profinet: propagate state on stack shutdown

(cherry picked from commit 9497f8a92eed8c75f9c90d459a91ec693939b21f)

profibus/lib/rt/src/rt_io_m_pncontrollersoftingpnak.cpp

@@ -301,8 +301,8 @@ static pwr_tStatus IoAgentWrite(io_tCtx ctx, io_sAgent* ap)
                     pack_write_req(&local->service_req_res,
                         local->device_data[ii]->device_ref, &sp->WriteReq);
                     sts = pnak_send_service_req_res(0, &local->service_req_res);
-                    errh_Info("Profinet - Asynch write, dev: %d",
-                        local->device_data[ii]->device_ref);
+                    errh_Info("PROFINET: Async write, dev: %d",
+                              local->device_data[ii]->device_ref);
                     break;
                   }
                 }
@@ -329,48 +329,59 @@ static pwr_tStatus IoAgentClose(io_tCtx ctx, io_sAgent* ap)
   io_sAgentLocal* local;
   int *exitcodep;
   int error;
-  pwr_tStatus sts = PB__NOTINIT;
 
   local = (io_sAgentLocal*)ap->Local;
 
-  if (ctx->Node->EmergBreakTrue == 1)
-    errh_Fatal("Emergency break detected shutting down PROFINET");
-
-  /* Stop profistack */
-
   // Stop the supervision thread before shutting down PROFINET.
   local = (io_sAgentLocal*)ap->Local;
   if (!local) return IO__SUCCESS;
 
-  if ((error = pthread_cancel(local->handle_events)))
-    errh_Warning("Unsuccessful cancelation of PROFINET supervision thread");
-  else
-    errh_Info("Canceled PROFINET supervision thread");
+  // Start taking the stack down. A PNAK_WAIT_OBJECT_CHANNEL_CLOSED event will
+  // be emitted and the supervision thread will exit
+  pnak_stop_stack(0);
 
   // Wait for the thread to exit
   if ((error = pthread_join(local->handle_events, (void**)&exitcodep)))
-    errh_Warning("Unable to wait for PROFINET thread! Might cause undefined behaviour...");
+    errh_Warning("PROFINET: Unable to wait for supervision thread!");
   else
-    errh_Info("PROFINET supervision thread has exited. Stopping PROFINET...");
-
-  sts = pnak_stop_stack(0);
-
-  pnak_term();
+    errh_Info("PROFINET: Supervision thread has exited. PROFINET stopped...");
 
   free(local);
   local = NULL;
 
   /* Clean data areas .... */
 
-  return sts;
+  return IO__SUCCESS;
 }
 
 static pwr_tStatus IoAgentSwap(io_tCtx ctx, io_sAgent* ap, io_eEvent event)
 {
-  switch (event) {
+  switch (event)
+  {
+  // For now we just shut down regardless of what EmergBreakSelect says...safety
+  // first :)
   case io_eEvent_EmergencyBreak:
-  case io_eEvent_IoCommEmergencyBreak:
+    errh_Fatal("PROFINET: Emergency break detected! Shutting down PROFINET!");
     IoAgentClose(ctx, ap);
+    // TODO We need a complete overhaul of EmergencyBreakTrue / EmergBreakSelect
+    // / IOReadWriteFlag
+    // switch (ctx->Node->EmergBreakSelect)
+    // {
+    // case pwr_eEmergBreakSelectEnum_StopIO:
+    // case pwr_eEmergBreakSelectEnum_Reboot:
+    //   errh_Fatal("PROFINET: Emergency break action (StopIO/Reboot) shutting
+    //   down PROFINET"); IoAgentClose(ctx, ap); break;
+    // case pwr_eEmergBreakSelectEnum_NoAction:
+    //   errh_Warning("PROFINET: Emergency break action (NoAction).
+    //   Continuing..."); break;
+    // case pwr_eEmergBreakSelectEnum_FixedOutputValues:
+    //   errh_Warning("PROFINET: Behaviour of FixedOutputValues should be
+    //   configured on device level"); errh_Fatal("PROFINET: Emergency break
+    //   action (Fixed Output Values)."); break;
+    // }
+
+    break;
+  case io_eEvent_IoCommEmergencyBreak:
     break;
   default:
     break;

profibus/lib/rt/src/rt_io_m_pndevice.cpp

@@ -64,7 +64,7 @@ static pwr_tStatus IoRackInit(io_tCtx ctx, io_sAgent* ap, io_sRack* rp)
   pwr_sClass_ChanIo* chan_io;
 
   sts = gdh_ObjidToName(rp->Objid, (char*)&name, sizeof(name), cdh_mNName);
-  errh_Info("Init of Profinet Device and Modules %s", name);
+  errh_Info("PROFINET: Init of device and modules %s", name);
 
   op = (pwr_sClass_PnDevice*)rp->op;
   local = (io_sPnRackLocal*)rp->Local;
@@ -255,14 +255,17 @@ static pwr_tStatus IoRackRead(io_tCtx ctx, io_sAgent* ap, io_sRack* rp)
       sp->ErrorCount++;
   }
 
