Models proper exit

Use atomics to signal controller code should exit, instead of sleep and assume approach.

src/fe/controllerApp.c

@@ -36,7 +36,7 @@
 #include "modelRateInfo.h"
 #include "fm10Gen.h"
 #include "util/printl.h"
-
+#include "util/kernel/exit_signaling.h"
 #include "../fe/timing_common.h" //captureEocTiming
 #include "../fe/timing_kernel.h"
 
@@ -204,6 +204,8 @@ fe_start_controller( void )
     if ( initVars( pDsp[ 0 ], pDsp[ 0 ], dspCoeff, MAX_MODULES, pCoeff[ 0 ] ) )
     {
         pLocalEpics->epicsOutput.fe_status = FILT_INIT_ERROR;
+        wait_for_exit_signal();
+        atomic_set(&g_atom_has_exited, 1);
         return;
     }
 
@@ -243,6 +245,8 @@ fe_start_controller( void )
     {
         pLocalEpics->epicsOutput.fe_status = DAQ_INIT_ERROR;
         vmeDone = 1;
+        wait_for_exit_signal();
+        atomic_set(&g_atom_has_exited, 1);
         return;
     }
 #endif
@@ -287,6 +291,8 @@ fe_start_controller( void )
     if ( status )
     {
         pLocalEpics->epicsOutput.fe_status = DAC_INIT_ERROR;
+        wait_for_exit_signal();
+        atomic_set(&g_atom_has_exited, 1);
         return;
     }
 
@@ -385,6 +391,8 @@ fe_start_controller( void )
                 pLocalEpics->epicsOutput.diagWord |= ADC_TIMEOUT_ERR;
                 pLocalEpics->epicsOutput.fe_status = ADC_TO_ERROR;
                 deallocate_dac_channels( );
+                wait_for_exit_signal();
+                atomic_set(&g_atom_has_exited, 1);
                 return;
             }
 
@@ -497,7 +505,7 @@ fe_start_controller( void )
         // *****************************************************************
         /// \> Check if code exit is requested
         if ( cycleNum == MAX_MODULES )
-            vmeDone = stop_working_threads |
+            vmeDone =  atomic_read(&g_atom_should_exit) |
                 checkEpicsReset( cycleNum, (struct CDS_EPICS*)pLocalEpics );
         // *****************************************************************
 
@@ -673,5 +681,6 @@ fe_start_controller( void )
     deallocate_dac_channels( );
 
     /* System reset command received */
+    atomic_set(&g_atom_has_exited, 1);
     return;
 }