Added i/o swap-method to avoid stall during warm restart

src/lib/rt/src/rt_io_base.c

 /* 
- * Proview   $Id: rt_io_base.c,v 1.22 2007-01-30 07:02:32 claes Exp $
+ * Proview   $Id: rt_io_base.c,v 1.23 2007-05-18 12:05:12 claes Exp $
  * Copyright (C) 2005 SSAB Oxelsund AB.
  *
  * This program is free software; you can redistribute it and/or 
@@ -74,7 +74,8 @@ static pwr_tStatus io_trv_child(
   pwr_tStatus	(* func) (),
   void		*arg1,
   void		*arg2,
-  int		arg3);
+  int		arg3,
+  int           arg4);
 
 static pwr_tStatus io_replace_symbol( pwr_sAttrRef *chan, pwr_sAttrRef *sig)
 {
@@ -1256,7 +1257,8 @@ static pwr_tStatus io_FindMethods(
   pwr_tStatus 	(** Init) (),
   pwr_tStatus 	(** Close) (),
   pwr_tStatus 	(** Read) (),
-  pwr_tStatus 	(** Write) ()
+  pwr_tStatus 	(** Write) (),
+  pwr_tStatus 	(** Swap) ()
 )
 {
   int		found;
@@ -1279,9 +1281,11 @@ static pwr_tStatus io_FindMethods(
     *Read = 0;
   if ( Write)
     *Write = 0;
+  if ( Swap)
+    *Swap = 0;
 
-  for ( k = 0; k < 4; k++) {
-    // Init, Close, Read, Write loop
+  for ( k = 0; k < 5; k++) {
+    // Init, Close, Read, Write, Swap loop
     cid = class;
     next = 0;
     while ( 1) {
@@ -1318,6 +1322,9 @@ static pwr_tStatus io_FindMethods(
       case 3:
 	strcat( methodobject, "Write");
 	break;
+      case 4:
+	strcat( methodobject, "Swap");
+	break;
       }
 
       sts = gdh_GetObjectInfo( methodobject, &info, sizeof(info));
@@ -1397,6 +1404,10 @@ static pwr_tStatus io_FindMethods(
       if ( Write)
 	*Write = method;
       break;
+    case 4:
+      if ( Swap)
+	*Swap = method;
+      break;
     }
   }
   if ( !found)
@@ -1412,7 +1423,8 @@ static pwr_tStatus io_init_card(
   pwr_tObjid	objid, 
   io_tCtx	ctx,
   io_sRack	*rp,
-  int		agent_type)
+  int		agent_type,
+  int           swap)
 {
   pwr_tStatus 	sts;
   pwr_tClassId	class;  
@@ -1420,6 +1432,7 @@ static pwr_tStatus io_init_card(
   pwr_tStatus 	(* CardClose) ();
   pwr_tStatus 	(* CardRead) ();
   pwr_tStatus 	(* CardWrite) ();
+  pwr_tStatus 	(* CardSwap) ();
   pwr_tAName   	cname;
   pwr_tAName   	attrname;
   pwr_tUInt32	process = 0;
@@ -1450,9 +1463,9 @@ static pwr_tStatus io_init_card(
 
   if ( io_CheckClassIoType( io_eType_Card, class)) {
     sts = io_FindMethods( class, io_eType_Card, 
-			  &CardInit, &CardClose, &CardRead, &CardWrite);
+			  &CardInit, &CardClose, &CardRead, &CardWrite, &CardSwap);
     if ( ODD(sts)) {
-      if ( CardInit != NULL || CardClose != NULL || CardRead != NULL || CardWrite != NULL) {
+      if ( CardInit != NULL || CardClose != NULL || CardRead != NULL || CardWrite != NULL || CardSwap != NULL) {
 	/* This is a card object */
 	/* Check if the rack should be handled by this process */      
       
