author | Edouard Tisserant <edouard@beremiz.fr> |
Wed, 17 Jul 2024 17:02:32 +0200 | |
changeset 3990 | 24656e0e8732 |
parent 3954 | 5744391252ec |
permissions | -rw-r--r-- |
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/** |
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* Linux 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 <errno.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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#ifdef REALTIME_LINUX |
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#include <sys/mman.h> |
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#endif |
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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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static unsigned int __debug_tick; |
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static 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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static int PLC_shutdown = 0; |
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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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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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static long long period_ns = 0; |
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struct timespec next_cycle_time; |
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static void inc_timespec(struct timespec *ts, unsigned long long value_ns) |
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{ |
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long long next_ns = ((long long) ts->tv_sec * 1000000000) + ts->tv_nsec + value_ns; |
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#ifdef __lldiv_t_defined |
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lldiv_t next_div = lldiv(next_ns, 1000000000); |
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ts->tv_sec = next_div.quot; |
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ts->tv_nsec = next_div.rem; |
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#else |
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ts->tv_sec = next_ns / 1000000000; |
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ts->tv_nsec = next_ns % 1000000000; |
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#endif |
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} |
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void PLC_SetTimer(unsigned long long next, unsigned long long period) |
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{ |
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/* |
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printf("SetTimer(%lld,%lld)\n",next, period); |
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*/ |
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period_ns = period; |
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clock_gettime(CLOCK_MONOTONIC, &next_cycle_time); |
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inc_timespec(&next_cycle_time, next); |
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// interrupt clock_nanpsleep |
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pthread_kill(PLC_thread, SIGUSR1); |
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} |
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void catch_signal(int sig) |
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{ |
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// signal(SIGTERM, catch_signal); |
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signal(SIGINT, catch_signal); |
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printf("Got Signal %d\n",sig); |
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exit(0); |
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} |
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void PLCThreadSignalHandler(int sig) |
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{ |
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if (sig == SIGUSR2) |
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pthread_exit(NULL); |
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} |
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int ForceSaveRetainReq(void) { |
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return PLC_shutdown; |
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} |
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#define MAX_JITTER period_ns/10 |
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#define MIN_IDLE_TIME_NS 1000000 /* 1ms */ |
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/* Macro to compare timespec, evaluate to True if a is past b */ |
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#define timespec_gt(a,b) (a.tv_sec > b.tv_sec || (a.tv_sec == b.tv_sec && a.tv_nsec > b.tv_nsec)) |
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void PLC_thread_proc(void *arg) |
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{ |
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/* initialize next occurence and period */ |
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period_ns = common_ticktime__; |
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clock_gettime(CLOCK_MONOTONIC, &next_cycle_time); |
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while (!PLC_shutdown) { |
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int res; |
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struct timespec plc_end_time; |
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int periods = 0; |
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#ifdef REALTIME_LINUX |
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struct timespec deadline_time; |
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struct timespec plc_start_time; |
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#endif |
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// BEREMIZ_TEST_CYCLES is defined in tests that need to emulate time: |
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// - all BEREMIZ_TEST_CYCLES cycles are executed in a row with no pause |
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// - __CURRENT_TIME is incremented each cycle according to emulated cycle period |
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|
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#ifndef BEREMIZ_TEST_CYCLES |
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// Sleep until next PLC run |
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res = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle_time, NULL); |
3727 | 127 |
if(res==EINTR){ |
128 |
continue; |
|
129 |
} |
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if(res!=0){ |
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_LogError("PLC thread timer returned error %d \n", res); |
3727 | 132 |
return; |
133 |
} |
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#endif // BEREMIZ_TEST_CYCLES |
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|
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#ifdef REALTIME_LINUX |
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// timer overrun detection |
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clock_gettime(CLOCK_MONOTONIC, &plc_start_time); |
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deadline_time=next_cycle_time; |
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inc_timespec(&deadline_time, MAX_JITTER); |
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if(timespec_gt(plc_start_time, deadline_time)){ |
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142 |
_LogWarning("PLC thread woken up too late. PLC cyclic task interval is too small.\n"); |
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143 |
} |
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#endif |
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|
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#ifdef BEREMIZ_TEST_CYCLES |
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#define xstr(s) str(s) |
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#define str(arg) #arg |
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// fake current time |
