/*
* sequencer() - Sequencer main thread entry point.
*/
void sequencer (void *arg) /* ptr to original (global) state program table */
{
PROG *sp = (PROG *)arg;
unsigned nss;
size_t threadLen;
char threadName[THREAD_NAME_SIZE+10];
/* Get this thread's id */
sp->ss->threadId = epicsThreadGetIdSelf();
/* Add the program to the program list */
seqAddProg(sp);
createOrAttachPvSystem(sp);
if (!pvSysIsDefined(sp->pvSys))
{
sp->die = TRUE;
goto exit;
}
/* Call sequencer init function to initialize variables. */
sp->initFunc(sp);
/* Initialize state set variables. In safe mode, copy variable
block to state set buffers. Must do all this before connecting. */
if (optTest(sp, OPT_SAFE))
{
for (nss = 0; nss < sp->numSS; nss++)
{
SSCB *ss = sp->ss + nss;
memcpy(ss->var, sp->var, sp->varSize);
}
}
/* Attach to PV system */
pvSysAttach(sp->pvSys);
/* Initiate connect & monitor requests to database channels, waiting
for all connections to be established if the option is set. */
if (seq_connect(sp, optTest(sp, OPT_CONN) != pvStatOK))
goto exit;
/* Emulate the 'first monitor event' for anonymous PVs */
if (optTest(sp, OPT_SAFE))
{
unsigned nch;
for (nch=0; nch<sp->numChans; nch++)
if (sp->chan[nch].syncedTo && !sp->chan[nch].dbch)
seq_efSet(sp->ss, sp->chan[nch].syncedTo);
}
/* Call program entry function if defined.
Treat as if called from 1st state set. */
if (sp->entryFunc) sp->entryFunc(sp->ss);
/* Create each additional state set task (additional state set thread
names are derived from the first ss) */
epicsThreadGetName(sp->ss->threadId, threadName, sizeof(threadName));
threadLen = strlen(threadName);
for (nss = 1; nss < sp->numSS; nss++)
{
SSCB *ss = sp->ss + nss;
epicsThreadId tid;
/* Form thread name from program name + state set number */
sprintf(threadName+threadLen, "_%d", nss);
/* Spawn the task */
tid = epicsThreadCreate(
threadName, /* thread name */
sp->threadPriority, /* priority */
sp->stackSize, /* stack size */
ss_entry, /* entry point */
ss); /* parameter */
DEBUG("Spawning additional state set thread %p: \"%s\"\n", tid, threadName);
}
/* First state set jumps directly to entry point */
ss_entry(sp->ss);
DEBUG(" Wait for other state sets to exit\n");
for (nss = 1; nss < sp->numSS; nss++)
{
SSCB *ss = sp->ss + nss;
epicsEventMustWait(ss->dead);
}
/* Call program exit function if defined.
Treat as if called from 1st state set. */
if (sp->exitFunc) sp->exitFunc(sp->ss);
exit:
DEBUG(" Disconnect all channels\n");
seq_disconnect(sp);
DEBUG(" Remove program instance from list\n");
seqDelProg(sp);
errlogSevPrintf(errlogInfo,
"Instance %d of sequencer program \"%s\" terminated\n",
sp->instance, sp->progName);
/* Free all allocated memory */
seq_free(sp);
}
/*
* ss_entry() - Thread entry point for all state sets.
* Provides the main loop for state set processing.
*/
static void ss_entry(void *arg)
{
SSCB *ss = (SSCB *)arg;
SPROG *sp = ss->sprog;
USER_VAR *var;
if (sp->options & OPT_SAFE)
var = ss->var;
else
var = sp->var;
/* Attach to PV system; was already done for the first state set */
if (ss != sp->ss)
{
ss->threadId = epicsThreadGetIdSelf();
pvSysAttach(sp->pvSys);
}
/* Register this thread with the EPICS watchdog (no callback func) */
taskwdInsert(ss->threadId, 0, 0);
/* In safe mode, update local var buffer with global one before
entering the event loop. Must do this using
ss_read_all_buffer since CA and other state sets could
already post events resp. pvPut. */
if (sp->options & OPT_SAFE)
ss_read_all_buffer(sp, ss);
/* Initial state is the first one */
ss->currentState = 0;
ss->nextState = -1;
ss->prevState = -1;
DEBUG("ss %s: entering main loop\n", ss->ssName);
/*
* ============= Main loop ==============
*/
while (TRUE)
{
boolean ev_trig;
int transNum = 0; /* highest prio trans. # triggered */
STATE *st = ss->states + ss->currentState;
/* Set state to current state */
assert(ss->currentState >= 0);
/* Set state set event mask to this state's event mask */
ss->mask = st->eventMask;
/* If we've changed state, do any entry actions. Also do these
* even if it's the same state if option to do so is enabled.
*/
if (st->entryFunc && (ss->prevState != ss->currentState
|| (st->options & OPT_DOENTRYFROMSELF)))
{
st->entryFunc(ss, var);
}
/* Flush any outstanding DB requests */
pvSysFlush(sp->pvSys);
clearDelays(ss, st); /* Clear delay list */
st->delayFunc(ss, var); /* Set up new delay list */
/* Setting this semaphore here guarantees that a when() is
* always executed at least once when a state is first
* entered.
*/
epicsEventSignal(ss->syncSemId);
/* Loop until an event is triggered, i.e. when() returns TRUE
*/
do {
double delay = 0.0;
/* Wake up on PV event, event flag, or expired delay */
if (calcTimeout(ss, &delay))
{
DEBUG("before epicsEventWaitWithTimeout(ss=%d,delay=%f)\n",
ss - sp->ss, delay);
epicsEventWaitWithTimeout(ss->syncSemId, delay);
DEBUG("after epicsEventWaitWithTimeout()\n");
}
else
{
DEBUG("before epicsEventWait\n");
epicsEventWait(ss->syncSemId);
DEBUG("after epicsEventWait\n");
}
/* Check whether we have been asked to exit */
if (sp->die) goto exit;
/* Copy dirty variable values from CA buffer
* to user (safe mode only).
*/
if (sp->options & OPT_SAFE)
ss_read_all_buffer(sp, ss);
/* Check state change conditions */
ev_trig = st->eventFunc(ss, var,
&transNum, &ss->nextState);
/* Clear all event flags (old ef mode only) */
if (ev_trig && !(sp->options & OPT_NEWEF))
{
unsigned i;
for (i = 0; i < NWORDS(sp->numEvFlags); i++)
{
sp->evFlags[i] &= ~ss->mask[i];
}
}
} while (!ev_trig);
/* Execute the state change action */
st->actionFunc(ss, var, transNum, &ss->nextState);
/* Check whether we have been asked to exit */
if (sp->die) goto exit;
/* If changing state, do exit actions */
if (st->exitFunc && (ss->currentState != ss->nextState
|| (st->options & OPT_DOEXITTOSELF)))
{
st->exitFunc(ss, var);
}
/* Change to next state */
ss->prevState = ss->currentState;
ss->currentState = ss->nextState;
}
/* Thread exit has been requested */
exit:
taskwdRemove(ss->threadId);
/* Declare ourselves dead */
if (ss != sp->ss)
epicsEventSignal(ss->dead);
}
