hal_lib: change .time item from parameter to pin

tmax is still a _parameter_ so that it can be reset (HAL_RW)

Signed-off-by: Dewey Garrett <[email protected]>

Conflicts:
	src/hal/lib/hal_lib.c
	src/hal/lib/hal_priv.h

Author: Michael Haberler

src/hal/lib/hal_lib.c

@@ -1694,18 +1694,31 @@ int hal_export_funct(const char *name, void (*funct) (void *, long),
     new->runtime = 0;
     new->maxtime = 0;
     new->maxtime_increased = 0;
+
+    /* at this point we have a new function and can yield the mutex */
+    rtapi_mutex_give(&(hal_data->mutex));
+
+    /* create a pin with the function's runtime in it */
+    if (hal_pin_s32_newf(HAL_OUT, &(new->runtime), comp_id,"%s.time",name)) {
+	rtapi_print_msg(RTAPI_MSG_ERR,
+	   "HAL: ERROR: fail to create pin '%s.time'\n", name);
+	return -EINVAL;
+    }
+    *(new->runtime) = 0;
+
     /* note that failure to successfully create the following params
        does not cause the "export_funct()" call to fail - they are
        for debugging and testing use only */
-    /* create a parameter with the function's runtime in it */
-    rtapi_snprintf(buf, sizeof(buf), "%s.time", name);
-    hal_param_s32_new(buf, HAL_RO, &(new->runtime), comp_id);
     /* create a parameter with the function's maximum runtime in it */
     rtapi_snprintf(buf, sizeof(buf), "%s.tmax", name);
+    new->maxtime = 0;
     hal_param_s32_new(buf, HAL_RW, &(new->maxtime), comp_id);
+
     /* create a parameter with the function's maximum runtime in it */
     rtapi_snprintf(buf, sizeof(buf), "%s.tmax-increased", name);
+    new->maxtime_increased = 0;
     hal_param_bit_new(buf, HAL_RO, &(new->maxtime_increased), comp_id);
+
     return 0;
 }
 
@@ -2831,9 +2844,9 @@ static void thread_task(void *arg)
 		/* point to function structure */
 		funct = SHMPTR(funct_entry->funct_ptr);
 		/* update execution time data */
-		funct->runtime = (hal_s32_t)(end_time - start_time);
-		if (funct->runtime > funct->maxtime) {
-		    funct->maxtime = funct->runtime;
+		*(funct->runtime) = (hal_s32_t)(end_time - start_time);
+		if ( *(funct->runtime) > funct->maxtime) {
+		    funct->maxtime = *(funct->runtime);
 		    funct->maxtime_increased = 1;
 		} else {
 		    funct->maxtime_increased = 0;
@@ -3445,6 +3458,7 @@ static void free_funct_struct(hal_funct_t * funct)
     funct->users = 0;
     funct->arg = 0;
     funct->funct = 0;
+    funct->runtime = 0;
     funct->name[0] = '\0';
     /* add it to free list */
     funct->next_ptr = hal_data->funct_free_ptr;

src/hal/lib/hal_priv.h

@@ -340,9 +340,9 @@ typedef struct {
     int users;			/* number of threads using function */
     void *arg;			/* argument for function */
     void (*funct) (void *, long);	/* ptr to function code */
-    hal_s32_t runtime;		/* duration of last run, in nsec */
-    hal_s32_t maxtime;		/* duration of longest run, in nsec */
     int handle;                 // unique ID
+    hal_s32_t* runtime;	        /* (pin) duration of last run, in nsec */
+    hal_s32_t maxtime;		/* duration of longest run, in nsec */
     hal_bit_t maxtime_increased;	/* on last call, maxtime increased */
     char name[HAL_NAME_LEN + 1];	/* function name */
 } hal_funct_t;

src/hal/lib/halpb.cc

@@ -88,7 +88,7 @@ int halpr_describe_funct(hal_funct_t *funct, pb::Function *pbfunct)
     pbfunct->set_handle(funct->handle);
     pbfunct->set_owner_id(owner->comp_id);
     pbfunct->set_users(funct->users);
-    pbfunct->set_runtime(funct->runtime);
+    pbfunct->set_runtime(*(funct->runtime));
     pbfunct->set_maxtime(funct->maxtime);
     pbfunct->set_reentrant(funct->reentrant);
     return 0;

tests/alias.0/expected

@@ -1 +1 @@
-and2.0.in1 and2.0.out something 
+and2.0.in1 and2.0.out and2.0.time something 

tests/loadrt.1/expected

@@ -1,2 +1,2 @@
 and2.0 m.q m.r or2.0 or2.1 or2.2 
-and2.0.in0 and2.0.in1 and2.0.out m.q.in0 m.q.in1 m.q.out m.q.sel m.r.in0 m.r.in1 m.r.out m.r.sel or2.0.in0 or2.0.in1 or2.0.out or2.1.in0 or2.1.in1 or2.1.out or2.2.in0 or2.2.in1 or2.2.out 
+and2.0.in0 and2.0.in1 and2.0.out and2.0.time m.q.in0 m.q.in1 m.q.out m.q.sel m.q.time m.r.in0 m.r.in1 m.r.out m.r.sel m.r.time or2.0.in0 or2.0.in1 or2.0.out or2.0.time or2.1.in0 or2.1.in1 or2.1.out or2.1.time or2.2.in0 or2.2.in1 or2.2.out or2.2.time