-  if (sp->ErrorCount == sp->ErrorHardLimit) {
-    errh_Error("IO Error hard limit reached on card '%s', stall action %d",
-        rp->Name, sp->StallAction);
+  if (sp->ErrorCount == sp->ErrorHardLimit)
+  {
+    errh_Error("PROFINET: IO Error hard limit reached on device '%s', stall action %d",
+               rp->Name, sp->StallAction);
     ctx->IOHandler->CardErrorHardLimit = 1;
     ctx->IOHandler->ErrorHardLimitObject = cdh_ObjidToAref(rp->Objid);
     sp->ErrorCount++;
-  } else if (sp->ErrorCount == sp->ErrorSoftLimit) {
-    errh_Error("IO Error soft limit reached on card '%s'", rp->Name);
+  }
+  else if (sp->ErrorCount == sp->ErrorSoftLimit)
+  {
+    errh_Error("PROFINET: IO Error soft limit reached on device '%s'", rp->Name);
     ctx->IOHandler->CardErrorSoftLimit = 1;
     ctx->IOHandler->ErrorSoftLimitObject = cdh_ObjidToAref(rp->Objid);
     sp->ErrorCount++;
@@ -297,14 +300,17 @@ static pwr_tStatus IoRackWrite(io_tCtx ctx, io_sAgent* ap, io_sRack* rp)
       sp->ErrorCount++;
   }
 
-  if (sp->ErrorCount == sp->ErrorHardLimit) {
-    errh_Error("IO Error hard limit reached on card '%s', stall action %d",
-        rp->Name, sp->StallAction);
+  if (sp->ErrorCount == sp->ErrorHardLimit)
+  {
+    errh_Error("PROFINET: IO Error hard limit reached on device '%s', stall action %d",
+               rp->Name, sp->StallAction);
     ctx->IOHandler->CardErrorHardLimit = 1;
     ctx->IOHandler->ErrorHardLimitObject = cdh_ObjidToAref(rp->Objid);
     sp->ErrorCount++;
-  } else if (sp->ErrorCount == sp->ErrorSoftLimit) {
-    errh_Error("IO Error soft limit reached on card '%s'", rp->Name);
+  }
+  else if (sp->ErrorCount == sp->ErrorSoftLimit)
+  {
+    errh_Error("PROFINET: IO Error soft limit reached on device '%s'", rp->Name);
     ctx->IOHandler->CardErrorSoftLimit = 1;
     ctx->IOHandler->ErrorSoftLimitObject = cdh_ObjidToAref(rp->Objid);
     sp->ErrorCount++;

profibus/lib/rt/src/rt_pn_iface.cpp

@@ -1852,7 +1852,7 @@ void handle_device_state_changed(io_sAgentLocal* local, io_sAgent* ap)
             else
               dev->Status = PB__NOCONN;
 
-            errh_Info("Profinet - New device state, dev: %s, state: %d",
+            errh_Info("PROFINET: New device state, dev: %s, state: %d",
                       slave_list->Name, dev->State);
           }
         }
@@ -1969,7 +1969,7 @@ void* handle_events(void* ptr)
 
   /* Initialize interface */
 
-  errh_Info("Initializing interface for Profinet IO Master %s", ap->Name);
+  errh_Info("PROFINET: Initializing interface for controller %s", ap->Name);
 
   /* Add master as a device */
 
@@ -2092,7 +2092,7 @@ void* handle_events(void* ptr)
   if (sts != PNAK_OK)
   {
     op->Status = PB__INITFAIL;
-    errh_Error("Starting profistack returned with error code: %d", sts);
+    errh_Error("PROFINET: Start of stack returned with error code: %d", sts);
     //    return IO__ERRINIDEVICE;
   }
 
@@ -2156,7 +2156,7 @@ void* handle_events(void* ptr)
       }
       else
       {
-        errh_Error("Download of Profinet Device configuration failed for: %s",
+        errh_Error("PROFINET: Download of device configuration failed for: %s",
                    device_vect[ii]->device_name);
         /* Setup a dummy i/o area. Depending on exisiting channels this area
          * needs to exist */
@@ -2221,7 +2221,7 @@ void* handle_events(void* ptr)
   if (sts != PNAK_OK)
   {
     op->Status = PB__INITFAIL;
-    errh_Error("Profistack unable to go online, errcode: %d", sts);
+    errh_Error("PROFINET: Unable to go online, error code: %d", sts);
     //    return IO__ERRINIDEVICE;
   }
 
@@ -2242,7 +2242,7 @@ void* handle_events(void* ptr)
       if (sts != PNAK_OK)
       {
         op->Status = PB__INITFAIL;
-        errh_Error("Profistack unable to set state online, errcode: %d", sts);
+        errh_Error("PROFINET: Unable to set state online, error code: %d", sts);
         //	return IO__ERRINIDEVICE;
       }
     }
@@ -2267,7 +2267,7 @@ void* handle_events(void* ptr)
   if (sts != PNAK_OK)
   {
     op->Status = PB__INITFAIL;
-    errh_Error("Profistack unable to activate devices, errcode: %d", sts);
+    errh_Error("PROFINET: Unable to activate devices, error code: %d", sts);
     //    return IO__ERRINIDEVICE;
   }
 
