targets/Xenomai/plc_Xenomai_main.c
author Edouard Tisserant <edouard.tisserant@gmail.com>
Mon, 23 Mar 2020 21:44:28 +0100
branchsvghmi
changeset 2894 4cf9ad35e6d0
parent 2820 d9b5303d43dc
child 3294 e3db472b0dfb
permissions -rw-r--r--
SVGHMI: Easier way to match HMI tree elements to paths. ForEach widget now looks for paths and indexes of all items, and enforce path to be consistent with ForEach items sub widgets
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/**
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 * Xenomai Linux specific code
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 **/
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <time.h>
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#include <signal.h>
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#include <stdlib.h>
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#include <sys/mman.h>
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#include <sys/fcntl.h>
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#include <alchemy/task.h>
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#include <alchemy/timer.h>
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#include <alchemy/sem.h>
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#include <alchemy/pipe.h>
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unsigned int PLC_state = 0;
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#define PLC_STATE_TASK_CREATED                 1
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#define PLC_STATE_DEBUG_FILE_OPENED            2 
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#define PLC_STATE_DEBUG_PIPE_CREATED           4 
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#define PLC_STATE_PYTHON_FILE_OPENED           8 
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#define PLC_STATE_PYTHON_PIPE_CREATED          16   
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#define PLC_STATE_WAITDEBUG_FILE_OPENED        32   
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#define PLC_STATE_WAITDEBUG_PIPE_CREATED       64
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#define PLC_STATE_WAITPYTHON_FILE_OPENED       128
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#define PLC_STATE_WAITPYTHON_PIPE_CREATED      256
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#define PLC_STATE_SVGHMI_FILE_OPENED           512
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#define PLC_STATE_SVGHMI_PIPE_CREATED          1024
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#define WAITDEBUG_PIPE_DEVICE        "/dev/rtp0"
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#define WAITDEBUG_PIPE_MINOR         0
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#define DEBUG_PIPE_DEVICE            "/dev/rtp1"
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#define DEBUG_PIPE_MINOR             1
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#define WAITPYTHON_PIPE_DEVICE       "/dev/rtp2"
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#define WAITPYTHON_PIPE_MINOR        2
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#define PYTHON_PIPE_DEVICE           "/dev/rtp3"
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#define PYTHON_PIPE_MINOR            3
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#define SVGHMI_PIPE_DEVICE           "/dev/rtp4"
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#define SVGHMI_PIPE_MINOR            4
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#define PIPE_SIZE                    1 
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// rt-pipes commands
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#define PYTHON_PENDING_COMMAND 1
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#define PYTHON_FINISH 2
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#define DEBUG_FINISH 2
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#define DEBUG_PENDING_DATA 1
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#define DEBUG_UNLOCK 1
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long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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void PLC_GetTime(IEC_TIME *CURRENT_TIME)
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{
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    RTIME current_time = rt_timer_read();
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    CURRENT_TIME->tv_sec = current_time / 1000000000;
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    CURRENT_TIME->tv_nsec = current_time % 1000000000;
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}
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RT_TASK PLC_task;
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RT_PIPE WaitDebug_pipe;
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RT_PIPE WaitPython_pipe;
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RT_PIPE Debug_pipe;
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RT_PIPE Python_pipe;
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RT_PIPE svghmi_pipe;
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int WaitDebug_pipe_fd;
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int WaitPython_pipe_fd;
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int Debug_pipe_fd;
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int Python_pipe_fd;
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int svghmi_pipe_fd;
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int PLC_shutdown = 0;
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void PLC_SetTimer(unsigned long long next, unsigned long long period)
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{
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  RTIME current_time = rt_timer_read();
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  rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));
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}
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void PLC_task_proc(void *arg)
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{
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    PLC_SetTimer(common_ticktime__, common_ticktime__);
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    while (!PLC_shutdown) {
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        PLC_GetTime(&__CURRENT_TIME);
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        __run();
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        if (PLC_shutdown) break;
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        rt_task_wait_period(NULL);
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    }
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    /* since xenomai 3 it is not enough to close() 
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       file descriptor to unblock read()... */
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    {
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        /* explicitely finish python thread */
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        char msg = PYTHON_FINISH;
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        rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
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    }
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    {
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        /* explicitely finish debug thread */
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        char msg = DEBUG_FINISH;
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        rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
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    }
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}
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static unsigned long __debug_tick;
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void PLC_cleanup_all(void)
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{
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    if (PLC_state & PLC_STATE_TASK_CREATED) {
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        rt_task_delete(&PLC_task);
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        PLC_state &= ~PLC_STATE_TASK_CREATED;
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    }
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    if (PLC_state & PLC_STATE_SVGHMI_PIPE_CREATED) {
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        rt_pipe_delete(&svghmi_pipe);
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        PLC_state &= ~PLC_STATE_SVGHMI_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_SVGHMI_FILE_OPENED) {
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        close(svghmi_pipe_fd);
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        PLC_state &= ~PLC_STATE_SVGHMI_FILE_OPENED;
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    }
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    if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
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        rt_pipe_delete(&WaitDebug_pipe);
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        PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_WAITDEBUG_FILE_OPENED) {
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        close(WaitDebug_pipe_fd);
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        PLC_state &= ~PLC_STATE_WAITDEBUG_FILE_OPENED;
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    }
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    if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
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        rt_pipe_delete(&WaitPython_pipe);
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        PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_WAITPYTHON_FILE_OPENED) {
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        close(WaitPython_pipe_fd);
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        PLC_state &= ~PLC_STATE_WAITPYTHON_FILE_OPENED;
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    }
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   152
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    if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
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        rt_pipe_delete(&Debug_pipe);
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        PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
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   156
    }
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   157
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   158
    if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) {
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        close(Debug_pipe_fd);
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        PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED;
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    }
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    if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
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        rt_pipe_delete(&Python_pipe);
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        PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
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    }
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   167