@@ -1464,8 +1477,8 @@ static pwr_tStatus io_init_card(
 	strcpy( attrname, cname);
 	strcat( attrname, ".Process");
 	sts = gdh_GetObjectInfo( attrname, &process, sizeof(process));
-	if ( (EVEN(sts) && ctx->Process == io_mProcess_User) ||
-	     (ODD(sts) && ctx->Process == (int) process)) {
+	if ( ((EVEN(sts) && ctx->Process == io_mProcess_User) ||
+	      (ODD(sts) && ctx->Process == (int) process)) && !swap) {
 	  if ( process == io_mProcess_Plc) {
 	    /* Check thread also */
 	    strcpy( attrname, cname);
@@ -1477,6 +1490,9 @@ static pwr_tStatus io_init_card(
 	  else
 	    ok = 1;
 	}
+	else if (ODD(sts) && swap && CardSwap != NULL) {
+	  ok = 1;
+	}
 
 	if ( ok) {
 	  /* Tread this card in this process */
@@ -1500,6 +1516,7 @@ static pwr_tStatus io_init_card(
 	  cp->Local = NULL;
 	  cp->Objid = objid;
 	  strcpy( cp->Name, cname);
+          if (!swap) {
 	    if ( CardRead != NULL)
 	      cp->Action |= io_mAction_Read;
 	    if ( CardWrite != NULL)
@@ -1508,6 +1525,16 @@ static pwr_tStatus io_init_card(
 	    cp->Close = CardClose;
 	    cp->Read = CardRead;
 	    cp->Write = CardWrite;
+	    cp->Swap = CardSwap;
+	  } else {
+	    if ( CardSwap != NULL)
+	      cp->Action |= io_mAction_Swap;
+	    cp->Init = NULL;
+	    cp->Close = CardClose;
+	    cp->Read = NULL;
+	    cp->Write = NULL;
+	    cp->Swap = CardSwap;
+	  }
 	  if ( agent_type == io_eType_Agent)
 	    cp->AgentControlled = 1;
 	  memset( &attrref, 0, sizeof(attrref));
@@ -1532,6 +1559,8 @@ static pwr_tStatus io_init_card(
 	  
 	  /* Fill in the channel and signal lists */
 	  
+	  if (!swap) {
+
 	    /* Find children */
 	    sts = gdh_GetChild( objid, &chan);
 	    while( ODD(sts)) {
@@ -1859,7 +1888,7 @@ static pwr_tStatus io_init_card(
 	      }
 	      free( (char *)bd);
 	    }
-	  
+	  }
 	}
       }
     }
@@ -1875,7 +1904,8 @@ static pwr_tStatus io_init_rack(
   pwr_tObjid	objid,
   io_tCtx	ctx,
   io_sAgent	*ap,
-  int		agent_type)
+  int		agent_type,
+  int           swap)
 {
   pwr_tStatus	sts;
   pwr_tClassId	class;  
@@ -1883,6 +1913,7 @@ static pwr_tStatus io_init_rack(
   pwr_tStatus 	(* RackClose) ();
   pwr_tStatus 	(* RackRead) ();
   pwr_tStatus 	(* RackWrite) ();
+  pwr_tStatus 	(* RackSwap) ();
   pwr_tAName   	rname;
   pwr_tAName   	attrname;
   pwr_tUInt32	process = 0;
@@ -1903,9 +1934,9 @@ static pwr_tStatus io_init_rack(
   }
 
   if ( io_CheckClassIoType( io_eType_Rack, class)) {
-    sts = io_FindMethods( class, io_eType_Rack, &RackInit, &RackClose, &RackRead, &RackWrite);
+    sts = io_FindMethods( class, io_eType_Rack, &RackInit, &RackClose, &RackRead, &RackWrite, &RackSwap);
     if ( ODD(sts)) {
-      if ( RackInit != NULL || RackClose != NULL || RackRead != NULL || RackWrite != NULL) {
+      if ( RackInit != NULL || RackClose != NULL || RackRead != NULL || RackWrite != NULL || RackSwap != NULL) {
 	/* This is a rack object,  */
 	/* Check if the rack should be handled by this process */      
       
@@ -1918,8 +1949,8 @@ static pwr_tStatus io_init_rack(
 	strcat( attrname, ".Process");
 
 	sts = gdh_GetObjectInfo( attrname, &process, sizeof(process));
-	if ( EVEN(sts) ||
-	     (ODD(sts) && ctx->Process & process)) {
+	if ( (EVEN(sts) ||
+	     (ODD(sts) && ctx->Process & process)) && !swap) {
 	  if ( EVEN(sts))
 	    process = io_mProcess_All;
 
