targets/Xenomai/plc_Xenomai_main.c
author Edouard Tisserant <edouard.tisserant@gmail.com>
Wed, 04 Dec 2024 12:00:37 +0100
changeset 4059 03f007a175b5
parent 3954 5744391252ec
permissions -rw-r--r--
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/**
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 * Xenomai Linux specific code
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 **/
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <time.h>
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#include <signal.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <sys/mman.h>
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#include <sys/fcntl.h>
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#include <alchemy/task.h>
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#include <alchemy/timer.h>
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#include <alchemy/sem.h>
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#include <alchemy/pipe.h>
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#define _Log(level,text,...) \
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    {\
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        char mstr[256];\
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        snprintf(mstr, 255, text, ##__VA_ARGS__);\
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        LogMessage(level, mstr, strlen(mstr));\
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    }
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#define _LogError(text,...) _Log(LOG_CRITICAL, text, ##__VA_ARGS__)
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#define _LogWarning(text,...) _Log(LOG_WARNING, text, ##__VA_ARGS__)
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unsigned int PLC_state = 0;
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#define PLC_STATE_TASK_CREATED                 1
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#define PLC_STATE_DEBUG_PIPE_CREATED           2
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#define PLC_STATE_PYTHON_PIPE_CREATED          8
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#define PLC_STATE_WAITDEBUG_PIPE_CREATED       16
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#define PLC_STATE_WAITPYTHON_PIPE_CREATED      32
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#define PIPE_SIZE                    1
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// rt-pipes commands
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#define PYTHON_PENDING_COMMAND 1
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#define PYTHON_FINISH 2
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#define DEBUG_FINISH 2
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#define DEBUG_PENDING_DATA 1
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#define DEBUG_UNLOCK 1
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long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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void PLC_GetTime(IEC_TIME *CURRENT_TIME)
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{
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    RTIME current_time = rt_timer_read();
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    CURRENT_TIME->tv_sec = current_time / 1000000000;
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    CURRENT_TIME->tv_nsec = current_time % 1000000000;
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}
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RT_TASK PLC_task;
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void *WaitDebug_handle;
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void *WaitPython_handle;
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void *Debug_handle;
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void *Python_handle;
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void *svghmi_handle;
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struct RT_to_nRT_signal_s {
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    int used;
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    RT_PIPE pipe;
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    int pipe_fd;
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    char *name;
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};
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typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
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#define max_RT_to_nRT_signals 16
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static RT_to_nRT_signal_t RT_to_nRT_signal_pool[max_RT_to_nRT_signals];
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int recv_RT_to_nRT_signal(void* handle, char* payload){
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    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
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    if(!sig->used) return -EINVAL;
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    return read(sig->pipe_fd, payload, 1);
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}
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int send_RT_to_nRT_signal(void* handle, char payload){
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    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
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    if(!sig->used) return -EINVAL;
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    return rt_pipe_write(&sig->pipe, &payload, 1, P_NORMAL);
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}
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int PLC_shutdown = 0;
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void PLC_SetTimer(unsigned long long next, unsigned long long period)
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{
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  RTIME current_time = rt_timer_read();
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  rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));
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}
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void PLC_task_proc(void *arg)
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   106
{
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diff changeset
   107
    unsigned long overruns = 0;
1428
e14003eb4d42 Simplified use of runtime's global variable __common_ticktime accross extensions.
Edouard Tisserant
parents: 985
diff changeset
   108
    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
   109
695
f378fe028f6c Fixed stopping crash in some cases
Edouard Tisserant
parents: 617
diff changeset
   110
    while (!PLC_shutdown) {
321
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parents:
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   111
        PLC_GetTime(&__CURRENT_TIME);
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parents: 3398
diff changeset
   112
        if(overruns == 0){
91c39139420f Xenomai runtime: report and mitigate when PLC cycle overruns.
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diff changeset
   113
            __run();
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parents: 3398
diff changeset
   114
        } else {
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parents: 3398
diff changeset
   115
            // in case of overrun, don't run PLC on next cycle, to prevent CPU hogging.
