author | Laurent Bessard |
Wed, 29 May 2013 09:22:40 +0200 | |
changeset 1186 | 0ce4104d58ed |
parent 985 | cd8dadcef426 |
child 1428 | e14003eb4d42 |
permissions | -rw-r--r-- |
321 | 1 |
/** |
954 | 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 | 4 |
|
5 |
#include <stdio.h> |
|
615 | 6 |
#include <unistd.h> |
321 | 7 |
#include <string.h> |
8 |
#include <time.h> |
|
9 |
#include <signal.h> |
|
10 |
#include <stdlib.h> |
|
11 |
#include <sys/mman.h> |
|
342 | 12 |
#include <sys/fcntl.h> |
321 | 13 |
|
14 |
#include <native/task.h> |
|
15 |
#include <native/timer.h> |
|
16 |
#include <native/mutex.h> |
|
17 |
#include <native/sem.h> |
|
342 | 18 |
#include <native/pipe.h> |
321 | 19 |
|
20 |
unsigned int PLC_state = 0; |
|
615 | 21 |
#define PLC_STATE_TASK_CREATED 1 |
22 |
#define PLC_STATE_DEBUG_FILE_OPENED 2 |
|
23 |
#define PLC_STATE_DEBUG_PIPE_CREATED 4 |
|
24 |
#define PLC_STATE_PYTHON_FILE_OPENED 8 |
|
25 |
#define PLC_STATE_PYTHON_PIPE_CREATED 16 |
|
26 |
#define PLC_STATE_WAITDEBUG_FILE_OPENED 32 |
|
27 |
#define PLC_STATE_WAITDEBUG_PIPE_CREATED 64 |
|
28 |
#define PLC_STATE_WAITPYTHON_FILE_OPENED 128 |
|
29 |
#define PLC_STATE_WAITPYTHON_PIPE_CREATED 256 |
|
30 |
||
31 |
#define WAITDEBUG_PIPE_DEVICE "/dev/rtp0" |
|
32 |
#define WAITDEBUG_PIPE_MINOR 0 |
|
33 |
#define DEBUG_PIPE_DEVICE "/dev/rtp1" |
|
34 |
#define DEBUG_PIPE_MINOR 1 |
|
35 |
#define WAITPYTHON_PIPE_DEVICE "/dev/rtp2" |
|
36 |
#define WAITPYTHON_PIPE_MINOR 2 |
|
37 |
#define PYTHON_PIPE_DEVICE "/dev/rtp3" |
|
38 |
#define PYTHON_PIPE_MINOR 3 |
|
39 |
#define PIPE_SIZE 1 |
|
321 | 40 |
|
41 |
||
42 |
long AtomicCompareExchange(long* atomicvar,long compared, long exchange) |
|
43 |
{ |
|
44 |
return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
|
45 |
} |
|
954 | 46 |
long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange) |
47 |
{ |
|
48 |
return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
|
49 |
} |
|
321 | 50 |
|
51 |
void PLC_GetTime(IEC_TIME *CURRENT_TIME) |
|
52 |
{ |
|
53 |
RTIME current_time = rt_timer_read(); |
|
54 |
CURRENT_TIME->tv_sec = current_time / 1000000000; |
|
55 |
CURRENT_TIME->tv_nsec = current_time % 1000000000; |
|
56 |
} |
|
57 |
||
58 |
RT_TASK PLC_task; |
|
342 | 59 |
RT_PIPE WaitDebug_pipe; |
615 | 60 |
RT_PIPE WaitPython_pipe; |
61 |
RT_PIPE Debug_pipe; |
|
62 |
RT_PIPE Python_pipe; |
|
63 |
int WaitDebug_pipe_fd; |
|
64 |
int WaitPython_pipe_fd; |
|
65 |
int Debug_pipe_fd; |
|
66 |
int Python_pipe_fd; |
|
67 |
||
321 | 68 |
int PLC_shutdown = 0; |
69 |
||
615 | 70 |
void PLC_SetTimer(unsigned long long next, unsigned long long period) |
321 | 71 |
{ |
72 |
RTIME current_time = rt_timer_read(); |
|
73 |
rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period)); |
|
74 |
} |
|
75 |
||
76 |
void PLC_task_proc(void *arg) |
|
77 |
{ |
|
78 |
PLC_SetTimer(Ttick, Ttick); |
|
336
ae3488c79283
Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents:
321
diff
changeset
|
79 |
|
695 | 80 |
while (!PLC_shutdown) { |
321 | 81 |
PLC_GetTime(&__CURRENT_TIME); |
82 |
__run(); |
|
83 |
if (PLC_shutdown) break; |
|
84 |
rt_task_wait_period(NULL); |
|
85 |
} |
|
86 |
} |
|
87 |
||
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
|
88 |
static unsigned long __debug_tick; |
321 | 89 |
|
90 |
void PLC_cleanup_all(void) |
|
91 |
{ |
|
92 |
if (PLC_state & PLC_STATE_TASK_CREATED) { |
|
93 |
rt_task_delete(&PLC_task); |
|
94 |
PLC_state &= ~PLC_STATE_TASK_CREATED; |
|
95 |
} |
|
96 |
||
615 | 97 |
if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) { |
98 |
rt_pipe_delete(&WaitDebug_pipe); |
|
99 |
PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED; |
|
100 |
} |
|
101 |
||
102 |
if (PLC_state & PLC_STATE_WAITDEBUG_FILE_OPENED) { |
|
103 |
close(WaitDebug_pipe_fd); |
|
104 |
PLC_state &= ~PLC_STATE_WAITDEBUG_FILE_OPENED; |
|
105 |
} |
|
106 |
||
107 |
if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) { |
|
108 |
rt_pipe_delete(&WaitPython_pipe); |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
109 |
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
|
110 |
} |
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
