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// Copyright (c) AlphaSierraPapa for the SharpDevelop Team (for details please see \doc\copyright.txt)
// This code is distributed under the GNU LGPL (for details please see \doc\license.txt)

using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Globalization;
using System.Linq;
using System.Threading;

using Tango.Scripting.Editors.Document;

namespace Tango.Scripting.Editors.Xml
{
	/// <summary>
	/// Creates object tree from XML document.
	/// </summary>
	/// <remarks>
	/// The created tree fully describes the document and thus the orginal XML file can be
	/// exactly reproduced.
	/// 
	/// Any further parses will reparse only the changed parts and the existing tree will
	/// be updated with the changes.  The user can add event handlers to be notified of
	/// the changes.  The parser tries to minimize the number of changes to the tree.
	/// (for example, it will add a single child at the start of collection rather than
	/// clearing the collection and adding new children)
	/// 
	/// The object tree consists of following types:
	///   RawObject - Abstact base class for all types
	///     RawContainer - Abstact base class for all types that can contain child nodes
	///       RawDocument - The root object of the XML document
	///       RawElement - Logical grouping of other nodes together.  The first child is always the start tag.
	///       RawTag - Represents any markup starting with "&lt;" and (hopefully) ending with ">"
	///     RawAttribute - Name-value pair in a tag
	///     RawText - Whitespace or character data
	/// 
	/// For example, see the following XML and the produced object tree:
	/// <![CDATA[
	///   <!-- My favourite quote -->
	///   <quote author="Albert Einstein">
	///     Make everything as simple as possible, but not simpler.
	///   </quote>
	/// 
	///   RawDocument
	///     RawTag "<!--" "-->"
	///       RawText " My favourite quote "
	///     RawElement
	///       RawTag "<" "quote" ">"
	///         RawText " "
	///         RawAttribute 'author="Albert Einstein"'
	///       RawText "\n  Make everything as simple as possible, but not simpler.\n"
	///       RawTag "</" "quote" ">"
	/// ]]>
	/// 
	/// The precise content of RawTag depends on what it represents:
	/// <![CDATA[
	///   Start tag:  "<"  Name?  (RawText+ RawAttribute)* RawText* (">" | "/>")
	///   End tag:    "</" Name?  (RawText+ RawAttribute)* RawText* ">"
	///   P.instr.:   "<?" Name?  (RawText)* "?>"
	///   Comment:    "<!--"      (RawText)* "-->"
	///   CData:      "<![CDATA[" (RawText)* "]]" ">"
	///   DTD:        "<!DOCTYPE" (RawText+ RawTag)* RawText* ">"    (DOCTYPE or other DTD names)
	///   UknownBang: "<!"        (RawText)* ">"
	/// ]]>
	/// 
	/// The type of tag can be identified by the opening backet.
	/// There are helpper properties in the RawTag class to identify the type, exactly
	/// one of the properties will be true.
	/// 
	/// The closing bracket may be missing or may be different for mallformed XML.
	/// 
	/// Note that there can always be multiple consequtive RawText nodes.
	/// This is to ensure that idividual texts are not too long.
	/// 
	/// XML Spec:  http://www.w3.org/TR/xml/
	/// XML EBNF:  http://www.jelks.nu/XML/xmlebnf.html
	/// 
	/// Internals:
	/// 
	/// "Try" methods can silently fail by returning false.
	/// MoveTo methods do not move if they are already at the given target
	/// If methods return some object, it must be no-empty.  It is up to the caller to ensure
	/// the context is appropriate for reading.
	/// 
	/// </remarks>
	public class AXmlParser
	{
		AXmlDocument userDocument;
		
		internal TrackedSegmentCollection TrackedSegments { get; private set; }
		
		/// <summary>
		/// Generate syntax error when seeing enity reference other then the build-in ones
		/// </summary>
		public bool UnknownEntityReferenceIsError { get; set; }
		
		/// <summary> Create new parser </summary>
		public AXmlParser()
		{
			this.Lock = new ReaderWriterLockSlim(LockRecursionPolicy.SupportsRecursion);
			ClearInternal();
		}
		
		/// <summary> Throws exception if condition is false </summary>
		internal static void Assert(bool condition, string message)
		{
			if (!condition) {
				throw new InternalException("Assertion failed: " + message);
			}
		}