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parents: 3398
diff changeset
   116
            _LogWarning("PLC execution time is longer than requested PLC cyclic task interval. %d cycles skipped\n", overruns);
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parents: 3398
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   117
            // rt_printf("PLC execution time is longer than requested PLC cyclic task interval. %d cycles skipped\n", overruns);
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parents: 3398
diff changeset
   118
            // increment tick count anyhow, so that task scheduling keeps consistent
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parents: 3398
diff changeset
   119
            __tick += overruns;
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diff changeset
   120
        }
321
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   121
        if (PLC_shutdown) break;
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diff changeset
   122
        rt_task_wait_period(&overruns);
321
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diff changeset
   123
    }
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   124
    /* since xenomai 3 it is not enough to close()
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
   125
       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
   126
    {
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
   127
        /* 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
   128
        char msg = PYTHON_FINISH;
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e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   129
        send_RT_to_nRT_signal(WaitPython_handle, msg);
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
   130
    }
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
   131
    {
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
   132
        /* 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
   133
        char msg = DEBUG_FINISH;
3294
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Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   134
        send_RT_to_nRT_signal(WaitDebug_handle, msg);
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
   135
    }
321
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diff changeset
   136
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   137
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
   138
static unsigned long __debug_tick;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   139
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   140
void *create_RT_to_nRT_signal(char* name){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   141
    int new_index = -1;
3315
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Edouard Tisserant
parents: 3298
diff changeset
   142
    int ret;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   143
    RT_to_nRT_signal_t *sig;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   144
    char pipe_dev[64];
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   145
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   146
    /* find a free slot */
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   147
    for(int i=0; i < max_RT_to_nRT_signals; i++){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   148
        sig = &RT_to_nRT_signal_pool[i];
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   149
        if(!sig->used){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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parents: 2820
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   150
            new_index = i;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   151
            break;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   152
        }
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   153
    }
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   154
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   155
    /* fail if none found */
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   156
    if(new_index == -1) {
3953
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Edouard Tisserant <edouard@beremiz.fr>
parents: 3398
diff changeset
   157
    	_LogError("Maximum count of RT-PIPE reached while creating pipe for %s (%d)", name, max_RT_to_nRT_signals);
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   158
        return NULL;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   159
    }
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   160
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   161
    /* create rt pipe */
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   162
    if(ret = rt_pipe_create(&sig->pipe, name, new_index, PIPE_SIZE) < 0){
3953
91c39139420f Xenomai runtime: report and mitigate when PLC cycle overruns.
Edouard Tisserant <edouard@beremiz.fr>
parents: 3398
diff changeset
   163
    	_LogError("Failed opening real-time end of RT-PIPE for %s (%d)", name, ret);
3315
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Edouard Tisserant
parents: 3298
diff changeset
   164
        return NULL;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   165
    }
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   166
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   167
    /* open pipe's userland */
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   168
    snprintf(pipe_dev, 63, "/dev/rtp%d", new_index);
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   169
    if((sig->pipe_fd = open(pipe_dev, O_RDWR)) == -1){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   170
        rt_pipe_delete(&sig->pipe);
3953
91c39139420f Xenomai runtime: report and mitigate when PLC cycle overruns.
Edouard Tisserant <edouard@beremiz.fr>
parents: 3398
diff changeset
   171
    	_LogError("Failed opening non-real-time end of RT-PIPE for %s (%d)", name, errno);
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   172
        return NULL;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   173
    }
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   174
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   175
    sig->used = 1;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   176
    sig->name = name;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   177
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   178
    return sig;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   179
}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   180
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   181
void delete_RT_to_nRT_signal(void* handle){
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   182
    int ret;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   183
    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle;
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   184
    char *name = sig->name;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   185
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   186
    if(!sig->used) return;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   187
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   188
    if(ret = rt_pipe_delete(&sig->pipe) != 0){
3953
91c39139420f Xenomai runtime: report and mitigate when PLC cycle overruns.
Edouard Tisserant <edouard@beremiz.fr>
parents: 3398
diff changeset
   189
    	_LogError("Failed closing real-time end of RT-PIPE for %s (%d)", name, ret);
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   190
    }
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   191
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   192
    if(close(sig->pipe_fd) != 0){
3953
91c39139420f Xenomai runtime: report and mitigate when PLC cycle overruns.