111 |
|
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
112 |
if (PLC_state & PLC_STATE_WAITPYTHON_FILE_OPENED) { |
615 | 113 |
close(WaitPython_pipe_fd); |
114 |
PLC_state &= ~PLC_STATE_WAITPYTHON_FILE_OPENED; |
|
321 | 115 |
} |
336
ae3488c79283
Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents:
321
diff
changeset
|
116 |
|
342 | 117 |
if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) { |
615 | 118 |
rt_pipe_delete(&Debug_pipe); |
342 | 119 |
PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED; |
120 |
} |
|
121 |
||
122 |
if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) { |
|
615 | 123 |
close(Debug_pipe_fd); |
342 | 124 |
PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED; |
321 | 125 |
} |
126 |
||
615 | 127 |
if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) { |
128 |
rt_pipe_delete(&Python_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_PYTHON_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_PYTHON_FILE_OPENED) { |
615 | 133 |
close(Python_pipe_fd); |
134 |
PLC_state &= ~PLC_STATE_PYTHON_FILE_OPENED; |
|
135 |
} |
|
136 |
||
321 | 137 |
} |
138 |
||
139 |
int stopPLC() |
|
140 |
{ |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
141 |
/* Stop the PLC */ |
321 | 142 |
PLC_shutdown = 1; |
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
143 |
|
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
144 |
/* Wait until PLC task stops */ |
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
145 |
rt_task_join(&PLC_task); |
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
146 |
|
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
147 |
PLC_cleanup_all(); |
342 | 148 |
__cleanup(); |
321 | 149 |
__debug_tick = -1; |
615 | 150 |
return 0; |
321 | 151 |
} |
152 |
||
153 |
// |
|
154 |
void catch_signal(int sig) |
|
155 |
{ |
|
156 |
stopPLC(); |
|
157 |
// signal(SIGTERM, catch_signal); |
|
158 |
signal(SIGINT, catch_signal); |
|
159 |
printf("Got Signal %d\n",sig); |
|
160 |
exit(0); |
|
161 |
} |
|
162 |
||
163 |
#define max_val(a,b) ((a>b)?a:b) |
|
164 |
int startPLC(int argc,char **argv) |
|
165 |
{ |
|
166 |
signal(SIGINT, catch_signal); |
|
336
ae3488c79283
Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents:
321
diff
changeset
|
167 |
|
615 | 168 |
/* no memory swapping for that process */ |
321 | 169 |
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
|
170 |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
171 |
PLC_shutdown = 0; |
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
172 |
|
615 | 173 |
/*** RT Pipes creation and opening ***/ |
174 |
/* create Debug_pipe */ |
|
175 |
if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE)) |
|
176 |
goto error; |
|
177 |
PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED; |
|
178 |
||
179 |
/* open Debug_pipe*/ |
|
180 |
if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1) goto error; |
|
181 |
PLC_state |= PLC_STATE_DEBUG_FILE_OPENED; |
|
182 |
||
183 |
/* create Python_pipe */ |
|
184 |
if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE)) |
|
185 |
goto error; |
|
186 |
PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED; |
|
187 |
||
188 |
/* open Python_pipe*/ |
|
189 |
if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1) goto error; |
|
190 |
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
|
191 |
|
342 | 192 |
/* create WaitDebug_pipe */ |
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
193 |
if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE)) |
615 | 194 |
goto error; |
195 |
PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED; |
|
342 | 196 |
|
197 |
/* open WaitDebug_pipe*/ |
|
615 | 198 |
if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1) goto error; |
199 |
PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED; |
|
200 |
||
201 |
/* create WaitPython_pipe */ |
|
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
202 |
if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE)) |
342 | 203 |
goto error; |
615 | 204 |
PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED; |
205 |
||
206 |