		/// <summary> Throws exception if condition is false </summary>
		[Conditional("DEBUG")]
		internal static void DebugAssert(bool condition, string message)
		{
			if (!condition) {
				throw new InternalException("Assertion failed: " + message);
			}
		}
		
		[Conditional("DEBUG")]
		internal static void Log(string text, params object[] pars)
		{
			//System.Diagnostics.Debug.WriteLine(string.Format(CultureInfo.InvariantCulture, "XML: " + text, pars));
		}
		
		/// <summary>
		/// Incrementaly parse the given text.
		/// You have to hold the write lock.
		/// </summary>
		/// <param name="input">
		/// The full XML text of the new document.
		/// </param>
		/// <param name="changesSinceLastParse">
		/// Changes since last parse.  Null will cause full reparse.
		/// </param>
		public AXmlDocument Parse(string input, IEnumerable<DocumentChangeEventArgs> changesSinceLastParse)
		{
			if (!Lock.IsWriteLockHeld)
				throw new InvalidOperationException("Lock needed!");
			
			// Use changes to invalidate cache
			if (changesSinceLastParse != null) {
				this.TrackedSegments.UpdateOffsetsAndInvalidate(changesSinceLastParse);
			} else {
				this.TrackedSegments.InvalidateAll();
			}
			
			TagReader tagReader = new TagReader(this, input);
			List<AXmlObject> tags = tagReader.ReadAllTags();
			AXmlDocument parsedDocument = new TagMatchingHeuristics(this, input, tags).ReadDocument();
			tagReader.PrintStringCacheStats();
			AXmlParser.Log("Updating main DOM tree...");
			userDocument.UpdateTreeFrom(parsedDocument);
			userDocument.DebugCheckConsistency(true);
			Assert(userDocument.GetSelfAndAllChildren().Count() == parsedDocument.GetSelfAndAllChildren().Count(), "Parsed document and updated document have different number of children");
			return userDocument;
		}
		
		/// <summary>
		/// Makes calls to Parse() thread-safe. Use Lock everywhere Parse() is called.
		/// </summary>
		public ReaderWriterLockSlim Lock { get; private set; }
		
		/// <summary>
		/// Returns the last cached version of the document.
		/// </summary>
		/// <exception cref="InvalidOperationException">No read lock is held by the current thread.</exception>
		public AXmlDocument LastDocument {
			get {
				if (!Lock.IsReadLockHeld)
					throw new InvalidOperationException("Read lock needed!");
				
				return userDocument;
			}
		}
		
		/// <summary>
		/// Clears the parser data.
		/// </summary>
		/// <exception cref="InvalidOperationException">No write lock is held by the current thread.</exception>
		public void Clear()
		{
			if (!Lock.IsWriteLockHeld)
				throw new InvalidOperationException("Write lock needed!");
			
