author | Edouard Tisserant <edouard@beremiz.fr> |
Tue, 20 Feb 2024 11:37:54 +0100 | |
changeset 3892 | 1675b5533e9e |
parent 3782 | 39480d9d3d3f |
child 3947 | 9b5cb90297e4 |
permissions | -rw-r--r-- |
3778 | 1 |
/** |
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* Mac OSX specific code |
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**/ |
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#include <stdio.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 <pthread.h> |
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#include <locale.h> |
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#include <semaphore.h> |
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#include <dispatch/dispatch.h> |
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3781
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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static dispatch_semaphore_t Run_PLC; |
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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, |
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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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struct timespec tmp; |
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clock_gettime(CLOCK_REALTIME, &tmp); |
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CURRENT_TIME->tv_sec = tmp.tv_sec; |
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CURRENT_TIME->tv_nsec = tmp.tv_nsec; |
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} |
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dispatch_queue_t queue; |
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dispatch_source_t PLC_timer; |
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static inline void PLC_timer_cancel(void *arg) |
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{ |
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dispatch_release(PLC_timer); |
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dispatch_release(queue); |
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exit(0); |
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} |
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static inline void PLC_timer_notify(void *arg) |
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{ |
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PLC_GetTime(&__CURRENT_TIME); |
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3781
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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dispatch_semaphore_signal(Run_PLC); |
3778 | 50 |
} |
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void PLC_SetTimer(unsigned long long next, unsigned long long period) |
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{ |
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if (next == period && next == 0) { |
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dispatch_suspend(PLC_timer); |
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} else { |
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dispatch_time_t start; |
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3782
39480d9d3d3f
OSX: use wall time instead of system clock
GP Orcullo <kinsamanka@gmail.com>
parents:
3781
diff
changeset
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start = dispatch_walltime(NULL, next); |
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dispatch_source_set_timer(PLC_timer, start, period, 0); |
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dispatch_resume(PLC_timer); |
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} |
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} |
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void catch_signal(int sig) |
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{ |
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signal(SIGINT, catch_signal); |
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printf("Got Signal %d\n", sig); |
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dispatch_source_cancel(PLC_timer); |
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exit(0); |
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} |
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static unsigned long __debug_tick; |
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pthread_t PLC_thread; |
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static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER; |
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int PLC_shutdown = 0; |
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int ForceSaveRetainReq(void) |
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{ |
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return PLC_shutdown; |
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} |
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void PLC_thread_proc(void *arg) |
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{ |
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while (!PLC_shutdown) { |
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3781
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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dispatch_semaphore_wait(Run_PLC, DISPATCH_TIME_FOREVER); |
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__run(); |
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} |
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pthread_exit(0); |
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} |
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#define maxval(a,b) ((a>b)?a:b) |
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int startPLC(int argc, char **argv) |
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{ |
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setlocale(LC_NUMERIC, "C"); |
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PLC_shutdown = 0; |
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||
3781
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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Run_PLC = dispatch_semaphore_create(0); |
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pthread_create(&PLC_thread, NULL, (void *)&PLC_thread_proc, NULL); |
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pthread_mutex_init(&debug_wait_mutex, NULL); |
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pthread_mutex_init(&debug_mutex, NULL); |
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pthread_mutex_init(&python_wait_mutex, NULL); |
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pthread_mutex_init(&python_mutex, NULL); |
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pthread_mutex_lock(&debug_wait_mutex); |
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pthread_mutex_lock(&python_wait_mutex); |
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queue = dispatch_queue_create("timerQueue", 0); |
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PLC_timer = dispatch_source_create(DISPATCH_SOURCE_TYPE_TIMER, 0, 0, queue); |
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dispatch_set_context(PLC_timer, &PLC_timer); |
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dispatch_source_set_event_handler_f(PLC_timer, PLC_timer_notify); |
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dispatch_source_set_cancel_handler_f(PLC_timer, PLC_timer_cancel); |
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if (__init(argc, argv) == 0) { |
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PLC_SetTimer(common_ticktime__, common_ticktime__); |
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/* install signal handler for manual break */ |
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signal(SIGINT, catch_signal); |
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} else { |
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return 1; |
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} |
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return 0; |
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} |
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int TryEnterDebugSection(void) |
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{ |
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if (pthread_mutex_trylock(&debug_mutex) == 0) { |
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/* Only enter if debug active */ |
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if (__DEBUG) { |
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return 1; |
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} |
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pthread_mutex_unlock(&debug_mutex); |
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} |
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return 0; |
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} |
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void LeaveDebugSection(void) |
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{ |
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pthread_mutex_unlock(&debug_mutex); |
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} |
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int stopPLC() |
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{ |
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/* Stop the PLC */ |
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PLC_shutdown = 1; |
|
3781