/* open WaitPython_pipe*/ |
|
207 |
if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1) goto error; |
|
208 |
PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED; |
|
209 |
||
210 |
/*** create PLC task ***/ |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
211 |
if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE)) goto error; |
321 | 212 |
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
|
213 |
|
615 | 214 |
if(__init(argc,argv)) goto error; |
215 |
||
216 |
/* start PLC task */ |
|
217 |
if(rt_task_start(&PLC_task, &PLC_task_proc, NULL)) goto error; |
|
321 | 218 |
|
219 |
return 0; |
|
220 |
||
221 |
error: |
|
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
222 |
|
321 | 223 |
PLC_cleanup_all(); |
224 |
return 1; |
|
225 |
} |
|
226 |
||
615 | 227 |
#define DEBUG_FREE 0 |
228 |
#define DEBUG_BUSY 1 |
|
229 |
static long debug_state = DEBUG_FREE; |
|
230 |
||
321 | 231 |
int TryEnterDebugSection(void) |
232 |
{ |
|
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
233 |
if(AtomicCompareExchange( |
615 | 234 |
&debug_state, |
235 |
DEBUG_FREE, |
|
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
236 |
DEBUG_BUSY) == DEBUG_FREE){ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
237 |
if(__DEBUG){ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
238 |
return 1; |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
239 |
} |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
240 |
AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE); |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
241 |
} |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
242 |
return 0; |
615 | 243 |
} |
244 |
||
245 |
#define DEBUG_UNLOCK 1 |
|
321 | 246 |
void LeaveDebugSection(void) |
247 |
{ |
|
615 | 248 |
if(AtomicCompareExchange( &debug_state, |
249 |
DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){ |
|
250 |
char msg = DEBUG_UNLOCK; |
|
251 |
/* signal to NRT for wakeup */ |
|
252 |
rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL); |
|
253 |
} |
|
321 | 254 |
} |
255 |
||
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
|
256 |
extern unsigned long __tick; |
615 | 257 |
|
258 |
#define DEBUG_PENDING_DATA 1 |
|
446
1edde533db19
Some cleanup in PLC status - removed that \"Starting\" state ...
ed
parents:
397
diff
changeset
|
259 |
int WaitDebugData(unsigned long *tick) |
321 | 260 |
{ |
615 | 261 |
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
|
262 |
int res; |
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
263 |
if (PLC_shutdown) return -1; |
321 | 264 |
/* Wait signal from PLC thread */ |
615 | 265 |
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
|
266 |
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
|
267 |
*tick = __debug_tick; |
615 | 268 |
return 0; |
617
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
616
diff
changeset
|
269 |
} |
345
a3520d75a722
get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents:
342
diff
changeset
|
270 |
return -1; |
321 | 271 |
} |
336
ae3488c79283
Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents:
321
diff
changeset
|
272 |
|
321 | 273 |
/* Called by PLC thread when debug_publish finished |
274 |
* This is supposed to unlock debugger thread in WaitDebugData*/ |
|
275 |
void InitiateDebugTransfer() |
|
276 |
{ |
|
615 | 277 |
char msg = DEBUG_PENDING_DATA; |
321 | 278 |
/* remember tick */ |
279 |
__debug_tick = __tick; |
|
280 |
/* signal debugger thread it can read data */ |
|
615 | 281 |
rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL); |
282 |
} |
|
283 |
||
284 |
int suspendDebug(int disable) |
|
285 |
{ |
|
286 |
char cmd = DEBUG_UNLOCK; |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
287 |
if (PLC_shutdown) return -1; |
615 | 288 |
while(AtomicCompareExchange( |
289 |
&debug_state, |
|
290 |
DEBUG_FREE, |
|
291 |
DEBUG_BUSY) != DEBUG_FREE && |
|
292 |
cmd == DEBUG_UNLOCK){ |
|
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
293 |
if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){ |
615 | 294 |
return -1; |
295 |
} |
|
296 |
} |
|
297 |
__DEBUG = !disable; |
|
617