			ClearInternal();
		}
		
		void ClearInternal()
		{
			this.UnknownEntityReferenceIsError = true;
			this.TrackedSegments = new TrackedSegmentCollection();
			this.userDocument = new AXmlDocument() { Parser = this };
			this.userDocument.Document = this.userDocument;
			// Track the document
			this.TrackedSegments.AddParsedObject(this.userDocument, null);
			this.userDocument.IsCached = false;
		}
	}
}
ControlRestart; static GateMutex_Handle gateControlDB; Task_Handle Control_Task_Handle; ControlDeviceStruc ControlArray[MAX_TANGO_CONTROL_DEVICES]; uint32_t ControlDatalog[MAX_TANGO_CONTROL_DEVICES]; #define MAX_BACKLOG_SIZE 100 uint16_t ControlBacklog[MAX_BACKLOG_SIZE]={0}; uint32_t ControlTime[MAX_TANGO_CONTROL_DEVICES]={0}; uint16_t backlogindex = 0; uint32_t Control_timerBase = TIMER0_BASE; //Timer handle uint32_t MaxHighDevices = 0xFF; /******************** Functions ********************************************/ void OneMilliSecondFunction(UArg arg0); //********************************************************************** /******************** CODE ********************************************/ //********************************************************************** uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter1) { return 0; } void ControlInit(void) { int Device_i; Error_Block eb; //Mailbox_Params_init(&ControlMsgQ); ControlMsgQ = Mailbox_create(sizeof(ControlMessageStruc), 1, NULL,NULL); TenControlMsgQ = Mailbox_create(sizeof(ControlMessageStruc), 1, NULL,NULL); ControlRestart = false; memset(ControlDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES); MaxHighDevices = 0xFF; for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++) { ControlArray[Device_i].ControlActive = false; ControlArray[Device_i].ControlCallbackPtr = NULL; ControlArray[Device_i].ControlDataReadPtr = NULL; ControlArray[Device_i].ControlTiming = eNoControl; ControlArray[Device_i].Name = NULL; } gateControlDB = GateMutex_create(NULL, &eb); if (gateControlDB == NULL) { System_abort("Could not create USB Wait gate"); } ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); ROM_TimerConfigure(Control_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer //TimerIntRegister(Control_timerBase, TIMER_A, Timer0Isr); // Registering isr ROM_TimerEnable(Control_timerBase, TIMER_A); ROM_IntEnable(INT_TIMER0A); ROM_TimerIntEnable(Control_timerBase, TIMER_TIMA_TIMEOUT); //ADCAcquireInit(); return; } void ControlStop(void) { ControlRestart = false; ADCAcquireStop(); } uint32_t ControlActivityLed( uint32_t Parameter1) { static bool flag = false; static uint8_t counter; const uint8_t Blink_Freq = 7;//odd number if (flag==true) { COMM_RED_LED_ON; ACTIVITY_RED_LED_OFF; // Heaters indication - all the Heaters OFF if(FPGA_WD_Occurred == true) { if (FPGABurningActive == false) { FPGA_WD_Occurred = false; AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,true); if (JobIsActive()) { JobEndReason = JOB_MOTOR_ALARM; SendJobProgress(0.0,0,false, "Hardware Failure Error"); AbortJob("FPGA Watchdog Error"); } ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0); ACTIVITY_GREEN_LED_ON; FPGA_SetMotorsInit(); Motor_ReconfigAllMotors(); } } else ACTIVITY_GREEN_LED_OFF; if(power.color == fastBILNK) Pannel_Leds(POWER_ON_OFF,MODE_OFF); else if((power.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(POWER_ON_OFF,MODE_OFF); } /////////////////////////////////////////////////////////// if(jog.color == fastBILNK) Pannel_Leds(THREAD_JOGGING,MODE_OFF); else if((jog.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(THREAD_JOGGING,MODE_OFF); } /////////////////////////////////////////////////////////// if(load.color == fastBILNK) Pannel_Leds(THREAD_LOAD,MODE_OFF); else if((load.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(THREAD_LOAD,MODE_OFF); } /////////////////////////////////////////////////////////// if(cart1.color == fastBILNK) Pannel_Leds(CART_1,MODE_OFF); else if((cart1.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(CART_1,MODE_OFF); } /////////////////////////////////////////////////////////// if(cart2.color == fastBILNK) Pannel_Leds(CART_2,MODE_OFF); else if((cart2.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(CART_2,MODE_OFF); } /////////////////////////////////////////////////////////// if(cart3.color == fastBILNK) Pannel_Leds(CART_3,MODE_OFF); else if((cart3.