@@ -1936,6 +1967,9 @@ static pwr_tStatus io_init_rack(
 	  else
 	    ok = 1;
 	}
+	else if (ODD(sts) && swap && RackSwap != NULL) {
+	  ok = 1;
+	}
 
 	if ( ok) {
 
@@ -1946,6 +1980,7 @@ static pwr_tStatus io_init_rack(
 	  rp->Objid = objid;
 	  strcpy( rp->Name, rname);
 	  rp->Process = process;
+	  if (!swap) { 
 	    if ( RackRead != NULL)
 	      rp->Action |= io_mAction_Read;
 	    if ( RackWrite != NULL)
@@ -1954,6 +1989,16 @@ static pwr_tStatus io_init_rack(
 	    rp->Close = RackClose;
 	    rp->Read = RackRead;
 	    rp->Write = RackWrite;
+	    rp->Swap = RackSwap;
+	  } else {
+	    if ( RackSwap != NULL)
+	      rp->Action |= io_mAction_Swap;
+	    rp->Init = NULL;
+	    rp->Close = RackClose;
+	    rp->Read = NULL;
+	    rp->Write = NULL;
+	    rp->Swap = RackSwap;
+	  }
 	  if ( agent_type == io_eType_Agent)
 	    rp->AgentControlled = 1;
 	  memset( &attrref, 0, sizeof(attrref));
@@ -1976,7 +2021,7 @@ static pwr_tStatus io_init_rack(
 	    rlp->next = rp;
 	  }
 	  
-	  sts = io_trv_child( objid, 0, io_init_card, ctx, rp, agent_type);
+	  sts = io_trv_child( objid, 0, io_init_card, ctx, rp, agent_type, swap);
 	}
 	return IO__TRV_NEXT;
       }
@@ -1993,7 +2038,8 @@ static pwr_tStatus io_init_agent(
   pwr_tObjid	objid,
   io_tCtx	ctx,
   void		*dummy,
-  int		agent_type)
+  int		agent_type,
+  int           swap)
 {
   pwr_tStatus	sts;
   pwr_tClassId	class;  
@@ -2001,6 +2047,7 @@ static pwr_tStatus io_init_agent(
   pwr_tStatus 	(* AgentClose) ();
   pwr_tStatus 	(* AgentRead) ();
   pwr_tStatus 	(* AgentWrite) ();
+  pwr_tStatus 	(* AgentSwap) ();
   pwr_tAName   	aname;
   pwr_tAName   	attrname;
   pwr_tUInt32	process = 0;
@@ -2015,9 +2062,9 @@ static pwr_tStatus io_init_agent(
   if ( EVEN(sts)) return sts;
 
   if ( io_CheckClassIoType( io_eType_Agent, class)) {
-    sts = io_FindMethods( class, io_eType_Agent, &AgentInit, &AgentClose, &AgentRead, &AgentWrite);
+    sts = io_FindMethods( class, io_eType_Agent, &AgentInit, &AgentClose, &AgentRead, &AgentWrite, &AgentSwap);
     if ( ODD(sts)) {
-      if ( AgentInit != NULL || AgentClose != NULL || AgentRead != NULL || AgentWrite != NULL) {
+      if ( AgentInit != NULL || AgentClose != NULL || AgentRead != NULL || AgentWrite != NULL || AgentSwap != NULL) {
 	/* This is a agent object or the node object,  */
 	/* Check if the agent should be handled by this process */ 
       
@@ -2029,8 +2076,8 @@ static pwr_tStatus io_init_agent(
 	strcpy( attrname, aname);
 	strcat( attrname, ".Process");
 	sts = gdh_GetObjectInfo( attrname, &process, sizeof(process));
-	if ( EVEN(sts) ||
-	     (ODD(sts) && ctx->Process & process)) {
+	if (( EVEN(sts) ||
+	     (ODD(sts) && ctx->Process & process)) && !swap) {
 	  if ( EVEN(sts))
 	    process = io_mProcess_All;
 	  if ( ctx->Process == io_mProcess_Profibus)
@@ -2048,6 +2095,10 @@ static pwr_tStatus io_init_agent(
 	  else
 	    ok = 1;
 	}
+	else if (ODD(sts) && swap && AgentSwap != NULL) {
+	  /* IoComm-process should always handle the Swap-method */
+	  ok = 1;
+	}
 
