targets/Xenomai/plc_Xenomai_main.c
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Fri, 08 Jun 2018 15:10:27 +0300
changeset 2180 017ad9cc20b9
parent 1990 2e0fbdd152de
child 2820 d9b5303d43dc
permissions -rw-r--r--
Don't use fixed width labels in WAMP and PYRO dialogs

This causes problems if labels are translated into other languages and
width wasn't enough.
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
     1
/**
954
ab487d32ce9a Made logging compatible with windows API
Edouard Tisserant
parents: 745
diff changeset
     2
 * Xenomai Linux specific code
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
     3
 **/
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
     4
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
     5
#include <stdio.h>
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
     6
#include <unistd.h>
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
     7
#include <string.h>
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
     8
#include <time.h>
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
     9
#include <signal.h>
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    10
#include <stdlib.h>
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    11
#include <sys/mman.h>
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
    12
#include <sys/fcntl.h>
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    13
1974
b3a110daa135 Xenomai 3
Edouard Tisserant
parents: 1903
diff changeset
    14
#include <alchemy/task.h>
b3a110daa135 Xenomai 3
Edouard Tisserant
parents: 1903
diff changeset
    15
#include <alchemy/timer.h>
b3a110daa135 Xenomai 3
Edouard Tisserant
parents: 1903
diff changeset
    16
#include <alchemy/sem.h>
b3a110daa135 Xenomai 3
Edouard Tisserant
parents: 1903
diff changeset
    17
#include <alchemy/pipe.h>
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    18
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    19
unsigned int PLC_state = 0;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    20
#define PLC_STATE_TASK_CREATED                 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    21
#define PLC_STATE_DEBUG_FILE_OPENED            2 
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    22
#define PLC_STATE_DEBUG_PIPE_CREATED           4 
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    23
#define PLC_STATE_PYTHON_FILE_OPENED           8 
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    24
#define PLC_STATE_PYTHON_PIPE_CREATED          16   
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    25
#define PLC_STATE_WAITDEBUG_FILE_OPENED        32   
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    26
#define PLC_STATE_WAITDEBUG_PIPE_CREATED       64
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    27
#define PLC_STATE_WAITPYTHON_FILE_OPENED       128
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    28
#define PLC_STATE_WAITPYTHON_PIPE_CREATED      256
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    29
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    30
#define WAITDEBUG_PIPE_DEVICE        "/dev/rtp0"
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    31
#define WAITDEBUG_PIPE_MINOR         0
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    32
#define DEBUG_PIPE_DEVICE            "/dev/rtp1"
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    33
#define DEBUG_PIPE_MINOR             1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    34
#define WAITPYTHON_PIPE_DEVICE       "/dev/rtp2"
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    35
#define WAITPYTHON_PIPE_MINOR        2
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    36
#define PYTHON_PIPE_DEVICE           "/dev/rtp3"
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    37
#define PYTHON_PIPE_MINOR            3
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    38
#define PIPE_SIZE                    1 
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    39
1990
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    40
// rt-pipes commands
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    41
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    42
#define PYTHON_PENDING_COMMAND 1
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    43
#define PYTHON_FINISH 2
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    44
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    45
#define DEBUG_FINISH 2
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    46
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    47
#define DEBUG_PENDING_DATA 1
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    48
#define DEBUG_UNLOCK 1
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    49
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    50
long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    51
{
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    52
    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    53
}
954
ab487d32ce9a Made logging compatible with windows API
Edouard Tisserant
parents: 745
diff changeset
    54
long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
ab487d32ce9a Made logging compatible with windows API
Edouard Tisserant
parents: 745
diff changeset
    55
{
ab487d32ce9a Made logging compatible with windows API
Edouard Tisserant
parents: 745
diff changeset
    56
    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
ab487d32ce9a Made logging compatible with windows API
Edouard Tisserant
parents: 745
diff changeset
    57
}
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    58
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    59
void PLC_GetTime(IEC_TIME *CURRENT_TIME)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    60
{
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    61
    RTIME current_time = rt_timer_read();
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    62
    CURRENT_TIME->tv_sec = current_time / 1000000000;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    63
    CURRENT_TIME->tv_nsec = current_time % 1000000000;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    64
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    65
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    66
RT_TASK PLC_task;
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
    67
RT_PIPE WaitDebug_pipe;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    68
RT_PIPE WaitPython_pipe;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    69
RT_PIPE Debug_pipe;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    70
RT_PIPE Python_pipe;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    71
int WaitDebug_pipe_fd;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    72
int WaitPython_pipe_fd;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    73
int Debug_pipe_fd;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    74
int Python_pipe_fd;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    75
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    76
int PLC_shutdown = 0;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    77
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
    78
void PLC_SetTimer(unsigned long long next, unsigned long long period)
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    79
{
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    80
  RTIME current_time = rt_timer_read();
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    81
  rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    82
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    83
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    84
void PLC_task_proc(void *arg)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    85
{
1428
e14003eb4d42 Simplified use of runtime's global variable __common_ticktime accross extensions.
