Cleaner shutdown

acsMotionApp/src/SPiiPlusAuxDriver.cpp

@@ -4,6 +4,7 @@
 
 #include <iocsh.h>
 #include <epicsThread.h>
+#include <epicsExit.h>
 
 // asynMotorController.h includes asynPortDriver.h
 #include <asynMotorController.h>
@@ -23,6 +24,14 @@ static void SPiiPlusAuxIOThreadC(void *pPvt)
   pAux->pollerThread();
 }
 
+static void shutdownCallback(void *pPvt)
+{
+  SPiiPlusController *pC = static_cast<SPiiPlusController *>(pPvt);
+
+  pC->lock();
+  pC->shuttingDown_ = 1;
+  pC->unlock();
+}
 
 SPiiPlusAuxIO::SPiiPlusAuxIO(const char *ACSAuxPortName, const char* asynPortName, int numChannels, double pollPeriod)
   : asynPortDriver(ACSAuxPortName, numChannels, 
@@ -42,6 +51,9 @@ SPiiPlusAuxIO::SPiiPlusAuxIO(const char *ACSAuxPortName, const char* asynPortNam
 
   pComm_ = new SPiiPlusComm(ACSCommPortName, asynPortName, numChannels);
 
+  /* Set an EPICS exit handler that will shut down polling before asyn kills the IP sockets */
+  epicsAtExit(shutdownCallback, pC_);
+
   /*
    * MP4U controllers have significantly larger arrays for the AIN, AOUT, IN and OUT commands than the controller
    * has I/O channels.  Assume the user will specify a numChannels that is appropriate for their controller.
@@ -195,6 +207,12 @@ void SPiiPlusAuxIO::pollerThread()
   while(1) { 
     lock();
 
+    // Stop the thread if the IOC is shutting down
+    if (shuttingDown_) {
+      unlock();
+      break;
+    }
+
     // assume status is good
     status = asynSuccess;
 

acsMotionApp/src/SPiiPlusAuxDriver.h

@@ -35,6 +35,8 @@ class epicsShareClass SPiiPlusAuxIO : public asynPortDriver {
   /* These are methods unique to SPiiPlusAuxIO */
   asynStatus writeBits(epicsUInt32 chan, epicsUInt32 mask, epicsUInt32 value);
   asynStatus writeAnalog(epicsUInt32 chan, epicsFloat64 value);
+
+  int shuttingDown_;   /**< Flag indicating that IOC is shutting down.  Stops poller */
 
 protected:
   SPiiPlusComm *pComm_;

acsMotionApp/src/SPiiPlusDriver.cpp

@@ -9,6 +9,7 @@
 
 #include <iocsh.h>
 #include <epicsThread.h>
+#include <epicsExit.h>
 #include <epicsStdlib.h>
 #include <epicsString.h>
 #include <cantProceed.h>
@@ -34,6 +35,15 @@ static void SPiiPlusProfileThreadC(void *pPvt);
 #define MIN(a,b) ((a)<(b)? (a): (b))
 #endif
 
+static void shutdownCallback(void *pPvt)
+{
+  SPiiPlusController *pC = static_cast<SPiiPlusController *>(pPvt);
+
+  pC->lock();
+  pC->shuttingDown_ = 1;
+  pC->unlock();
+}
+
 SPiiPlusController::SPiiPlusController(const char* ACSPortName, const char* asynPortName, int numAxes,
                                              double movingPollPeriod, double idlePollPeriod,
                                              const char* virtualAxisList)
@@ -56,6 +66,9 @@ SPiiPlusController::SPiiPlusController(const char* ACSPortName, const char* asyn
 	std::stringstream cmd;
 	static const char *functionName="SPiiPlusController";
 
+	/* Set an EPICS exit handler that will shut down polling before asyn kills the IP sockets */
+	epicsAtExit(shutdownCallback, this);
+
 	// Create parameters
 	createParam(SPiiPlusHomingMethodString,               asynParamInt32, &SPiiPlusHomingMethod_);
 	createParam(SPiiPlusMaxVelocityString,                asynParamFloat64, &SPiiPlusMaxVelocity_);
@@ -1805,9 +1818,27 @@ static void SPiiPlusProfileThreadC(void *pPvt)
 /* Function which runs in its own thread to execute profiles */ 
 void SPiiPlusController::profileThread()
 {
+  double timeout;
+  int status;
+
+  /* Is the idle poll period frequent enough to stop the profileMove thread before the IOC stops? */
+  timeout = movingPollPeriod_;
+
   while (true) {
-    epicsEventWait(profileExecuteEvent_);
-    runProfile();
+    /* Exit the thread if the IOC is shutting down */
+    lock();
+    if (shuttingDown_) {
+      unlock();
+      break;
+    } else {
+      unlock();
+    }
+
+    status = epicsEventWaitWithTimeout(profileExecuteEvent_, timeout);
+    if (status == epicsEventWaitOK) {
+      /* We got an event, rather than a timeout */
+      runProfile();
+    }
   }
 }
 

acsMotionApp/src/SPiiPlusDriver.h

@@ -98,7 +98,7 @@
 
 
 
-// drvInfo strings for extra parameters that the XPS controller supports
+// drvInfo strings for extra parameters that the ACS controller supports
 #define SPiiPlusHomingMethodString             "SPIIPLUS_HOMING_METHOD"
 #define SPiiPlusMaxVelocityString              "SPIIPLUS_MAX_VELOCITY"
 #define SPiiPlusMaxAccelerationString          "SPIIPLUS_MAX_ACCELERATION"