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__CURRENT_TIME.tv_sec = next_cycle_time.tv_sec; |
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__CURRENT_TIME.tv_nsec = next_cycle_time.tv_nsec; |
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// exit loop when enough cycles |
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if(__tick >= BEREMIZ_TEST_CYCLES) { |
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_LogWarning("TEST PLC thread ended after "xstr(BEREMIZ_TEST_CYCLES)" cycles.\n"); |
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// After pre-defined test cycles count, PLC thread exits. |
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// Remaining PLC runtime is expected to be cleaned-up/killed by test script |
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return; |
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} |
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#else |
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PLC_GetTime(&__CURRENT_TIME); |
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#endif |
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__run(); |
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#ifndef BEREMIZ_TEST_CYCLES |
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// ensure next PLC cycle occurence is in the future |
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clock_gettime(CLOCK_MONOTONIC, &plc_end_time); |
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while(timespec_gt(plc_end_time, next_cycle_time)) |
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#endif |
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{ |
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periods += 1; |
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inc_timespec(&next_cycle_time, period_ns); |
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} |
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// plc execution time overrun detection |
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if(periods > 1) { |
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// Mitigate CPU hogging, in case of too small cyclic task interval: |
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// - since cycle deadline already missed, better keep system responsive |
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// - test if next cycle occurs after minimal idle |
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// - enforce minimum idle time if not |
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|
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struct timespec earliest_possible_time = plc_end_time; |
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inc_timespec(&earliest_possible_time, MIN_IDLE_TIME_NS); |
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while(timespec_gt(earliest_possible_time, next_cycle_time)){ |
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periods += 1; |
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inc_timespec(&next_cycle_time, period_ns); |
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} |
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|
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// increment tick count anyhow, so that task scheduling keeps consistent |
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__tick+=periods-1; |
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|
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_LogWarning("PLC execution time is longer than requested PLC cyclic task interval. %d cycles skipped\n", periods); |
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} |
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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) |
200 |
{ |
|
329 | 201 |
|
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int ret; |
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pthread_attr_t *pattr = NULL; |
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|
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#ifdef REALTIME_LINUX |
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struct sched_param param; |
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pthread_attr_t attr; |
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|
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/* Lock memory */ |
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ret = mlockall(MCL_CURRENT|MCL_FUTURE); |
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if(ret == -1) { |
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_LogError("mlockall failed: %m\n"); |
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return ret; |
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} |
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|
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/* Initialize pthread attributes (default values) */ |
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ret = pthread_attr_init(&attr); |
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if (ret) { |
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_LogError("init pthread attributes failed\n"); |
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return ret; |
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} |
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|
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/* Set scheduler policy and priority of pthread */ |
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ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO); |
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if (ret) { |
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_LogError("pthread setschedpolicy failed\n"); |
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return ret; |
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} |
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param.sched_priority = PLC_THREAD_PRIORITY; |
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ret = pthread_attr_setschedparam(&attr, ¶m); |
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if (ret) { |
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_LogError("pthread setschedparam failed\n"); |
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return ret; |
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} |
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|
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/* Use scheduling parameters of attr */ |
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ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED); |
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if (ret) { |
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_LogError("pthread setinheritsched failed\n"); |
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return ret; |
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} |
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|
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pattr = &attr; |
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#endif |
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|
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PLC_shutdown = 0; |
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|
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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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if((ret = __init(argc,argv)) == 0 ){ |
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|
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/* Signal to wakeup PLC thread when period changes */ |
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signal(SIGUSR1, PLCThreadSignalHandler); |
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|
260 |
/* Signal to end PLC thread */ |
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
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|
261 |
signal(SIGUSR2, PLCThreadSignalHandler); |
205 | 262 |
/* install signal handler for manual break */ |
263 |
signal(SIGINT, catch_signal); |
|
3726
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents:
3725
diff
changeset
|
264 |
|
3732
929276eea252
Runtime: Add RealTime checkbox in Linux target options to enable PREEMPT_RT scheduling.
