loop over event sources in eventChain. Bypass "passive" event sources for performance */
for (IOEventSource *evnt = eventChain; evnt; evnt = evnt->getNext()) {
if (traceES)
IOTimeStampStartConstant(IODBG_WORKLOOP(IOWL_CLIENT), (uintptr_t) this, (uintptr_t) evnt);
more |= evnt->checkForWork();
if (traceES)
IOTimeStampEndConstant(IODBG_WORKLOOP(IOWL_CLIENT), (uintptr_t) this, (uintptr_t) evnt);
if (ISSETP(&fFlags, kLoopTerminate))
goto abort;
else if (fFlags & kLoopRestart) {
more = true;
break;
}
}
} while (more);
res = true;
if (traceWL)
IOTimeStampEndConstant(IODBG_WORKLOOP(IOWL_WORK), (uintptr_t) this);
abort:
openGate();
return res;
}
void
self::addNotification(uint32_t mask)
{
closeGate();
debug(DEBUGF_MISC, "async handler adding notification %x", mask);
actionMask |= mask;
// if the handler's not currently running, kick it off shortly
if (!handlerRunning) {
debug(DEBUGF_MISC, "async handler not running, kicking it off with flags %x", actionMask);
handlerRunning = true;
setTimeoutUS(1);
}
openGate();
}
void gateOut(void)
{
char msgBuf[MAX_MESSAGE_LENGTH];
while(1)
{
/*obtain new values of sensors*/
/*newSensors = getSensorValues();*/
/* receieve message from gete out queue*/
if(msgQReceive(gateOutQueue, msgBuf, MAX_MESSAGE_LENGTH,
WAIT_FOREVER) == ERROR){
printf("msgQReceive - gate in queue\n");
}else{
if(newSensors != oldSensors)
{
/*OUT*/
oldCarOut = oldSensors & 0x0020;
newCarOut = newSensors & 0x0020;
if(oldCarOut != newCarOut)
{
/* A car has arrived or a car has left of the barrier */
if(newCarOut > oldCarOut) /* A car has arrived to the gate*/
{
openGate(0); /*0 = out*/
printf("A CAR WANTS TO LEAVE THE LOT \n");
taskDelay(10);
}
else
{
closeGate(0); /*0=Out*/
printf("A CAR LEFT THE LOT!\n");
parkingLotCount--;
taskDelay(10);
}
}
}
/*set current value to sensors as the old value*/
/*oldSensors = newSensors;*/
}
}
}
bool
self::handlerDone(void)
{
bool done;
closeGate();
if (actionMask == 0) {
debug(DEBUGF_MISC, "async handler is done");
handlerRunning = false;
done = true;
} else {
debug(DEBUGF_MISC, "async handler has work to do");
done = false;
}
openGate();
return(done);
}
void AppleRAIDEventSource::completeRequest(AppleRAIDMemoryDescriptor * memoryDescriptor,
IOReturn status, UInt64 actualByteCount)
{
UInt32 memberIndex = memoryDescriptor->mdMemberIndex;
AppleRAIDStorageRequest * storageRequest = memoryDescriptor->mdStorageRequest;
closeGate();
// Count the member as completed.
storageRequest->srCompletedCount++;
// Save the members results.
storageRequest->srRequestStatus[memberIndex] = status;
storageRequest->srRequestByteCounts[memberIndex] = actualByteCount;
if (storageRequest->srCompletedCount == storageRequest->srRequestCount) {
queue_enter(&fCompletedHead, storageRequest, AppleRAIDStorageRequest *, fCommandChain);
signalWorkAvailable();
}
/* virtual */ bool IOWorkLoop::runEventSources()
{
bool res = false;
closeGate();
if (ISSETP(&fFlags, kLoopTerminate))
goto abort;
IOTimeWorkS();
bool more;
do {
CLRP(&fFlags, kLoopRestart);
more = false;
IOInterruptState is = IOSimpleLockLockDisableInterrupt(workToDoLock);
workToDo = false;
IOSimpleLockUnlockEnableInterrupt(workToDoLock, is);
for (IOEventSource *evnt = eventChain; evnt; evnt = evnt->getNext()) {
IOTimeClientS();
more |= evnt->checkForWork();
IOTimeClientE();
if (ISSETP(&fFlags, kLoopTerminate))
goto abort;
else if (fFlags & kLoopRestart) {
more = true;
break;
}
}
} while (more);
res = true;
IOTimeWorkE();
abort:
openGate();
return res;
}
task main()
{
waitForStart(); // wait for start of tele-op phase
// initializeRobot();
while (true)
{
getJoystickSettings(joystick); // update joystick input
drive(deadband(joystick.joy1_x1), deadband(joystick.joy1_y1), deadband(joystick.joy1_x2)); // normal drive
manualLiftSlide(deadband(joystick.joy2_y1), deadband(joystick.joy2_y2));
if (joy1Btn(4) == 1) {
liftTalons();
}
if (joy1Btn(1) == 1) {
dropTalons();
}
if (joy2Btn(3) == 1)
liftHood();
if (joy2Btn(2) == 1)
dropHood();
if (joy2Btn(6) == 1)
openGate();
if (joy2Btn(5) == 1)
closeGate();
//if (joy2Btn(8))
//{
// while (joy2Btn(8)) // Wait while pressed
// {
// getJoystickSettings(joystick);
// }
// if (brushToggle)
// brushToggle = false;
// else
// brushToggle = true;
//}
//if (brushToggle)
// motor[Brush] = 90;
//else
// motor[Brush] = 0;
if (joy1Btn(5))
motor[Brush] = 75;
if (joy1Btn(6))
motor[Brush] = 0;
if (joy2Btn(1))
motor[Shooter] = -90;
else
motor[Shooter] = 0;
// ball shooting
//if (ServoValue[])
}
}
void
IOHIDEventSource::lock(void)
{
closeGate();
}