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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dispatch_semaphore_signal(Run_PLC); |
3778 | 155 |
PLC_SetTimer(0, 0); |
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pthread_join(PLC_thread, NULL); |
|
3781
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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dispatch_release(Run_PLC); |
25195da82745
replaced depreciated functions
GP Orcullo <kinsamanka@gmail.com>
parents:
3778
diff
changeset
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Run_PLC = NULL; |
3778 | 159 |
dispatch_source_cancel(PLC_timer); |
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__cleanup(); |
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pthread_mutex_destroy(&debug_wait_mutex); |
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pthread_mutex_destroy(&debug_mutex); |
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pthread_mutex_destroy(&python_wait_mutex); |
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pthread_mutex_destroy(&python_mutex); |
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return 0; |
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} |
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extern unsigned long __tick; |
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int WaitDebugData(unsigned long *tick) |
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{ |
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int res; |
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if (PLC_shutdown) |
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return 1; |
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/* Wait signal from PLC thread */ |
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res = pthread_mutex_lock(&debug_wait_mutex); |
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*tick = __debug_tick; |
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return res; |
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} |
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/* Called by PLC thread when debug_publish finished |
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* This is supposed to unlock debugger thread in WaitDebugData*/ |
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void InitiateDebugTransfer() |
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{ |
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/* remember tick */ |
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__debug_tick = __tick; |
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/* signal debugger thread it can read data */ |
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pthread_mutex_unlock(&debug_wait_mutex); |
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} |
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int suspendDebug(int disable) |
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{ |
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/* Prevent PLC to enter debug code */ |
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pthread_mutex_lock(&debug_mutex); |
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/*__DEBUG is protected by this mutex */ |
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__DEBUG = !disable; |
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if (disable) |
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pthread_mutex_unlock(&debug_mutex); |
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return 0; |
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} |
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void resumeDebug(void) |
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{ |
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__DEBUG = 1; |
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/* Let PLC enter debug code */ |
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pthread_mutex_unlock(&debug_mutex); |
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} |
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/* from plc_python.c */ |
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int WaitPythonCommands(void) |
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{ |
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/* Wait signal from PLC thread */ |
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return pthread_mutex_lock(&python_wait_mutex); |
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} |
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/* Called by PLC thread on each new python command*/ |
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void UnBlockPythonCommands(void) |
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{ |
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/* signal python thread it can read data */ |
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pthread_mutex_unlock(&python_wait_mutex); |
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} |
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int TryLockPython(void) |
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{ |
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return pthread_mutex_trylock(&python_mutex) == 0; |
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} |
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void UnLockPython(void) |
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{ |
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pthread_mutex_unlock(&python_mutex); |
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} |
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void LockPython(void) |
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{ |
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pthread_mutex_lock(&python_mutex); |
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} |
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struct RT_to_nRT_signal_s { |
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pthread_cond_t WakeCond; |
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pthread_mutex_t WakeCondLock; |
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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 _LogAndReturnNull(text) \ |
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{\ |
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char mstr[256] = text " for ";\ |
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strncat(mstr, name, 255);\ |
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LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ |
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return NULL;\ |
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} |
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void *create_RT_to_nRT_signal(char *name) |
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{ |
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RT_to_nRT_signal_t *sig = |
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(RT_to_nRT_signal_t *) malloc(sizeof(RT_to_nRT_signal_t)); |
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if (!sig) |
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_LogAndReturnNull("Failed allocating memory for RT_to_nRT signal"); |
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pthread_cond_init(&sig->WakeCond, NULL); |
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pthread_mutex_init(&sig->WakeCondLock, NULL); |
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return (void *)sig; |
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} |
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void delete_RT_to_nRT_signal(void *handle) |
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{ |
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle; |
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pthread_cond_destroy(&sig->WakeCond); |
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pthread_mutex_destroy(&sig->WakeCondLock); |
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free(sig); |
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} |
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int wait_RT_to_nRT_signal(void *handle) |
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{ |
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int ret; |
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle; |
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pthread_mutex_lock(&sig->WakeCondLock); |
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ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock); |
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pthread_mutex_unlock(&sig->WakeCondLock); |
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return ret; |
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} |
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int unblock_RT_to_nRT_signal(void *handle) |
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{ |
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RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t *) handle; |
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return pthread_cond_signal(&sig->WakeCond); |
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} |
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void nRT_reschedule(void) |
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{ |
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sched_yield(); |
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} |