Edouard Tisserant
parents: 985
diff changeset
    86
    PLC_SetTimer(common_ticktime__, common_ticktime__);
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
    87
695
f378fe028f6c Fixed stopping crash in some cases
Edouard Tisserant
parents: 617
diff changeset
    88
    while (!PLC_shutdown) {
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    89
        PLC_GetTime(&__CURRENT_TIME);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    90
        __run();
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    91
        if (PLC_shutdown) break;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    92
        rt_task_wait_period(NULL);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
    93
    }
1990
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    94
    /* since xenomai 3 it is not enough to close() 
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    95
       file descriptor to unblock read()... */
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    96
    {
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    97
        /* explicitely finish python thread */
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    98
        char msg = PYTHON_FINISH;
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
    99
        rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
   100
    }
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
   101
    {
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
   102
        /* explicitely finish debug thread */
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
   103
        char msg = DEBUG_FINISH;
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
   104
        rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore.
Edouard Tisserant
parents: 1981
diff changeset
   105
    }
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   106
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   107
397
6a7ff66a811d Adding support for forcing tick count to return to zero as the same time than all tasks firing are synchronized
laurent
parents: 345
diff changeset
   108
static unsigned long __debug_tick;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   109
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   110
void PLC_cleanup_all(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   111
{
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   112
    if (PLC_state & PLC_STATE_TASK_CREATED) {
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   113
        rt_task_delete(&PLC_task);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   114
        PLC_state &= ~PLC_STATE_TASK_CREATED;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   115
    }
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   116
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   117
    if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   118
        rt_pipe_delete(&WaitDebug_pipe);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   119
        PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   120
    }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   121
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   122
    if (PLC_state & PLC_STATE_WAITDEBUG_FILE_OPENED) {
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   123
        close(WaitDebug_pipe_fd);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   124
        PLC_state &= ~PLC_STATE_WAITDEBUG_FILE_OPENED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   125
    }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   126
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   127
    if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   128
        rt_pipe_delete(&WaitPython_pipe);
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   129
        PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   130
    }
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   131
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   132
    if (PLC_state & PLC_STATE_WAITPYTHON_FILE_OPENED) {
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   133
        close(WaitPython_pipe_fd);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   134
        PLC_state &= ~PLC_STATE_WAITPYTHON_FILE_OPENED;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   135
    }
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   136
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   137
    if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   138
        rt_pipe_delete(&Debug_pipe);
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   139
        PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   140
    }
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   141
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   142
    if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) {
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   143
        close(Debug_pipe_fd);
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   144
        PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   145
    }
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   146
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   147
    if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   148
        rt_pipe_delete(&Python_pipe);
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   149
        PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   150
    }
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   151
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   152
    if (PLC_state & PLC_STATE_PYTHON_FILE_OPENED) {
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   153
        close(Python_pipe_fd);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   154
        PLC_state &= ~PLC_STATE_PYTHON_FILE_OPENED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   155
    }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   156
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   157
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   158
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   159
int stopPLC()
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   160
{
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   161
    /* Stop the PLC */
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   162
    PLC_shutdown = 1;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   163
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   164
    /* Wait until PLC task stops */
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   165
    rt_task_join(&PLC_task);
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   166
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   167
    PLC_cleanup_all();
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   168
    __cleanup();
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   169
    __debug_tick = -1;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   170
    return 0;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   171
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   172
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   173
//
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   174
void catch_signal(int sig)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   175
{
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   176
    stopPLC();
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   177
//  signal(SIGTERM, catch_signal);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   178
    signal(SIGINT, catch_signal);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   179
    printf("Got Signal %d\n",sig);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   180
    exit(0);
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   181
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   182
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   183
#define _startPLCLog(text) \
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   184
    {\
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   185
    	char mstr[] = text;\
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   186
        LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));\
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   187
        goto error;\
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   188
    }
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   189
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   190
#define FO "Failed opening "
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   191
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   192
#define max_val(a,b) ((a>b)?a:b)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   193
int startPLC(int argc,char **argv)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   194
{
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   195
    signal(SIGINT, catch_signal);
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   196
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   197
    /* no memory swapping for that process */
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   198
    mlockall(MCL_CURRENT | MCL_FUTURE);