@@ -2290,83 +2290,83 @@ void* handle_events(void* ptr)
   pthread_cond_signal(&local->cond);
   pthread_mutex_unlock(&local->mutex);
 
-  /* Do forever ... */
-
+  /* Do until we close the channel and break out */
   while (1)
   {
-    // wait_object = PNAK_WAIT_OBJECTS_EVENT_IND | PNAK_WAIT_OBJECTS_OTHER
-    //     | PNAK_WAIT_OBJECT_SERVICE_CON;
-    wait_object = PNAK_WAIT_OBJECTS_ALL &
-                  ~(PNAK_WAIT_OBJECT_PROVIDER_DATA_UPDATED |
-                    PNAK_WAIT_OBJECT_CONSUMER_DATA_CHANGED);
-
-    //    pthread_mutex_lock(&local->mutex);
+    /* Other states available:
+      PNAK_WAIT_OBJECT_ETHERNET_STATE_CHANGED
+      PNAK_WAIT_OBJECT_INTERRUPTED
+      PNAK_WAIT_OBJECTS_EVENT_IND
+      PNAK_WAIT_OBJECTS_OTHER
+      PNAK_WAIT_OBJECT_SERVICE_CON
+    */
+
+    wait_object =
+        PNAK_WAIT_OBJECTS_ALL & ~(PNAK_WAIT_OBJECT_PROVIDER_DATA_UPDATED |
+                                  PNAK_WAIT_OBJECT_CONSUMER_DATA_CHANGED);
 
     sts =
         pnak_wait_for_multiple_objects(0, &wait_object, PNAK_INFINITE_TIMEOUT);
 
     if (sts == PNAK_OK)
     {
-      if (wait_object & PNAK_WAIT_OBJECT_EXCEPTION)
+      if (wait_object & PNAK_WAIT_OBJECT_CHANNEL_CLOSED)
+      {
+        errh_Info("PROFINET: Stack received channel closed event!");
+
+        // Iterate through all devices and propagate stopped state to all children
+        if (ap)
+        {
+          ((pwr_sClass_PnControllerSoftingPNAK*)ap->op)->Status = PB__STOPPED;
+          io_sRack* device;
+          io_sCard* module;
+          pwr_sClass_PnDevice *dev;
+          pwr_sClass_PnModule *mod;
+          for (device = ap->racklist; device != NULL; device = device->next)
+          {
+            dev = (pwr_sClass_PnDevice*)device->op;
+            dev->Status = PB__STOPPED;
+            for (module = device->cardlist; module != NULL; module = module->next)
+            {
+              mod = (pwr_sClass_PnModule*)module->op;
+              mod->Status = PB__STOPPED;
+            }
+          }
+        }
+        break;
+      }
+
+      else if (wait_object & PNAK_WAIT_OBJECT_EXCEPTION)
       {
-        // printf("Exception !!\n");
         handle_exception(local);
       }
 
       else if (wait_object & PNAK_WAIT_OBJECT_STATE_CHANGED)
       {
-        // printf("State changed !!\n");
         handle_state_changed(local);
       }
 
       else if (wait_object & PNAK_WAIT_OBJECT_DEVICE_STATE_CHANGED)
       {
-        // printf("Device state changed !!\n");
         handle_device_state_changed(local, ap);
       }
 
       else if (wait_object & PNAK_WAIT_OBJECT_ALARM)
       {
-        // printf("Alarm !!\n");
         handle_alarm_indication(local, ap);
       }
 
-      // else if (wait_object & PNAK_WAIT_OBJECT_CHANNEL_CLOSED) {
-      //   //	printf("Channel closed !!");
-      //   //     What to do if channel closes ???;
-      // }
-
-      // else if (wait_object & PNAK_WAIT_OBJECT_ETHERNET_STATE_CHANGED) {
-      //   //	printf("Ethernet state changed !!");
-      //   //     What to do if ethernet state changes ???;
-      // }
-
-      // else if (wait_object & PNAK_WAIT_OBJECT_INTERRUPTED) {
-      //   //	printf("Interrupted !!");
-      //   //     What to do if interrupted ???;
-      // }
-
       else if (wait_object & PNAK_WAIT_OBJECT_SERVICE_CON)
       {
-        // printf("Service con !!\n");
         sts = handle_service_con(local, ap);
       }
-      // else
-      // {
-      //   printf("Unhandled status!! 0x%02X\n", wait_object);
-      // }
-    }
-    else if ((sts == PNAK_ERR_FATAL_ERROR) || (sts == PNAK_EXCEPTION_THROWN))
-    {
-      printf("Err Fatal / Exception !!\n");
-      //    user_handle_exception (ChannelId);
     }
     else
     {
-      printf("Running == NOT !!\n");
-      //    pThisSmObject->Running = PN_FALSE;
+      errh_Fatal("PROFINET: Fatal exception occured. Stopping PROFINET!");
+      pnak_stop_stack(0);
     }
-
-    //    pthread_mutex_unlock(&local->mutex);
   }
+  pnak_term();
+  return 0;
 }