 	if ( ok) {
 	       
@@ -2058,6 +2109,7 @@ static pwr_tStatus io_init_agent(
 	  ap->Objid = objid;
 	  strcpy( ap->Name, aname);
 	  ap->Process = process;
+          if (!swap) {
 	    if ( AgentRead != NULL)
 	      ap->Action |= io_mAction_Read;
 	    if ( AgentWrite != NULL)
@@ -2066,6 +2118,16 @@ static pwr_tStatus io_init_agent(
 	    ap->Close = AgentClose;
 	    ap->Read = AgentRead;
 	    ap->Write = AgentWrite;
+	    ap->Swap = AgentSwap;
+	  } else {
+	    if ( AgentSwap != NULL)
+	      ap->Action |= io_mAction_Swap;
+	    ap->Init = NULL;
+	    ap->Close = AgentClose;
+	    ap->Read = NULL;
+	    ap->Write = NULL;
+	    ap->Swap = AgentSwap;
+	  }
 	  memset( &attrref, 0, sizeof(attrref));
 	  attrref.Objid = objid;
 	  sts = gdh_DLRefObjectInfoAttrref( &attrref, &ap->op, &ap->Dlid);
@@ -2086,7 +2148,7 @@ static pwr_tStatus io_init_agent(
 	    alp->next = ap;
 	  }
 	  
-	  sts = io_trv_child( objid, 0, io_init_rack, ctx, ap, agent_type);
+	  sts = io_trv_child( objid, 0, io_init_rack, ctx, ap, agent_type, swap);
 	}
       }
     }
@@ -2104,7 +2166,8 @@ static pwr_tStatus io_trv_child(
   pwr_tStatus	(* func) (),
   void		*arg1,
   void		*arg2,
-  int		arg3)
+  int		arg3,
+  int           arg4)
 {
   pwr_tObjid	child;
   pwr_tStatus 	sts;
@@ -2112,12 +2175,12 @@ static pwr_tStatus io_trv_child(
   sts = gdh_GetChild( parent, &child);
   while ( ODD(sts))
   {
-    sts = (func) ( child, arg1, arg2, arg3);
+    sts = (func) ( child, arg1, arg2, arg3, arg4);
     if ( EVEN(sts)) return sts;
 
     if ( deep && sts != IO__TRV_NEXT)
     {
-      sts = io_trv_child( child, deep, func, arg1, arg2, arg3);
+      sts = io_trv_child( child, deep, func, arg1, arg2, arg3, arg4);
       if ( EVEN(sts)) return sts;
     }
     sts = gdh_GetNextSibling( child, &child);
@@ -2363,11 +2426,11 @@ pwr_tStatus io_init (
 
   /* Traverse all objects in the NodeHierarchy, find methods and build
      the io context tree for the local racks and cards. */
-  sts = io_init_agent( node, *ctx, NULL, io_eType_Node);
+  sts = io_init_agent( node, *ctx, NULL, io_eType_Node, 0);
   if ( EVEN(sts)) return sts;
 
   /* Build the io context tree for the remote racks and cards. */
-  sts = io_trv_child( node, 1, io_init_agent, *ctx, NULL, io_eType_Agent);
+  sts = io_trv_child( node, 1, io_init_agent, *ctx, NULL, io_eType_Agent, 0);
 
 /*
   sts = io_init_signals();
@@ -2422,6 +2485,69 @@ pwr_tStatus io_init (
   return IO__SUCCESS;
 }
 
+
+/*----------------------------------------------------------------------------*\
+  Initialize io racks and cards.
+\*----------------------------------------------------------------------------*/
+
+pwr_tStatus io_init_swap ( 
+  io_mProcess	process,
+  pwr_tObjid	thread,
+  io_tCtx 	*ctx,
+  int		relativ_vector,
+  float		scan_time)
+{
+  pwr_tObjid 	node;
+  pwr_sNode	*node_op;
+  pwr_sClass_IOHandler	*io_op;
+  pwr_tStatus	sts;
+  io_sAgent	*ap;
+
+  if ( scan_time <= 0)
+    return IO__TIMEINVALID;
+
+  sts = io_get_iohandler_object(&io_op, NULL);
+  if ( EVEN(sts)) return sts;
+
+  sts = gdh_GetNodeObject( 0, &node);
+  if ( EVEN(sts)) return sts;
+
+  sts = gdh_ObjidToPointer( node, (void *) &node_op);
+  if ( EVEN(sts)) return sts;
+
+  *ctx = calloc( 1, sizeof(**ctx));
+  (*ctx)->Process = process;
+  (*ctx)->RelativVector = relativ_vector;
+  (*ctx)->Node = node_op;
+  (*ctx)->IOHandler = io_op;
+  (*ctx)->ScanTime = scan_time;
+  (*ctx)->Thread = thread;
+
+  if ( (*ctx)->Node->EmergBreakTrue || !(*ctx)->IOHandler->IOReadWriteFlag)
+    return IO__IS_STOPPED;
+
+  /* Traverse all objects in the NodeHierarchy, find methods and build
+     the io context tree for the local racks and cards. */
+  sts = io_init_agent( node, *ctx, NULL, io_eType_Node, 1);
+  if ( EVEN(sts)) return sts;
+
+  /* Build the io context tree for the remote racks and cards. */
+  sts = io_trv_child( node, 1, io_init_agent, *ctx, NULL, io_eType_Agent, 1);
+
+  /* Call the swap method for agents */
+
+  for ( ap = (*ctx)->agentlist; ap != NULL; ap = ap->next)
+  {
+    if (ap->Action & io_mAction_Swap)
+    {
+      sts = (ap->Swap) ( *ctx, ap);
+      if ( EVEN(sts)) return sts;
+    }
+  }
+
+  return IO__SUCCESS;
+}
+
 