Edouard Tisserant
parents:
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diff
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|
265 |
ret = pthread_create(&PLC_thread, pattr, (void*) &PLC_thread_proc, NULL); |
929276eea252
Runtime: Add RealTime checkbox in Linux target options to enable PREEMPT_RT scheduling.
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|
266 |
if (ret) { |
929276eea252
Runtime: Add RealTime checkbox in Linux target options to enable PREEMPT_RT scheduling.
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|
267 |
_LogError("create pthread failed\n"); |
929276eea252
Runtime: Add RealTime checkbox in Linux target options to enable PREEMPT_RT scheduling.
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|
268 |
return ret; |
929276eea252
Runtime: Add RealTime checkbox in Linux target options to enable PREEMPT_RT scheduling.
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parents:
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diff
changeset
|
269 |
} |
205 | 270 |
}else{ |
3732
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Runtime: Add RealTime checkbox in Linux target options to enable PREEMPT_RT scheduling.
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|
271 |
return ret; |
205 | 272 |
} |
273 |
return 0; |
|
274 |
} |
|
275 |
||
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
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236
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|
276 |
int TryEnterDebugSection(void) |
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
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|
277 |
{ |
462
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
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|
278 |
if (pthread_mutex_trylock(&debug_mutex) == 0){ |
274e83a5534e
Now debug is not a button anymore
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diff
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|
279 |
/* Only enter if debug active */ |
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
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|
280 |
if(__DEBUG){ |
274e83a5534e
Now debug is not a button anymore
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parents:
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|
281 |
return 1; |
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents:
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diff
changeset
|
282 |
} |
483
bc26c42d2eec
fixed greg's crap in win32, enhanced debug stability, implemented preliminary retain
edouard
parents:
462
diff
changeset
|
283 |
pthread_mutex_unlock(&debug_mutex); |
462
274e83a5534e
Now debug is not a button anymore
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diff
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|
284 |
} |
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
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|
285 |
return 0; |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
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diff
changeset
|
286 |
} |
235 | 287 |
|
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
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|
288 |
void LeaveDebugSection(void) |
235 | 289 |
{ |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
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|
290 |
pthread_mutex_unlock(&debug_mutex); |
235 | 291 |
} |
292 |
||
205 | 293 |
int stopPLC() |
294 |
{ |
|
295 |
/* Stop the PLC */ |
|
876
179d5c455f29
Fix bug python thread blocked sometimes on Linux
Laurent Bessard
parents:
617
diff
changeset
|
296 |
PLC_shutdown = 1; |
3726
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
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changeset
|
297 |
/* Order PLCThread to exit */ |
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
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|
298 |
pthread_kill(PLC_thread, SIGUSR2); |
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
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|
299 |
pthread_join(PLC_thread, NULL); |
205 | 300 |
__cleanup(); |
329 | 301 |
pthread_mutex_destroy(&debug_wait_mutex); |
483
bc26c42d2eec
fixed greg's crap in win32, enhanced debug stability, implemented preliminary retain
edouard
parents:
462
diff
changeset
|
302 |
pthread_mutex_destroy(&debug_mutex); |
329 | 303 |
pthread_mutex_destroy(&python_wait_mutex); |
483
bc26c42d2eec
fixed greg's crap in win32, enhanced debug stability, implemented preliminary retain
edouard
parents:
462
diff
changeset
|
304 |
pthread_mutex_destroy(&python_mutex); |
386 | 305 |
return 0; |
205 | 306 |
} |
307 |
||
3947
9b5cb90297e4
All Runtimes: Now sizeof(tick)=4 on all platforms (unsigned int).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
3748
diff
changeset
|
308 |
extern unsigned int __tick; |
9b5cb90297e4
All Runtimes: Now sizeof(tick)=4 on all platforms (unsigned int).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
3748
diff
changeset
|
309 |
|
9b5cb90297e4
All Runtimes: Now sizeof(tick)=4 on all platforms (unsigned int).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
3748
diff
changeset
|
310 |
int WaitDebugData(unsigned int *tick) |
205 | 311 |
{ |
617
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
614
diff
changeset
|
312 |
int res; |
876
179d5c455f29
Fix bug python thread blocked sometimes on Linux
Laurent Bessard
parents:
617
diff