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(CART_3,MODE_OFF); } flag = false; } else { COMM_RED_LED_OFF; if (HeaterActive > 0)// Blink the led on heating ACTIVITY_RED_LED_ON;// Heaters indication - at least one of the Heaters is ON ACTIVITY_GREEN_LED_OFF; if(power.color == fastBILNK) Pannel_Leds(POWER_ON_OFF,MODE_ON); else if((power.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(POWER_ON_OFF,MODE_ON); } /////////////////////////////////////////////////////////// if(jog.color == fastBILNK) Pannel_Leds(THREAD_JOGGING,MODE_ON); else if((jog.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(THREAD_JOGGING,MODE_ON); } /////////////////////////////////////////////////////////// if(load.color == fastBILNK) Pannel_Leds(THREAD_LOAD,MODE_ON); else if((load.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(THREAD_LOAD,MODE_ON); } /////////////////////////////////////////////////////////// if(cart1.color == fastBILNK) Pannel_Leds(CART_1,MODE_ON); else if((cart1.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(CART_1,MODE_ON); } /////////////////////////////////////////////////////////// if(cart2.color == fastBILNK) Pannel_Leds(CART_2,MODE_ON); else if((cart2.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(CART_2,MODE_ON); } /////////////////////////////////////////////////////////// if(cart3.color == fastBILNK) Pannel_Leds(CART_3,MODE_ON); else if((cart3.color == BLINK) && (counter % Blink_Freq == 0) ) { Pannel_Leds(CART_3,MODE_ON); } flag = true; } if (counter < 0xFF) counter++; else counter = Blink_Freq + 1; return OK; } uint32_t ControlEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) { return OK; } void ControlStart(void) { if (ControlRestart == false) { ControlRestart = true; ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000+(ControlPhaseDelay*120)/*one millisecond*/); TimerEnable(Control_timerBase, TIMER_A); ADCAcquireStart(0,1); AddControlCallback("ControlActivityLed", ControlEmptyCBFunction, eHundredMillisecond, ControlActivityLed,0, 0, 0 ); SysCtlDelay(12000000); MillisecStart(); } } /************************************************************************************************************************************************ * the control task reads the data from the devices every millisecond. * (the data might be old data, if it is polled in a slower rate) * for every polled device, there is a need to add a Data read callback, with a device id. the read value is always 32bits unsigned integer * if there is a need to run a control function based on the read data, then the hardware module will add a control function, specifying the control calling rate * both these callbacks can be removed. if a new call is arriving, it invalidates the previous one (no dual control or data) * ***************************************************************************************************************************************************/ uint32_t AddControlCallback(char* Name, ControlCBFunction Callback, uint32_t CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 ) { assert(Callback); assert(DriverfPtr); unsigned int key; uint32_t device_i; uint32_t deviceId = 0xFF; if (CtrlFrequency == eOneMillisecond) { for(device_i = 0;device_i < MAX_TANGO_CONTROL_DEVICES;device_i++) { if (ControlArray[device_i].ControlActive == false) { deviceId = device_i; break; } } if (MaxHighDevices == 0xFF) MaxHighDevices = deviceId; else { if ((deviceId!=0xFF )&&(deviceId> MaxHighDevices)) MaxHighDevices = deviceId; } } else { for(device_i = MAX_TANGO_CONTROL_DEVICES-1;device_i > 0;device_i--) { if (ControlArray[device_i].ControlActive == false) { deviceId = device_i; break; } } } if (deviceId == 0xFF) { LOG_ERROR(deviceId, "Add Callback failed"); AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,true); return 0xFF; } key = GateMutex_enter(gateControlDB); ControlArray[deviceId].ControlTiming = CtrlFrequency; ControlArray[deviceId].ControlCallbackPtr = Callback; ControlArray[deviceId].ControlActive = true; ControlArray[deviceId].ControlDataReadPtr = DriverfPtr; ControlArray[deviceId].Parameter1 = Parameter1; ControlArray[deviceId].IfIndex = IfIndex; ControlArray[deviceId].StartTick = millisecondCounter; ControlArray[deviceId].Name = Name; GateMutex_leave(gateControlDB, key); //LOG_ERROR(deviceId, "Add Callback"); return deviceId; } int SafeRemoveHighControlCallback(uint32_t deviceId , ControlCBFunction Callback) { if (RemoveControlCallback(deviceId, Callback )!