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   199
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   200
    PLC_shutdown = 0;
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   201
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   202
    /*** RT Pipes creation and opening ***/
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   203
    /* create Debug_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
Edouard Tisserant
parents: 1974
diff changeset
   204
    if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE) < 0) 
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   205
        _startPLCLog(FO "Debug_pipe real-time end");
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   206
    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   207
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   208
    /* open Debug_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   209
    if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1)
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   210
        _startPLCLog(FO DEBUG_PIPE_DEVICE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   211
    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   212
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   213
    /* create Python_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
Edouard Tisserant
parents: 1974
diff changeset
   214
    if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE) < 0) 
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   215
        _startPLCLog(FO "Python_pipe real-time end");
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   216
    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   217
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   218
    /* open Python_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   219
    if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1)
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   220
        _startPLCLog(FO PYTHON_PIPE_DEVICE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   221
    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   222
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   223
    /* create WaitDebug_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
Edouard Tisserant
parents: 1974
diff changeset
   224
    if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE) < 0)
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   225
        _startPLCLog(FO "WaitDebug_pipe real-time end");
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   226
    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   227
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   228
    /* open WaitDebug_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   229
    if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1)
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   230
        _startPLCLog(FO WAITDEBUG_PIPE_DEVICE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   231
    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   232
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   233
    /* create WaitPython_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
Edouard Tisserant
parents: 1974
diff changeset
   234
    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE) < 0)
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   235
        _startPLCLog(FO "WaitPython_pipe real-time end");
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   236
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   237
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   238
    /* open WaitPython_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   239
    if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1)
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   240
        _startPLCLog(FO WAITPYTHON_PIPE_DEVICE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   241
    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   242
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   243
    /*** create PLC task ***/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   244
    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE))
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   245
        _startPLCLog("Failed creating PLC task");
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   246
    PLC_state |= PLC_STATE_TASK_CREATED;
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   247
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   248
    if(__init(argc,argv)) goto error;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   249
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   250
    /* start PLC task */
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   251
    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL))
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   252
        _startPLCLog("Failed starting PLC task");
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   253
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   254
    return 0;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   255
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   256
error:
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   257
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   258
    PLC_cleanup_all();
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   259
    return 1;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   260
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   261
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   262
#define DEBUG_FREE 0
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   263
#define DEBUG_BUSY 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   264
static long debug_state = DEBUG_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   265
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   266
int TryEnterDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   267
{
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   268
    if(AtomicCompareExchange(
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   269
        &debug_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   270
        DEBUG_FREE,
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   271
        DEBUG_BUSY) == DEBUG_FREE){
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   272
        if(__DEBUG){
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   273
            return 1;
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   274
        }
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   275
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   276
    }
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   277
    return 0;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   278
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   279
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   280
void LeaveDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   281
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   282
    if(AtomicCompareExchange( &debug_state, 
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   283
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   284
        char msg = DEBUG_UNLOCK;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   285
        /* signal to NRT for wakeup */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   286
        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   287
    }
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   288
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   289
397
6a7ff66a811d Adding support for forcing tick count to return to zero as the same time than all tasks firing are synchronized
laurent
parents: 345
diff changeset
   290
extern unsigned long __tick;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   291
446
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
ed
parents: 397
diff changeset
   292
int WaitDebugData(unsigned long *tick)
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   293
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   294
    char cmd;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   295
    int res;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   296
    if (PLC_shutdown) return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   297
    /* Wait signal from PLC thread */
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   298
    res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   299
    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   300
        *tick = __debug_tick;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   301
        return 0;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   302
    }
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   303
    return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   304
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   305
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   306
/* Called by PLC thread when debug_publish finished
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   307
 * This is supposed to unlock debugger thread in WaitDebugData*/
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   308