Edouard Tisserant <edouard@beremiz.fr>
parents: 3398
diff changeset
   193
    	_LogError("Failed closing non-real-time end of RT-PIPE for %s (%d)", name, errno);
3315
5f9db9c6c69c Xenomai runtime: more verbose error message when problem with RT-Pipes.
Edouard Tisserant
parents: 3298
diff changeset
   194
    }
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   195
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   196
    sig->used = 0;
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   197
}
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   198
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int wait_RT_to_nRT_signal(void* handle){
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   200
    char cmd;
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   201
    int ret = recv_RT_to_nRT_signal(handle, &cmd);
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   202
    return (ret == 1) ? 0 : ((ret == 0) ? ENODATA : -ret);
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   203
}
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   204
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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int unblock_RT_to_nRT_signal(void* handle){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   206
    int ret = send_RT_to_nRT_signal(handle, 0);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   207
    return (ret == 1) ? 0 : ((ret == 0) ? EINVAL : -ret);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   208
}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   209
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void nRT_reschedule(void){
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    sched_yield();
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   212
}
0375d801fff7 Runtime+SVGHMI: Add generic wakeup of threads from PLC thread to windows implementation of plc_main.c. Also added nRT_reschedule to abstract sched_yield.
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   213
321
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void PLC_cleanup_all(void)
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   215
{
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   216
    if (PLC_state & PLC_STATE_TASK_CREATED) {
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   217
        rt_task_delete(&PLC_task);
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   218
        PLC_state &= ~PLC_STATE_TASK_CREATED;
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   219
    }
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   220
615
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    if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
3294
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   222
        delete_RT_to_nRT_signal(WaitDebug_handle);
615
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   223
        PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
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   224
    }
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   225
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   226
    if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   227
        delete_RT_to_nRT_signal(WaitPython_handle);
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   228
        PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
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   229
    }
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   230
342
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   231
    if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   232
        delete_RT_to_nRT_signal(Debug_handle);
342
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   233
        PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
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   234
    }
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   235
615
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   236
    if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
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   237
        delete_RT_to_nRT_signal(Python_handle);
745
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   238
        PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   239
    }
321
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   240
}
5a4e6278a18b Adding support for Xenomai targets.
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   241
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   242
int stopPLC()
5a4e6278a18b Adding support for Xenomai targets.
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   243
{
745
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   244
    /* Stop the PLC */
321
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   245
    PLC_shutdown = 1;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   246
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   247
    /* Wait until PLC task stops */
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   248
    rt_task_join(&PLC_task);
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   249
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   250
    PLC_cleanup_all();
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
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diff changeset
   251
    __cleanup();
321
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   252
    __debug_tick = -1;
615
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   253
    return 0;
321
5a4e6278a18b Adding support for Xenomai targets.
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   254
}
5a4e6278a18b Adding support for Xenomai targets.
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   255
5a4e6278a18b Adding support for Xenomai targets.
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   256
//
5a4e6278a18b Adding support for Xenomai targets.
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   257
void catch_signal(int sig)
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   258
{
5a4e6278a18b Adding support for Xenomai targets.
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   259
    stopPLC();
5a4e6278a18b Adding support for Xenomai targets.
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   260
//  signal(SIGTERM, catch_signal);
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   261
    signal(SIGINT, catch_signal);
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   262
    printf("Got Signal %d\n",sig);
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   263
    exit(0);
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   264
}
5a4e6278a18b Adding support for Xenomai targets.
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   265
1981
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   266
#define _startPLCLog(text) \
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diff changeset
   267
    {\
d0718654d9b0 Added logging in Xenomai init phase.
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   268
    	char mstr[] = text;\
d0718654d9b0 Added logging in Xenomai init phase.
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   269
        LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));\
d0718654d9b0 Added logging in Xenomai init phase.
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   270
        goto error;\
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diff changeset
   271
    }
d0718654d9b0 Added logging in Xenomai init phase.
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diff changeset
   272
d0718654d9b0 Added logging in Xenomai init phase.
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   273
#define FO "Failed opening "
d0718654d9b0 Added logging in Xenomai init phase.
