Experimental Physics and Industrial Control System

A  while ago,  Kate Feng wrote :

>The drvIK320.c  for the  Heidenhain IK320 encoder posted in
> the http://www.aps.anl.gov/aod/bcda/synApps/index.php
> required the counting semaphore.

Many thanks to people who made suggestions offline
regarding the counting semaphore.   Now, the driver for IK320
encoder  is ported  to our RTEMS  application. The original author
of the IK320 encoder  wrote:

>The counting semaphore keeps track of outstanding
>jobs on the IK320 card, letting the IOC wait for the last
>axis on the IK to finish.

Since we have hardware  setup for only one axis,  we  think it's
safe to use the counting semaphore  for outstanding jobs
in case of multiple axes.  I did not find official  document
regarding  the  implementation of the counting semaphore.
To make life easier,  I  follow  the document of vxWorks and
RTEMS and the source code of EPICS.   To one's
consideration/reference,  attached  at  the end is the
implementation  of the counting semaphore I  tested for the  IK320
encoders.  It is almost  identical  to  the code of RTEMS/osdEvent.c
except for that the   "RTEMS_SIMPLE_BINARY_SEMAPHORE"
is replaced by  "RTEMS_COUNTING_SEMAPHORE".


Perhaps, to  one's interest,  I listed  the  various suggestions I got
for the usage of the counting semaphore for the IK320 encoder.

1.  the counting semaphore could be replaced  by the binary
semaphore  (e.g. epicsEvent) .
2.  the  counting semaphore could be replaced by the
message semaphore  (e.g. epicsMessage).
3. the counting semaphore is a nice primitive to be implemented.


Thanks again,
Kate


/*
 * Create a counting semaphore
 */
rtems_id epicsCountCreate(int initialState)
{
    rtems_status_code sc;
    rtems_id sid;
    rtems_interrupt_level level;
    static char c1 = 'a';
    static char c2 = 'a';
    static char c3 = 'a';

    sc = rtems_semaphore_create (rtems_build_name ('B', c3, c2, c1),
        initialState,
 RTEMS_FIFO | RTEMS_COUNTING_SEMAPHORE |
     RTEMS_NO_INHERIT_PRIORITY | RTEMS_NO_PRIORITY_CEILING |
RTEMS_LOCAL,
        0,
        &sid);
    if (sc != RTEMS_SUCCESSFUL) {
        errlogPrintf ("Can't create binary semaphore: %s\n",
rtems_status_text (sc));
        return 0;
    }
    rtems_interrupt_disable (level);
    if (c1 == 'z') {
        if (c2 == 'z') {
            if (c3 == 'z') {
                c3 = 'a';
            }
            else {
                c3++;
            }
            c2 = 'a';
        }
        else {
            c2++;
        }
        c1 = 'a';
    }
    else {
        c1++;
    }
    rtems_interrupt_enable (level);
    return sid;
}

void epicsCountDestroy(rtems_id id)
{
    rtems_status_code sc;

    sc = rtems_semaphore_delete(id);
    if (sc != RTEMS_SUCCESSFUL)
       printf("Can't destroy semaphore: %s\n", rtems_status_text (sc));
}

void
epicsCountSignal(rtems_id id)
{
    rtems_status_code sc;

    sc = rtems_semaphore_release (id);
    if (sc != RTEMS_SUCCESSFUL)
        printf("Can't release semaphore: %s\n", rtems_status_text (sc));

}

int epicsCountWait(rtems_id id)
{
    rtems_status_code sc;

    sc = rtems_semaphore_obtain (id, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
    if (sc != RTEMS_SUCCESSFUL)
        return ERROR;
    return OK;
}

int epicsCountWaitWithTimeout(rtems_id id, double timeOut)
{
    rtems_status_code sc;
    rtems_unsigned32 wait;
    rtems_interval delay;
    extern double rtemsTicksPerSecond_double;

    if (timeOut <= 0.0) {
        wait = RTEMS_NO_WAIT;
        delay = 0;
    }
    else {
        wait = RTEMS_WAIT;
        delay = timeOut * rtemsTicksPerSecond_double;
        if (delay == 0)
            delay++;
    }
    sc = rtems_semaphore_obtain (id, wait, delay);
    if (sc == RTEMS_SUCCESSFUL)
        return 0;
    else if (sc == RTEMS_TIMEOUT)
        return -2;
    else
        return -1;
}

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