/* Scan task, one per PLC */
static void PLC_scan_task(PLC *plc)
{
ScanList *list;
epicsTimeStamp next_schedule, start_time, end_time;
double timeout, delay, quantum;
eip_bool transfer_ok, reset_next_schedule;
quantum = epicsThreadSleepQuantum();
timeout = (double)ETHERIP_TIMEOUT/1000.0;
scan_loop: /* --------- The Scan Loop for one PLC -------- */
if (epicsMutexLock(plc->lock) != epicsMutexLockOK)
{
EIP_printf_time(1, "drvEtherIP scan task for PLC '%s'"
" cannot take plc->lock\n", plc->name);
return;
}
if (!assert_PLC_connect(plc))
{ /* don't rush since connection takes network bandwidth */
epicsMutexUnlock(plc->lock);
EIP_printf_time(2, "drvEtherIP: PLC '%s' is disconnected\n", plc->name);
epicsThreadSleep(timeout);
goto scan_loop;
}
EIP_printf_time(10, "drvEtherIP scan PLC '%s'\n", plc->name);
reset_next_schedule = true;
epicsTimeGetCurrent(&start_time);
for (list = DLL_first(ScanList,&plc->scanlists);
list; list = DLL_next(ScanList,list))
{
if (! list->enabled)
continue;
if (epicsTimeLessThanEqual(&list->scheduled_time, &start_time))
{
epicsTimeGetCurrent(&list->scan_time);
transfer_ok = process_ScanList(plc->connection, list);
epicsTimeGetCurrent(&end_time);
list->last_scan_time =
epicsTimeDiffInSeconds(&end_time, &list->scan_time);
/* update statistics */
if (list->last_scan_time > list->max_scan_time)
list->max_scan_time = list->last_scan_time;
if (list->last_scan_time < list->min_scan_time ||
list->min_scan_time == 0.0)
list->min_scan_time = list->last_scan_time;
if (transfer_ok) /* re-schedule exactly */
{
list->scheduled_time = list->scan_time;
epicsTimeAddSeconds(&list->scheduled_time, list->period);
}
else
{ /* end_time+fixed delay, ignore extra due to error */
list->scheduled_time = end_time;
epicsTimeAddSeconds(&list->scheduled_time, timeout);
++list->list_errors;
++plc->plc_errors;
disconnect_PLC(plc);
epicsMutexUnlock(plc->lock);
goto scan_loop;
}
}
/* Update time for list that's due next */
if (reset_next_schedule ||
epicsTimeLessThan(&list->scheduled_time, &next_schedule))
{
reset_next_schedule = false;
next_schedule = list->scheduled_time;
}
}
epicsMutexUnlock(plc->lock);
/* fallback for empty/degenerate scan list */
if (reset_next_schedule)
delay = EIP_MIN_TIMEOUT;
else
{
epicsTimeGetCurrent(&start_time);
delay = epicsTimeDiffInSeconds(&next_schedule, &start_time);
if (delay > 60.0)
{
char tsString[50];
printf("Scanlist %g secs has scheduling problem, delay = %g sec\n",
list->period, delay);
epicsTimeToStrftime(tsString, sizeof(tsString),
"%Y/%m/%d %H:%M:%S.%04f", &list->scan_time);
printf(" 'Scan time' : %s\n", tsString);
epicsTimeToStrftime(tsString, sizeof(tsString),
"%Y/%m/%d %H:%M:%S.%04f", &start_time);
printf(" 'Current time' : %s\n", tsString);
epicsTimeToStrftime(tsString, sizeof(tsString),
"%Y/%m/%d %H:%M:%S.%04f", &next_schedule);
printf(" 'Next time' : %s\n", tsString);
/* Attempt to hack around this by waiting a minute,
* hoping that the clock looks better by then.
* Also resetting the scheduled time to 'now'.
*/
delay = 60.0;
list->scheduled_time = start_time;
++list->sched_errors;
}
}
/* Sleep until next turn. */
if (delay > 0.0)
epicsThreadSleep(delay);
else if (delay <= -quantum)
{
EIP_printf(8, "drvEtherIP scan task slow, %g sec delay\n", delay);
++plc->slow_scans; /* hmm, "plc" not locked... */
}
goto scan_loop;
}
static void periodicTask(void *arg)
{
periodic_scan_list *ppsl = (periodic_scan_list *)arg;
epicsTimeStamp next, reported;
unsigned int overruns = 0;
double report_delay = OVERRUN_REPORT_DELAY;
double overtime = 0.0;
double over_min = 0.0;
double over_max = 0.0;
const double penalty = (ppsl->period >= 2) ? 1 : (ppsl->period / 2);
taskwdInsert(0, NULL, NULL);
epicsEventSignal(startStopEvent);
epicsTimeGetCurrent(&next);
reported = next;
while (ppsl->scanCtl != ctlExit) {
double delay;
epicsTimeStamp now;
if (ppsl->scanCtl == ctlRun)
scanList(&ppsl->scan_list);
epicsTimeAddSeconds(&next, ppsl->period);
epicsTimeGetCurrent(&now);
delay = epicsTimeDiffInSeconds(&next, &now);
if (delay <= 0.0) {
if (overtime == 0.0) {
overtime = over_min = over_max = -delay;
}
else {
overtime -= delay;
if (over_min + delay > 0)
over_min = -delay;
if (over_max + delay < 0)
over_max = -delay;
}
delay = penalty;
ppsl->overruns++;
next = now;
epicsTimeAddSeconds(&next, delay);
if (++overruns >= 10 &&
epicsTimeDiffInSeconds(&now, &reported) > report_delay) {
errlogPrintf("\ndbScan warning from '%s' scan thread:\n"
"\tScan processing averages %.2f seconds (%.2f .. %.2f).\n"
"\tOver-runs have now happened %u times in a row.\n"
"\tTo fix this, move some records to a slower scan rate.\n",
ppsl->name, ppsl->period + overtime / overruns,
ppsl->period + over_min, ppsl->period + over_max, overruns);
reported = now;
if (report_delay < (OVERRUN_REPORT_MAX / 2))
report_delay *= 2;
else
report_delay = OVERRUN_REPORT_MAX;
}
}
else {
overruns = 0;
report_delay = OVERRUN_REPORT_DELAY;
overtime = 0.0;
}
epicsEventWaitWithTimeout(ppsl->loopEvent, delay);
}
taskwdRemove(0);
epicsEventSignal(startStopEvent);
}