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Fixed possible bug in EoE code: Only restart EoE process, when it was running

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before (not while scanning).
This commit is contained in:
Florian Pose
2010-04-27 13:40:44 +02:00
parent 21b95323d9
commit 02b27f9fbc
1 changed files with 19 additions and 8 deletions
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27
master/master.c
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@@ -1941,6 +1941,9 @@ int ecrt_master_activate(ec_master_t *master)
uint32_t domain_offset;
ec_domain_t *domain;
int ret;
#ifdef EC_EOE
int eoe_was_running;
#endif
if (master->debug_level)
EC_DBG("ecrt_master_activate(master = 0x%p)\n", master);
@@ -1972,10 +1975,12 @@ int ecrt_master_activate(ec_master_t *master)
up(&master->master_sem);
// restart EoE process and master thread with new locking
ec_master_thread_stop(master);
#ifdef EC_EOE
eoe_was_running = master->eoe_thread != NULL;
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
if (master->debug_level)
EC_DBG("FSM datagram is %p.\n", &master->fsm_datagram);
@@ -1987,15 +1992,17 @@ int ecrt_master_activate(ec_master_t *master)
master->receive_cb = master->app_receive_cb;
master->cb_data = master->app_cb_data;
#ifdef EC_EOE
if (eoe_was_running) {
ec_master_eoe_start(master);
}
#endif
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
if (ret < 0) {
EC_ERR("Failed to start master thread!\n");
return ret;
}
#ifdef EC_EOE
ec_master_eoe_start(master);
#endif
master->allow_config = 1; // request the current configuration
master->allow_scan = 1; // allow re-scanning on topology change
@@ -2010,6 +2017,7 @@ void ecrt_master_deactivate(ec_master_t *master)
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
int eoe_was_running;
#endif
if (master->debug_level)
@@ -2020,10 +2028,11 @@ void ecrt_master_deactivate(ec_master_t *master)
return;
}
ec_master_thread_stop(master);
#ifdef EC_EOE
eoe_was_running = master->eoe_thread != NULL;
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
@@ -2059,12 +2068,14 @@ void ecrt_master_deactivate(ec_master_t *master)
master->app_start_time = 0ULL;
master->has_start_time = 0;
#ifdef EC_EOE
if (eoe_was_running) {
ec_master_eoe_start(master);
}
#endif
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE"))
EC_WARN("Failed to restart master thread!\n");
#ifdef EC_EOE
ec_master_eoe_start(master);
#endif
master->allow_scan = 1;
master->allow_config = 1;