changeset
|
313 |
if (PLC_shutdown) return 1; |
617
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
614
diff
changeset
|
314 |
/* Wait signal from PLC thread */ |
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
614
diff
changeset
|
315 |
res = pthread_mutex_lock(&debug_wait_mutex); |
446
1edde533db19
Some cleanup in PLC status - removed that \"Starting\" state ...
ed
parents:
397
diff
changeset
|
316 |
*tick = __debug_tick; |
617
7c23fac40a2a
fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents:
614
diff
changeset
|
317 |
return res; |
205 | 318 |
} |
329 | 319 |
|
205 | 320 |
/* Called by PLC thread when debug_publish finished |
321 |
* This is supposed to unlock debugger thread in WaitDebugData*/ |
|
322 |
void InitiateDebugTransfer() |
|
323 |
{ |
|
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
324 |
/* remember tick */ |
227
48c13b84505c
- Some improovements in debug data feedback data
etisserant
parents:
205
diff
changeset
|
325 |
__debug_tick = __tick; |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
326 |
/* signal debugger thread it can read data */ |
280
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
327 |
pthread_mutex_unlock(&debug_wait_mutex); |
205 | 328 |
} |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
329 |
|
614 | 330 |
int suspendDebug(int disable) |
462
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents:
446
diff
changeset
|
331 |
{ |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
332 |
/* Prevent PLC to enter debug code */ |
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
333 |
pthread_mutex_lock(&debug_mutex); |
462
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents:
446
diff
changeset
|
334 |
/*__DEBUG is protected by this mutex */ |
274e83a5534e
Now debug is not a button anymore
Edouard TISSERANT <edouard.tisserant@gmail.com>
parents:
446
diff
changeset
|
335 |
__DEBUG = !disable; |
485 | 336 |
if (disable) |
3726
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents:
3725
diff
changeset
|
337 |
pthread_mutex_unlock(&debug_mutex); |
614 | 338 |
return 0; |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
339 |
} |
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
340 |
|
280
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
341 |
void resumeDebug(void) |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
342 |
{ |
290
3bd617ae7a05
Local Runtime (LOCAL://) now launched "on demand"
etisserant
parents:
280
diff
changeset
|
343 |
__DEBUG = 1; |
239
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
344 |
/* Let PLC enter debug code */ |
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
345 |
pthread_mutex_unlock(&debug_mutex); |
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
346 |
} |
112b4bc523b3
Fixed bad IPC choice for debugger/PLC/control thread collaboration
etisserant
parents:
236
diff
changeset
|
347 |
|
280
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
348 |
/* from plc_python.c */ |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
349 |
int WaitPythonCommands(void) |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
350 |
{ |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
351 |
/* Wait signal from PLC thread */ |
329 | 352 |
return pthread_mutex_lock(&python_wait_mutex); |
280
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
353 |
} |
329 | 354 |
|
280
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
355 |
/* Called by PLC thread on each new python command*/ |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
356 |
void UnBlockPythonCommands(void) |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
357 |
{ |
3334 | 358 |
/* signal python thread it can read data */ |
280
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
359 |
pthread_mutex_unlock(&python_wait_mutex); |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
360 |
} |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
361 |
|
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
362 |
int TryLockPython(void) |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
363 |
{ |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
364 |
return pthread_mutex_trylock(&python_mutex) == 0; |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
365 |
} |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
366 |
|
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
367 |
void UnLockPython(void) |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
368 |
{ |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
369 |
pthread_mutex_unlock(&python_mutex); |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
370 |
} |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
371 |
|
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
372 |
void LockPython(void) |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
373 |
{ |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
374 |
pthread_mutex_lock(&python_mutex); |
f2ef79f3dba0
Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents:
245
diff
changeset
|
375 |
} |
2820
d9b5303d43dc
SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents:
2173
diff
changeset
|
376 |
|
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
|
377 |
struct RT_to_nRT_signal_s { |
3725
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
378 |
int used; |
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
|
379 |
pthread_cond_t WakeCond; |
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