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
616
diff
changeset
|
298 |
if (disable) |
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
616
diff
changeset
|
299 |
AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE); |
615 | 300 |
return 0; |
321 | 301 |
} |
302 |
||
303 |
void resumeDebug(void) |
|
304 |
{ |
|
615 | 305 |
AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE); |
306 |
} |
|
307 |
||
308 |
#define PYTHON_PENDING_COMMAND 1 |
|
309 |
||
310 |
#define PYTHON_FREE 0 |
|
311 |
#define PYTHON_BUSY 1 |
|
312 |
static long python_state = PYTHON_FREE; |
|
313 |
||
321 | 314 |
int WaitPythonCommands(void) |
615 | 315 |
{ |
316 |
char cmd; |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
317 |
if (PLC_shutdown) return -1; |
321 | 318 |
/* Wait signal from PLC thread */ |
615 | 319 |
if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){ |
320 |
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
|
321 |
} |
a3520d75a722
get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents:
342
diff
changeset
|
322 |
return -1; |
321 | 323 |
} |
336
ae3488c79283
Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents:
321
diff
changeset
|
324 |
|
321 | 325 |
/* Called by PLC thread on each new python command*/ |
326 |
void UnBlockPythonCommands(void) |
|
327 |
{ |
|
615 | 328 |
char msg = PYTHON_PENDING_COMMAND; |
329 |
rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL); |
|
321 | 330 |
} |
331 |
||
332 |
int TryLockPython(void) |
|
333 |
{ |
|
615 | 334 |
return AtomicCompareExchange( |
335 |
&python_state, |
|
336 |
PYTHON_FREE, |
|
337 |
PYTHON_BUSY) == PYTHON_FREE; |
|
338 |
} |
|
339 |
||
340 |
#define UNLOCK_PYTHON 1 |
|
341 |
void LockPython(void) |
|
342 |
{ |
|
343 |
char cmd = UNLOCK_PYTHON; |
|
745
96dd6650854d
Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents:
695
diff
changeset
|
344 |
if (PLC_shutdown) return; |
615 | 345 |
while(AtomicCompareExchange( |
346 |
&python_state, |
|
347 |
PYTHON_FREE, |
|
348 |
PYTHON_BUSY) != PYTHON_FREE && |
|
349 |
cmd == UNLOCK_PYTHON){ |
|
350 |
read(Python_pipe_fd, &cmd, sizeof(cmd)); |
|
351 |
} |
|
321 | 352 |
} |
353 |
||
354 |
void UnLockPython(void) |
|
355 |
{ |
|
615 | 356 |
if(AtomicCompareExchange( |
357 |
&python_state, |
|
358 |
PYTHON_BUSY, |
|
359 |
PYTHON_FREE) == PYTHON_BUSY){ |
|
360 |
if(rt_task_self()){/*is that the real time task ?*/ |
|
361 |
char cmd = UNLOCK_PYTHON; |
|
362 |
rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL); |
|
363 |
}/* otherwise, no signaling from non real time */ |
|
364 |
} /* as plc does not wait for lock. */ |
|
365 |
} |
|
366 |
||
616
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
367 |
int CheckRetainBuffer(void) |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
368 |
{ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
369 |
return 1; |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
370 |
} |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
371 |
|
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
372 |
void ValidateRetainBuffer(void) |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
373 |
{ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
374 |
} |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
375 |
|
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
376 |
void InValidateRetainBuffer(void) |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
377 |
{ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
378 |
} |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
379 |
|
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
380 |
void Retain(unsigned int offset, unsigned int count, void *p) |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
381 |
{ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
382 |
} |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
383 |
|
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
384 |
void Remind(unsigned int offset, unsigned int count, void *p) |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
385 |
{ |
b9271faec96e
Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents:
615
diff
changeset
|
386 |
} |