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diff changeset
   274
321
5a4e6278a18b Adding support for Xenomai targets.
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   275
#define max_val(a,b) ((a>b)?a:b)
5a4e6278a18b Adding support for Xenomai targets.
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   276
int startPLC(int argc,char **argv)
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   277
{
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   278
    signal(SIGINT, catch_signal);
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   279
615
72bc3e53a1fa Xenomai Fix : build
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   280
    /* no memory swapping for that process */
321
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   281
    mlockall(MCL_CURRENT | MCL_FUTURE);
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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parents: 321
diff changeset
   282
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   283
    /* memory initialization */
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96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   284
    PLC_shutdown = 0;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   285
    bzero(RT_to_nRT_signal_pool, sizeof(RT_to_nRT_signal_pool));
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   286
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   287
    /*** RT Pipes ***/
615
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diff changeset
   288
    /* create Debug_pipe */
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   289
    if(!(Debug_handle = create_RT_to_nRT_signal("Debug_pipe"))) goto error;
615
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diff changeset
   290
    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
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diff changeset
   291
615
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diff changeset
   292
    /* create Python_pipe */
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   293
    if(!(Python_handle = create_RT_to_nRT_signal("Python_pipe"))) goto error;
615
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diff changeset
   294
    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   295
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
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diff changeset
   296
    /* create WaitDebug_pipe */
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   297
    if(!(WaitDebug_handle = create_RT_to_nRT_signal("WaitDebug_pipe"))) goto error;
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   298
    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
greg
parents: 336
diff changeset
   299
615
72bc3e53a1fa Xenomai Fix : build
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   300
    /* create WaitPython_pipe */
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   301
    if(!(WaitPython_handle = create_RT_to_nRT_signal("WaitPython_pipe"))) goto error;
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   302
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   303
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   304
    /*** create PLC task ***/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   305
    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
   306
        _startPLCLog("Failed creating PLC task");
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   307
    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
   308
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   309
    if(__init(argc,argv)) goto error;
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   310
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   311
    /* start PLC task */
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   312
    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL))
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   313
        _startPLCLog("Failed starting PLC task");
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   314
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   315
    return 0;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   316
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   317
error:
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
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diff changeset
   318
321
5a4e6278a18b Adding support for Xenomai targets.
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   319
    PLC_cleanup_all();
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   320
    return 1;
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   321
}
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   322
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   323
#define DEBUG_FREE 0
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   324
#define DEBUG_BUSY 1
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   325
static long debug_state = DEBUG_FREE;
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   326
321
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   327
int TryEnterDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   328
{
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   329
    if(AtomicCompareExchange(
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   330
        &debug_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   331
        DEBUG_FREE,
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   332
        DEBUG_BUSY) == DEBUG_FREE){
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   333
        if(__DEBUG){
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   334
            return 1;
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   335
        }
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   336
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   337
    }
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   338
    return 0;
615
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   339
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   340
321
5a4e6278a18b Adding support for Xenomai targets.