 
 /*----------------------------------------------------------------------------*\
@@ -2558,6 +2684,73 @@ pwr_tStatus io_write(
   return IO__SUCCESS;
 }
 
+
+/*----------------------------------------------------------------------------*\
+  Swap io racks and cards.
+\*----------------------------------------------------------------------------*/
+pwr_tStatus io_swap(
+  io_tCtx 	ctx)
+{
+  pwr_tStatus	sts;
+  io_sAgent	*ap;
+  io_sRack	*rp;
+  io_sCard	*cp;
+
+  if ( ctx->Node->EmergBreakTrue || !ctx->IOHandler->IOReadWriteFlag)
+    return IO__IS_STOPPED;
+
+  /* Call the read methods for agents, racks and cards */
+  for ( ap = ctx->agentlist; ap != NULL; ap = ap->next)
+  {
+    if (ap->Action & io_mAction_Swap)
+    {
+      if ( ap->scan_interval_cnt <= 1)
+      {
+        sts = (ap->Swap) ( ctx, ap);
+        if ( EVEN(sts)) return sts;
+        ap->scan_interval_cnt = ap->scan_interval;
+      }
+      else
+        ap->scan_interval_cnt--;
+    }
+
+    for ( rp = ap->racklist; rp != NULL; rp = rp->next)
+    {
+      if (rp->Action & io_mAction_Swap)
+      {
+        if ( rp->scan_interval_cnt <= 1)
+        {
+          sts = (rp->Swap) ( ctx, ap, rp);
+          if ( EVEN(sts)) return sts;
+          rp->scan_interval_cnt = rp->scan_interval;
+        }
+        else
+          rp->scan_interval_cnt--;
+      }
+
+      for ( cp = rp->cardlist; cp != NULL; cp = cp->next)
+      {
+        if (cp->Action & io_mAction_Swap)
+        {
+          if ( cp->scan_interval_cnt <= 1)
+          {
+            sts = (cp->Swap) ( ctx, ap, rp, cp);
+            if ( EVEN(sts)) return sts;
+            cp->scan_interval_cnt = cp->scan_interval;
+          }
+          else
+            cp->scan_interval_cnt--;
+	}
+      }
+    }
+  }
+
+  /* Scan the Sup lists */
+  /* if ( ctx->Process != io_mProcess_Plc) */
+  sts = io_ScanSupLst( ctx->SupCtx);
+
+  return IO__SUCCESS;
+}
 
 /*----------------------------------------------------------------------------*\
   Close Io.

src/lib/rt/src/rt_io_base.h

 /* 
- * Proview   $Id: rt_io_base.h,v 1.8 2006-06-30 12:17:12 claes Exp $
+ * Proview   $Id: rt_io_base.h,v 1.9 2007-05-18 12:05:12 claes Exp $
  * Copyright (C) 2005 SSAB Oxelsund AB.
  *
  * This program is free software; you can redistribute it and/or 
@@ -68,7 +68,8 @@ typedef enum {
 typedef enum {
 	io_mAction_None		= 0,
 	io_mAction_Read		= 1 << 0,
-	io_mAction_Write	= 1 << 1
+	io_mAction_Write	= 1 << 1,
+	io_mAction_Swap		= 1 << 2
 } io_mAction;
 
