// do communication cycle
uint64_t HI_moxa::write_read_hardware(long int nsec, int timeouts_to_print) {
struct timespec start_time, current_time, read_time;
clock_gettime(CLOCK_MONOTONIC, &start_time);
uint64_t ret;
if ((ret = write_hardware()) != 0) {
clock_gettime(CLOCK_MONOTONIC, ¤t_time);
long int current_delay = (current_time.tv_sec - start_time.tv_sec)
* 1000000000 + (current_time.tv_nsec - start_time.tv_nsec);
if (current_delay > longest_delay_) {
longest_delay_ = current_delay;
// std::cout << std::dec << "longest_delay_: " << longest_delay_ << std::endl;
}
struct timespec delay;
delay.tv_nsec = nsec;
delay.tv_sec = 0;
// clock_nanosleep(CLOCK_MONOTONIC,0, &delay, NULL);
nanosleep(&delay, NULL);
// std::cout << std::dec << "longest_delay_: " << longest_delay_ << std::endl;
/*
hi_sleep(nsec);
*/
ret = read_hardware(timeouts_to_print);
clock_gettime(CLOCK_MONOTONIC, &read_time);
long int read_delay = (read_time.tv_sec - current_time.tv_sec) * 1000000000
+ (read_time.tv_nsec - current_time.tv_nsec);
if (read_delay > longest_read_delay_) {
longest_read_delay_ = read_delay;
// std::cout << std::dec << "longest_read_delay_: " << longest_read_delay_ << std::endl;
}
}
// std::cout <<"write_read_hardware ret: " << ret << std::endl;
return ret;
}
// do communication cycle
uint64_t HI_moxa::write_read_hardware(void) {
uint64_t ret;
if ((ret = write_hardware()) != 0) {
struct timespec delay;
delay.tv_nsec = 1000000;
delay.tv_sec = 0;
nanosleep(&delay, NULL);
ret = read_hardware();
}
// std::cout <<"write_read_hardware ret: " << ret << std::endl;
return ret;
}
//after ransdomization....
non_virtual void start_ () {
out_of_reset ();
write_hardware ();
run_traffic ();
}