void InitiateDebugTransfer()
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   309
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   310
    char msg = DEBUG_PENDING_DATA;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   311
    /* remember tick */
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   312
    __debug_tick = __tick;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   313
    /* signal debugger thread it can read data */
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   314
    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   315
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   316
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   317
int suspendDebug(int disable)
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   318
{
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   319
    char cmd = DEBUG_UNLOCK;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   320
    if (PLC_shutdown) return -1;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   321
    while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   322
            &debug_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   323
            DEBUG_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   324
            DEBUG_BUSY) != DEBUG_FREE &&
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   325
            cmd == DEBUG_UNLOCK){
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   326
       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   327
           return -1;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   328
       }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   329
    }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   330
    __DEBUG = !disable;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   331
    if (disable)
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   332
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   333
    return 0;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   334
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   335
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   336
void resumeDebug(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   337
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   338
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   339
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   340
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   341
#define PYTHON_FREE 0
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   342
#define PYTHON_BUSY 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   343
static long python_state = PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   344
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   345
int WaitPythonCommands(void)
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   346
{ 
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   347
    char cmd;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   348
    if (PLC_shutdown) return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   349
    /* Wait signal from PLC thread */
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   350
    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   351
        return 0;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   352
    }
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   353
    return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   354
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   355
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   356
/* Called by PLC thread on each new python command*/
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   357
void UnBlockPythonCommands(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   358
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   359
    char msg = PYTHON_PENDING_COMMAND;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   360
    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   361
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   362
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   363
int TryLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   364
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   365
    return AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   366
        &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   367
        PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   368
        PYTHON_BUSY) == PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   369
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   370
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   371
#define UNLOCK_PYTHON 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   372
void LockPython(void)
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   373
{
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   374
    char cmd = UNLOCK_PYTHON;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   375
    if (PLC_shutdown) return;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   376
    while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   377
            &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   378
            PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   379
            PYTHON_BUSY) != PYTHON_FREE &&
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   380
            cmd == UNLOCK_PYTHON){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   381
       read(Python_pipe_fd, &cmd, sizeof(cmd));
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   382
    }
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   383
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   384
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   385
void UnLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   386
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   387
    if(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   388
            &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   389
            PYTHON_BUSY,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   390
            PYTHON_FREE) == PYTHON_BUSY){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   391
        if(rt_task_self()){/*is that the real time task ?*/
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   392
           char cmd = UNLOCK_PYTHON;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   393
           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   394
        }/* otherwise, no signaling from non real time */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   395
    }    /* as plc does not wait for lock. */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   396
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   397
1903
084256be3658 Main runtime template C code : Added HAVE_RETAIN preprocessor definition for customized build to signal it provides IEC-61131 Retain memory handling function. Removed targets/Xenomai/plc_Xenomai_noretain.c, now useless.
Edouard Tisserant
parents: 1717
diff changeset
   398
#ifndef HAVE_RETAIN
1717
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   399
int CheckRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   400
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   401
	return 1;
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   402
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   403
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   404
void ValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   405
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   406
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   407
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   408
void InValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   409
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   410
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   411
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   412
void Retain(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   413
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   414
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   415
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   416
void Remind(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   417
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   418
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   419
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   420
void CleanupRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   421
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   422
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   423
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   424
void InitRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   425
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   426
}
1903
084256be3658 Main runtime template C code : Added HAVE_RETAIN preprocessor definition for customized build to signal it provides IEC-61131 Retain memory handling function. Removed targets/Xenomai/plc_Xenomai_noretain.c, now useless.
Edouard Tisserant
parents: 1717
diff changeset
   427
#endif // !HAVE_RETAIN