 typedef enum {
@@ -107,6 +108,7 @@ typedef struct s_Card {
 	pwr_tStatus	(* Close) ();	/* Close method */
 	pwr_tStatus	(* Read) ();	/* Read method */
 	pwr_tStatus	(* Write) ();	/* Write method */
+	pwr_tStatus	(* Swap) ();	/* Write method */
 	pwr_tAddress	*op;		/* Pointer to card object */
 	pwr_tDlid	Dlid;		/* Dlid for card object pointer */
 	pwr_tUInt32	size;		/* Size of card data area in byte */
@@ -130,6 +132,7 @@ typedef struct s_Rack {
 	pwr_tStatus	(* Close) ();	/* Close method */
 	pwr_tStatus	(* Read) ();	/* Read method */
 	pwr_tStatus	(* Write) ();	/* Write method */
+	pwr_tStatus	(* Swap) ();	/* Swap method */
 	void		*op;		/* Pointer to rack object */
 	pwr_tDlid	Dlid;		/* Dlid fr rack object pointer */
 	pwr_tUInt32	size;		/* Size of rack data area in byte */
@@ -152,6 +155,7 @@ typedef struct s_Agent {
 	pwr_tStatus	(* Close) ();	/* Close method */
 	pwr_tStatus	(* Read) ();	/* Read method */
 	pwr_tStatus	(* Write) ();	/* Write method */
+	pwr_tStatus	(* Swap) ();	/* Write method */
 	void		*op;		/* Pointer to agent object */
 	pwr_tDlid	Dlid;		/* Dlid for agent object pointer */
 	int		scan_interval;	/* Interval between scans */
@@ -197,6 +201,14 @@ pwr_tStatus io_init(
   float		scan_time
 );
 
+pwr_tStatus io_init_swap( 
+  io_mProcess	process,
+  pwr_tObjid    thread,
+  io_tCtx 	*ctx,
+  int		relativ_vector,
+  float		scan_time
+);
+
 pwr_tStatus io_read(
   io_tCtx 	ctx
 );
@@ -205,6 +217,10 @@ pwr_tStatus io_write(
   io_tCtx 	ctx
 );
 
+pwr_tStatus io_swap(
+  io_tCtx 	ctx
+);
+
 pwr_tStatus io_close(
   io_tCtx 	ctx
 );

src/lib/rt/src/rt_io_m_node.c

 /* 
- * Proview   $Id: rt_io_m_node.c,v 1.2 2005-09-01 14:57:55 claes Exp $
+ * Proview   $Id: rt_io_m_node.c,v 1.3 2007-05-18 12:05:12 claes Exp $
  * Copyright (C) 2005 SSAB Oxelsund AB.
  *
  * This program is free software; you can redistribute it and/or 
@@ -40,6 +40,15 @@ static pwr_tStatus IoAgentInit (
   return 1;
 }
 
+static pwr_tStatus IoAgentSwap (
+  io_tCtx	ctx,
+  io_sAgent	*ap
+) 
+{
+
+  return 1;
+}
+
 
 /*----------------------------------------------------------------------------*\
   
@@ -52,5 +61,6 @@ static pwr_tStatus IoAgentInit (
 
 pwr_dExport pwr_BindIoMethods(Node) = {
   pwr_BindIoMethod(IoAgentInit),
+  pwr_BindIoMethod(IoAgentSwap),
   pwr_NullMethod
 };

src/wbl/pwrs/src/pwrs_c_node.wb_load

 ! 
-!  Proview   $Id: pwrs_c_node.wb_load,v 1.11 2006-03-31 14:47:15 claes Exp $
+!  Proview   $Id: pwrs_c_node.wb_load,v 1.12 2007-05-18 12:06:05 claes Exp $
 !  Copyright (C) 2005 SSAB Oxelsund AB.
 !
 !  This program is free software; you can redistribute it and/or 
@@ -344,6 +344,11 @@ SObject pwrs:Class
           Attr MethodName = "Node-IoAgentInit"
         EndBody
       EndObject
+      Object IoAgentSwap $Method
+        Body SysBody
+          Attr MethodName = "Node-IoAgentSwap"
+        EndBody
+      EndObject
     EndObject
   EndObject
 EndSObject

ssabox/lib/rt/src/os_linux/rt_io_m_rack_ssab.c

 /* 
- * Proview   $Id: rt_io_m_rack_ssab.c,v 1.2 2006-04-12 10:14:49 claes Exp $
+ * Proview   $Id: rt_io_m_rack_ssab.c,v 1.3 2007-05-18 12:06:05 claes Exp $
  * Copyright (C) 2005 SSAB Oxelsund AB.
  *
  * This program is free software; you can redistribute it and/or 
@@ -64,6 +64,31 @@ static pwr_tStatus IoRackInit (
   return 1;
 }
 