|
380 |
pthread_mutex_t WakeCondLock; |
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
|
381 |
}; |
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
|
382 |
|
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
|
383 |
typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t; |
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
|
384 |
|
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
|
385 |
#define _LogAndReturnNull(text) \ |
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
|
386 |
{\ |
3726
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents:
3725
diff
changeset
|
387 |
char mstr[256] = text " for ";\ |
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
|
388 |
strncat(mstr, name, 255);\ |
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
|
389 |
LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ |
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
|
390 |
return NULL;\ |
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
|
391 |
} |
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
|
392 |
|
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
|
393 |
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
|
394 |
RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(RT_to_nRT_signal_t)); |
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
|
395 |
|
3726
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents:
3725
diff
changeset
|
396 |
if(!sig) |
516779f11803
runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents:
3725
diff
changeset
|
397 |
_LogAndReturnNull("Failed allocating memory for RT_to_nRT signal"); |
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
|
398 |
|
3725
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
399 |
sig->used = 1; |
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
|
400 |
pthread_cond_init(&sig->WakeCond, NULL); |
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
|
401 |
pthread_mutex_init(&sig->WakeCondLock, NULL); |
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
|
402 |
|
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
|
403 |
return (void*)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
|
404 |
} |
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
|
405 |
|
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
|
406 |
void delete_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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
407 |
RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
408 |
|
3725
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
409 |
pthread_mutex_lock(&sig->WakeCondLock); |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
410 |
sig->used = 0; |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
411 |
pthread_cond_signal(&sig->WakeCond); |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
412 |
pthread_mutex_unlock(&sig->WakeCondLock); |
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
|
413 |
} |
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
|
414 |
|
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
|
415 |
int wait_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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
416 |
int 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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
417 |
RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
418 |
pthread_mutex_lock(&sig->WakeCondLock); |
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
|
419 |
ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock); |
3725
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
420 |
if(!sig->used) ret = -EINVAL; |
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
|
421 |
pthread_mutex_unlock(&sig->WakeCondLock); |
3725
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
422 |
|
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
423 |
if(!sig->used){ |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
424 |
pthread_cond_destroy(&sig->WakeCond); |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
425 |
pthread_mutex_destroy(&sig->WakeCondLock); |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
426 |
free(sig); |
0043e2b9dbec
Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents:
3334
diff
changeset
|
427 |
} |
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
|
428 |
return 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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
429 |
} |
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
|
430 |
|
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
|
431 |
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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
432 |
RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
2820
diff
changeset
|
433 |
return pthread_cond_signal(&sig->WakeCond); |
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
|
434 |
} |
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
|
435 |
|
3295
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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
3294
diff
changeset
|
436 |
void nRT_reschedule(void){ |
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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
3294
diff
changeset
|
437 |
sched_yield(); |
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.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
3294
diff
changeset
|
438 |
} |