=OK) { Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlDevice_i(),RpWarning,(int)deviceId,0); if (RemoveControlCallback(GetControlDevice_i(),Callback)==OK) { Report("Remove control callback fixed",ControlArray[GetControlDevice_i()].Name,__LINE__,(int)GetControlDevice_i(),RpWarning,(int)deviceId,0); } else { Report("Remove control callback failed",ControlArray[GetControlDevice_i()].Name,__LINE__,(int)GetControlDevice_i(),RpWarning,(int)deviceId,0); return ERROR; } } return OK; } int SafeRemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) { if (RemoveControlCallback(deviceId, Callback )!=OK) { Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)deviceId,0); if (RemoveControlCallback(GetControlLowDevice_i(),Callback)==OK) { Report("Remove control callback fixed",ControlArray[GetControlDevice_i()].Name,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)deviceId,0); } else { Report("Remove control callback failed",ControlArray[GetControlDevice_i()].Name,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)deviceId,0); return ERROR; } } return OK; } int RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) { if (deviceId == 0xFF) return ERROR; assert(deviceId < MAX_TANGO_CONTROL_DEVICES); unsigned int key; if (Callback == ControlArray[deviceId].ControlCallbackPtr) { key = GateMutex_enter(gateControlDB); ControlArray[deviceId].ControlTiming = eNoControl; ControlArray[deviceId].ControlCallbackPtr = NULL; ControlArray[deviceId].ControlDataReadPtr = NULL; ControlArray[deviceId].ControlActive = false; ControlArray[deviceId].Parameter1 = 0; ControlArray[deviceId].IfIndex = 0; //LOG_ERROR(deviceId, "Remove Callback "); GateMutex_leave(gateControlDB, key); return OK; } else { LOG_ERROR(deviceId, "Remove Callback failed"); return ERROR; } } uint32_t millisecondCounter = 0; void OneMilliSecondControlInterrupt(UArg arg0) { ControlMessageStruc ControlMessage; //uint32_t TenmillisecondCounter = 0; ROM_IntMasterDisable(); ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt if (ControlRestart == true) { ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000/*one millisecond*/); } else { ROM_IntDisable(INT_TIMER0A); ROM_IntMasterEnable(); //ROM_TimerDisable(Control_timerBase, TIMER_A); return; } //send message to the control task ControlMessage.messageId = OneMillisec; ControlMessage.tick = millisecondCounter++; ControlMessage.msglen = sizeof(ControlMessageStruc); if (ControlMsgQ != NULL) Mailbox_post(ControlMsgQ , &ControlMessage, BIOS_NO_WAIT); //if (TenmillisecondCounter) { //ControlMessage.tick = TenmillisecondCounter; if (TenControlMsgQ != NULL) Mailbox_post(TenControlMsgQ , &ControlMessage, BIOS_NO_WAIT); } if (millisecondCounter == 1000000000) millisecondCounter = 0; // // Enable all interrupts. // ROM_IntMasterEnable(); return ; } uint32_t ControlDevice_i; uint32_t ControlLowDevice_i; uint32_t GetControlDevice_i(void) { return ControlDevice_i; } uint32_t GetControlLowDevice_i(void) { return ControlLowDevice_i; } ControlCBFunction GetControlCallbackFuncPtr(uint32_t ControlId) { if (ControlArray[ControlId].ControlActive) return ControlArray[ControlId].ControlCallbackPtr; else return NULL; } uint32_t ControlLoop(uint32_t tick) { if (MaxHighDevices == 0xFF) return OK; for (ControlDevice_i = 0; ControlDevice_i <= MaxHighDevices;ControlDevice_i++) //for (ControlDevice_i = 0; ControlDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlDevice_i++) { if (ControlArray[ControlDevice_i].ControlActive) { ControlBacklog[backlogindex]=ControlDevice_i; if ( ++backlogindex >= MAX_BACKLOG_SIZE) backlogindex = 0; switch (ControlArray[ControlDevice_i].ControlTiming) { case eOneMillisecond: if(ControlArray[ControlDevice_i].ControlDataReadPtr) ControlDatalog[ControlDevice_i] = ControlArray[ControlDevice_i].ControlDataReadPtr( ControlArray[ControlDevice_i].Parameter1); else LOG_ERROR (ControlDevice_i, "Invalid callback