+static pwr_tStatus IoRackSwap (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+  io_sRackLocal 	*local;
+
+  if (!rp->Local) {
+    /* Open Qbus driver */
+    local = calloc( 1, sizeof(*local));
+    rp->Local = local;
+
+    local->Qbus_fp = open("/dev/qbus", O_RDWR);
+    if ( local->Qbus_fp == -1)
+    {
+      errh_Error( "Qbus swap initialization error, IO rack %s", rp->Name);
+      return IO__ERRDEVICE;
+    }
+  
+    errh_Info( "Swap init of IO rack %s", rp->Name);
+  }
+  return 1;
+}
+
 static pwr_tStatus IoRackClose (
   io_tCtx	ctx,
   io_sAgent	*ap,
@@ -93,6 +118,7 @@ static pwr_tStatus IoRackClose (
 
 pwr_dExport pwr_BindIoMethods(Rack_SSAB) = {
   pwr_BindIoMethod(IoRackInit),
+  pwr_BindIoMethod(IoRackSwap),
   pwr_BindIoMethod(IoRackClose),
   pwr_NullMethod
 };

ssabox/lib/rt/src/os_linux/rt_io_m_ssab_do.c

 /* 
- * Proview   $Id: rt_io_m_ssab_do.c,v 1.4 2007-04-30 12:08:08 claes Exp $
+ * Proview   $Id: rt_io_m_ssab_do.c,v 1.5 2007-05-18 12:06:05 claes Exp $
  * Copyright (C) 2005 SSAB Oxelsund AB.
  *
  * This program is free software; you can redistribute it and/or 
@@ -250,6 +250,54 @@ static pwr_tStatus IoCardWrite (
   return 1;
 }
 
+/*----------------------------------------------------------------------------*\
+  
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardSwap (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp  
+) 
+{
+  io_sLocal 		*local;
+  io_sRackLocal		*r_local = (io_sRackLocal *)(rp->Local);
+  pwr_tUInt16		data = 0;
+  pwr_sClass_Ssab_BaseDoCard *op;
+  int			i;
+  qbus_io_read		rb;
+  int			sts;
+
+  if (!cp->Local) {
+    local = calloc( 1, sizeof(*local));
+    cp->Local = local;
+
+    local->Address[0] = op->RegAddress;
+    local->Address[1] = op->RegAddress + 2;
+    local->Qbus_fp = ((io_sRackLocal *)(rp->Local))->Qbus_fp;
+  }
+
+  op = (pwr_sClass_Ssab_BaseDoCard *) cp->op;
+
+  for ( i = 0; i < 2; i++)
+  { 
+    if (r_local->Qbus_fp != 0 && r_local->s == 0) {
+      /* Write to local Q-bus */
+      rb.Address = local->Address[i];
+      sts = read( local->Qbus_fp, &rb, sizeof(rb));
+    }
+    else {
+      /* Ethernet I/O, Get data from current address */
+      data = bfbeth_get_data(r_local, (pwr_tUInt16) local->Address[i], &sts);
+      /* Yes, we want to read this address the next time aswell */
+      bfbeth_set_read_req(r_local, (pwr_tUInt16) local->Address[i]);
+      sts = 1;      
+    }
+        
+  }
+  return 1;
+}
+
 
 /*----------------------------------------------------------------------------*\
   Every method to be exported to the workbench should be registred here.
@@ -259,5 +307,6 @@ pwr_dExport pwr_BindIoMethods(Ssab_Do) = {
   pwr_BindIoMethod(IoCardInit),
   pwr_BindIoMethod(IoCardClose),
   pwr_BindIoMethod(IoCardWrite),
+  pwr_BindIoMethod(IoCardSwap),
   pwr_NullMethod
 };

ssabox/lib/rt/src/os_linux/rt_io_m_ssab_remoterack.c

 /* 
- * Proview   $Id: rt_io_m_ssab_remoterack.c,v 1.5 2006-09-05 12:03:01 claes Exp $
+ * Proview   $Id: rt_io_m_ssab_remoterack.c,v 1.6 2007-05-18 12:06:05 claes Exp $
  * Copyright (C) 2005 SSAB Oxelsund AB.
  *
  * This program is free software; you can redistribute it and/or 
@@ -134,6 +134,64 @@ static pwr_tStatus IoRackInit (
   return IO__SUCCESS;
 }
 