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   341
void LeaveDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   342
{
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   343
    if(AtomicCompareExchange( &debug_state,
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   344
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   345
        char msg = DEBUG_UNLOCK;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   346
        /* signal to NRT for wakeup */
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   347
        send_RT_to_nRT_signal(Debug_handle, msg);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   348
    }
321
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   349
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   350
3947
9b5cb90297e4 All Runtimes: Now sizeof(tick)=4 on all platforms (unsigned int).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 3398
diff changeset
   351
extern unsigned int __tick;
9b5cb90297e4 All Runtimes: Now sizeof(tick)=4 on all platforms (unsigned int).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 3398
diff changeset
   352
9b5cb90297e4 All Runtimes: Now sizeof(tick)=4 on all platforms (unsigned int).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 3398
diff changeset
   353
int WaitDebugData(unsigned int *tick)
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   354
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   355
    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
   356
    int res;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   357
    if (PLC_shutdown) return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   358
    /* Wait signal from PLC thread */
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   359
    res = recv_RT_to_nRT_signal(WaitDebug_handle, &cmd);
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   360
    if (res == 1 && cmd == DEBUG_PENDING_DATA){
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   361
        *tick = __debug_tick;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   362
        return 0;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   363
    }
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   364
    return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   365
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   366
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   367
/* Called by PLC thread when debug_publish finished
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   368
 * This is supposed to unlock debugger thread in WaitDebugData*/
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   369
void InitiateDebugTransfer()
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   370
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   371
    char msg = DEBUG_PENDING_DATA;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   372
    /* remember tick */
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   373
    __debug_tick = __tick;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   374
    /* signal debugger thread it can read data */
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   375
    send_RT_to_nRT_signal(WaitDebug_handle, msg);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   376
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   377
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   378
int suspendDebug(int disable)
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   379
{
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   380
    char cmd = DEBUG_UNLOCK;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   381
    if (PLC_shutdown) return -1;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   382
    while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   383
            &debug_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   384
            DEBUG_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   385
            DEBUG_BUSY) != DEBUG_FREE &&
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   386
            cmd == DEBUG_UNLOCK){
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   387
       if(recv_RT_to_nRT_signal(Debug_handle, &cmd) != 1){
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   388
           return -1;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   389
       }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   390
    }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   391
    __DEBUG = !disable;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   392
    if (disable)
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   393
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   394
    return 0;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   395
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   396
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   397
void resumeDebug(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   398
{
3398
7ca3924be865 Xenomai runtime: ensure that __DEBUG global variable is set when resuming debug.
Edouard Tisserant
parents: 3315
diff changeset
   399
    __DEBUG = 1;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   400
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   401
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   402
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   403
#define PYTHON_FREE 0
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   404
#define PYTHON_BUSY 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   405
static long python_state = PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   406
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   407
int WaitPythonCommands(void)
3298
e6131894be1d Xenomai runtime: fixed bugs introduced in e3db472b0dfb (RT->nRT wakeup) + other small typos
Edouard Tisserant
parents: 3295
diff changeset
   408
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   409
    char cmd;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   410
    if (PLC_shutdown) return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   411
    /* Wait signal from PLC thread */
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   412
    if(recv_RT_to_nRT_signal(WaitPython_handle, &cmd) == 1 && cmd==PYTHON_PENDING_COMMAND){
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   413
        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
   414
    }
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   415
    return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   416
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   417
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   418
/* Called by PLC thread on each new python command*/
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   419
void UnBlockPythonCommands(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   420
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   421
    char msg = PYTHON_PENDING_COMMAND;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   422
    send_RT_to_nRT_signal(WaitPython_handle, msg);
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   423
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   424
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   425
int TryLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   426
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   427
    return AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   428
        &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   429
        PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   430
        PYTHON_BUSY) == PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   431
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   432
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   433
#define UNLOCK_PYTHON 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   434
void LockPython(void)
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   435
{
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   436
    char cmd = UNLOCK_PYTHON;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   437
    if (PLC_shutdown) return;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   438
    while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   439
            &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   440
            PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   441
            PYTHON_BUSY) != PYTHON_FREE &&
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   442
            cmd == UNLOCK_PYTHON){
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   443
       recv_RT_to_nRT_signal(Python_handle, &cmd);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   444
    }
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   445
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   446
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   447
void UnLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   448
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   449
    if(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   450
            &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   451
            PYTHON_BUSY,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   452
            PYTHON_FREE) == PYTHON_BUSY){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   453
        if(rt_task_self()){/*is that the real time task ?*/
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   454
           char cmd = UNLOCK_PYTHON;
3294
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2820
diff changeset
   455
           send_RT_to_nRT_signal(Python_handle, cmd);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   456
        }/* otherwise, no signaling from non real time */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   457
    }    /* as plc does not wait for lock. */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   458
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   459
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
   460
#ifndef HAVE_RETAIN
1717
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   461
int CheckRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   462
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   463
	return 1;
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   464
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   465
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   466
void ValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   467
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   468
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   469
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   470
void InValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   471
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   472
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   473
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   474
void Retain(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   475
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   476
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   477
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   478
void Remind(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   479
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   480
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   481
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   482
void CleanupRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   483
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   484
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   485
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   486
void InitRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   487
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   488
}
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
   489
#endif // !HAVE_RETAIN