ptr"); if(ControlArray[ControlDevice_i].ControlCallbackPtr) ControlArray[ControlDevice_i].ControlCallbackPtr(ControlArray[ControlDevice_i].IfIndex, ControlDatalog[ControlDevice_i]); else LOG_ERROR (ControlDevice_i, "Invalid callback ptr"); break; default: break; } //switch } //if control active } //for //ROM_IntMasterEnable(); return OK; } uint32_t prevtick = 0; #ifdef CONTROL_DEBUG void ResetControlTime(void) { memset(ControlTime,0,sizeof(ControlTime)); } #endif uint32_t ControlLowLoop(uint32_t tick) { uint32_t skipped_ticks = 0; #ifdef CONTROL_DEBUG uint32_t tempp,tempq,delta; uint32_t sys_ticks_start = msec_millisecondCounter,sys_ticks_end,max = 0,dev = 0; #endif if (tick-prevtick>1) { skipped_ticks = tick-prevtick-1; //if (tick-prevtick>10) // Report("ControlLowLoop skipped",__FILE__,tick,(int)prevtick,RpWarning,(int)skipped_ticks,0); } prevtick = tick; for (ControlLowDevice_i = 0; ControlLowDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlLowDevice_i++) { if (ControlArray[ControlLowDevice_i].ControlActive) { if (tick - ControlArray[ControlLowDevice_i].StartTick<=skipped_ticks) continue; if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond) continue; if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)<=skipped_ticks) // run the control on exact intervals { ControlBacklog[backlogindex]=ControlLowDevice_i; if ( ++backlogindex >= MAX_BACKLOG_SIZE) backlogindex = 0; #ifdef CONTROL_DEBUG tempp = HibernateRTCSSGet(); #endif if(ControlArray[ControlLowDevice_i].ControlDataReadPtr) ControlDatalog[ControlLowDevice_i] = ControlArray[ControlLowDevice_i].ControlDataReadPtr( ControlArray[ControlLowDevice_i].Parameter1); else LOG_ERROR (ControlLowDevice_i, "Invalid callback ptr"); if(ControlArray[ControlLowDevice_i].ControlCallbackPtr) ControlArray[ControlLowDevice_i].ControlCallbackPtr(ControlArray[ControlLowDevice_i].IfIndex, ControlDatalog[ControlLowDevice_i]); else LOG_ERROR (ControlLowDevice_i, "Invalid callback ptr"); #ifdef CONTROL_DEBUG tempq = HibernateRTCSSGet(); if (tempq < tempp) { delta = (32768 - tempp) + tempq + 1; } else delta = tempq - tempp; if (ControlTime[ControlLowDevice_i]<delta) { ControlTime[ControlLowDevice_i] = delta; } #endif } } //if control active } //for #ifdef CONTROL_DEBUG sys_ticks_end= msec_millisecondCounter; if (sys_ticks_end-sys_ticks_start > DURATION_LIMIT) { Report("ControlLowLoop long",__FILE__,sys_ticks_end-sys_ticks_start,(int)sys_ticks_end,RpWarning,(int)sys_ticks_start,0); for (ControlLowDevice_i = 0; ControlLowDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlLowDevice_i++) { if (ControlTime[ControlLowDevice_i]>max) { max = ControlTime[ControlLowDevice_i]; dev = ControlLowDevice_i; } } //Report(ControlArray[dev].Name,__FILE__,__LINE__,dev,RpWarning,max,0); } #endif //ROM_IntMasterEnable(); return OK; } /****************************************************************************** * ======== messageTsk ======== * Task for this function is created statically. See the project's .cfg file. * this message task is created statically in system initialization, ******************************************************************************/ void controlTask(UArg arg0, UArg arg1) { ControlMessageStruc ControlMessage; //char str[60]; //uint16_t length; //Clock_setTimeout(HostKAClock, 1000); //Clock_start(HostKAClock); Control_Task_Handle = Task_self(); while(1) { Mailbox_pend(ControlMsgQ , &ControlMessage, BIOS_WAIT_FOREVER); switch (ControlMessage.messageId) { case OneMillisec: ControlLoop(ControlMessage.tick); break; default: break; } } } /****************************************************************************** * ======== messageTsk ======== * Task for this function is created statically. See the project's .cfg file. * this message task is created statically in system initialization, ******************************************************************************/ void controlLowTask(UArg arg0, UArg arg1) { ControlMessageStruc ControlLowMessage; //char str[60]; //uint16_t length; //Clock_setTimeout(HostKAClock, 1000); //Clock_start(HostKAClock); Control_Task_Handle = Task_self(); while(1) { Mailbox_pend(TenControlMsgQ , &ControlLowMessage, BIOS_WAIT_FOREVER); switch (ControlLowMessage.messageId) { case OneMillisec: ControlLowLoop(ControlLowMessage.tick); break; default: break; } } }