+static pwr_tStatus IoRackSwap (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+  io_sRackLocal *local;
+  pwr_sClass_Ssab_RemoteRack *op;
+  int sts;
+  fd_set fds;
+  struct timeval tv;
+  struct bfb_buf rbuf;
+  int size;
+
+  if (!rp->Local) {
+    sts = IoRackInit(ctx, ap, rp);
+    
+    if (sts != IO__SUCCESS)
+      return IO__ERRINIDEVICE;
+  }
+
+  local = (io_sRackLocal *) rp->Local;
+  op = (pwr_sClass_Ssab_RemoteRack *) rp->op;
+
+  // Calc length and send read request
+  local->read_req.service = BFB_SERVICE_READ;  
+  local->read_req.length = local->next_read_req_item*4 + 4;
+  sts = send(local->s, &local->read_req, local->read_req.length, 0);
+  op->TX_packets++;
+  local->next_read_req_item = 0;
+  bzero(&local->read_area, sizeof(local->read_area));
+
+  sts = 1;
+  while (sts > 0) {
+    FD_ZERO(&fds);
+    FD_SET(local->s, &fds);
+    tv.tv_sec = 0;
+    tv.tv_usec = 0;
+    sts = select(32, &fds, NULL, NULL, &tv);
+    if (sts > 0) {
+      size = recv(local->s, &rbuf, sizeof(rbuf), 0);
+      if (rbuf.service == BFB_SERVICE_READ) {
+        bzero(&local->read_area, sizeof(local->read_area));
+        memcpy(&local->read_area, &rbuf, size);
+      }
+      else if (rbuf.service == BFB_SERVICE_WRITE) {
+        bzero(&local->write_area, sizeof(local->write_area));
+        memcpy(&local->write_area, &rbuf, size);
+      }
+      op->RX_packets++;
+    }
+  } 
+  
+  return IO__SUCCESS;
+
+
+}
+
 static pwr_tStatus IoRackClose (
   io_tCtx	ctx,
   io_sAgent	*ap,
@@ -223,6 +281,7 @@ static pwr_tStatus IoRackWrite (
 
 pwr_dExport pwr_BindIoMethods(Ssab_RemoteRack) = {
   pwr_BindIoMethod(IoRackInit),
+  pwr_BindIoMethod(IoRackSwap),
   pwr_BindIoMethod(IoRackClose),
   pwr_BindIoMethod(IoRackRead),
   pwr_BindIoMethod(IoRackWrite),

ssabox/wbl/mcomp/src/ssabox.wb_load

 Volume SsabOx $ClassVolume 0.0.250.5 
   Body SysBody 01-JAN-1970 01:00:00.00
-    Attr NextOix = "_X160"
+    Attr NextOix = "_X162"
     Attr NextCix = "_X30"
     Attr NextTix[0] = "_X5"
   EndBody
@@ -145,6 +145,11 @@ Volume SsabOx $ClassVolume 0.0.250.5
             Attr MethodName = "Rack_SSAB-IoRackClose"
           EndBody
         EndObject
+        Object IoRackSwap $Method 161 18-MAY-2007 10:19:42.40
+          Body SysBody 18-MAY-2007 10:19:47.20
+            Attr MethodName = "Rack_SSAB-IoRackSwap"
+          EndBody
+        EndObject
       EndObject
       Object Template Rack_SSAB 2154004480 01-JAN-1970 01:00:00.00
         Body RtBody 30-DEC-2005 14:46:17.32
@@ -3815,6 +3820,11 @@ Volume SsabOx $ClassVolume 0.0.250.5
             Attr MethodName = "Ssab_Do-IoCardWrite"
           EndBody
         EndObject
+        Object IoCardSwap $Method 162 18-MAY-2007 10:20:35.84
+          Body SysBody 18-MAY-2007 10:20:39.25
+            Attr MethodName = "Ssab_Do-IoCardSwap"
+          EndBody
+        EndObject
       EndObject
     EndObject
     !/**