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    if (PLC_state & PLC_STATE_PYTHON_FILE_OPENED) {
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        close(Python_pipe_fd);
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        PLC_state &= ~PLC_STATE_PYTHON_FILE_OPENED;
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   171
    }
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   172
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}
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   174
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int stopPLC()
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{
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    /* Stop the PLC */
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    PLC_shutdown = 1;
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   179
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    /* Wait until PLC task stops */
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    rt_task_join(&PLC_task);
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    PLC_cleanup_all();
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    __cleanup();
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    __debug_tick = -1;
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    return 0;
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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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    stopPLC();
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   193
//  signal(SIGTERM, catch_signal);
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    signal(SIGINT, catch_signal);
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   195
    printf("Got Signal %d\n",sig);
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    exit(0);
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   197
}
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   198
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#define _startPLCLog(text) \
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    {\
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    	char mstr[] = text;\
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        LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));\
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        goto error;\
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   204
    }
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   205
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   206
#define FO "Failed opening "
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   207
321
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   208
#define max_val(a,b) ((a>b)?a:b)
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   209
int startPLC(int argc,char **argv)
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   210
{
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   211
    signal(SIGINT, catch_signal);
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   212
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   213
    /* no memory swapping for that process */
321
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   214
    mlockall(MCL_CURRENT | MCL_FUTURE);
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   215
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   216
    PLC_shutdown = 0;
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   217
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   218
    /*** RT Pipes creation and opening ***/
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   219
    /* create Debug_pipe */
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28a369bb2676 Apply new RT Pipes API from Xenomai 3
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   220
    if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE) < 0) 
1981
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   221
        _startPLCLog(FO "Debug_pipe real-time end");
615
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   222
    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
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   223
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   224
    /* open Debug_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
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   225
    if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1)
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   226
        _startPLCLog(FO DEBUG_PIPE_DEVICE);
615
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   227
    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
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   228
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   229
    /* create Python_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
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   230
    if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE) < 0) 
1981
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   231
        _startPLCLog(FO "Python_pipe real-time end");
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   232
    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
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   233
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   234
    /* open Python_pipe*/
1981
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   235
    if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1)
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   236
        _startPLCLog(FO PYTHON_PIPE_DEVICE);
615
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   237
    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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diff changeset
   238
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
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   239
    /* create WaitDebug_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
Edouard Tisserant
parents: 1974
diff changeset
   240
    if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE) < 0)
1981
d0718654d9b0 Added logging in Xenomai init phase.
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   241
        _startPLCLog(FO "WaitDebug_pipe real-time end");
615
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diff changeset
   242
    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
342
80e5876bc53b Replacing Debug rt_sem by rt_pipe
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diff changeset
   243
80e5876bc53b Replacing Debug rt_sem by rt_pipe
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   244
    /* open WaitDebug_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
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   245
    if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1)
d0718654d9b0 Added logging in Xenomai init phase.
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diff changeset
   246
        _startPLCLog(FO WAITDEBUG_PIPE_DEVICE);
615
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   247
    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;
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diff changeset
   248
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   249
    /* create WaitPython_pipe */
1980
28a369bb2676 Apply new RT Pipes API from Xenomai 3
Edouard Tisserant
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diff changeset
   250
    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE) < 0)
1981
d0718654d9b0 Added logging in Xenomai init phase.
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diff changeset
   251
        _startPLCLog(FO "WaitPython_pipe real-time end");
615
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diff changeset
   252
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
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diff changeset
   253
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   254
    /* open WaitPython_pipe*/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   255
    if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1)
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   256
        _startPLCLog(FO WAITPYTHON_PIPE_DEVICE);
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   257
    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   258
2820
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   259
    /* create svghmi_pipe */
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   260
    if(rt_pipe_create(&svghmi_pipe, "svghmi_pipe", SVGHMI_PIPE_MINOR, PIPE_SIZE) < 0)
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   261
        _startPLCLog(FO "svghmi_pipe real-time end");
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   262
    PLC_state |= PLC_STATE_SVGHMI_PIPE_CREATED;
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
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parents: 1990
diff changeset
   263
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   264
    /* open svghmi_pipe*/
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   265
    if((svghmi_pipe_fd = open(SVGHMI_PIPE_DEVICE, O_RDWR)) == -1)
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   266
        _startPLCLog(FO SVGHMI_PIPE_DEVICE);
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   267
    PLC_state |= PLC_STATE_SVGHMI_FILE_OPENED;
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   268
615
72bc3e53a1fa Xenomai Fix : build
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   269
    /*** create PLC task ***/
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   270
    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE))
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
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diff changeset
   271
        _startPLCLog("Failed creating PLC task");
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   272
    PLC_state |= PLC_STATE_TASK_CREATED;
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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parents: 321
diff changeset
   273
615
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   274
    if(__init(argc,argv)) goto error;
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   275
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   276
    /* start PLC task */
1981
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   277
    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL))
d0718654d9b0 Added logging in Xenomai init phase.
Edouard Tisserant
parents: 1980
diff changeset
   278
        _startPLCLog("Failed starting PLC task");
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   279
5a4e6278a18b Adding support for Xenomai targets.
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parents:
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   280
    return 0;
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   281
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   282
error:
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   283
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   284
    PLC_cleanup_all();
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   285
    return 1;
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   286
}
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   287
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   288
#define DEBUG_FREE 0
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   289
#define DEBUG_BUSY 1
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   290
static long debug_state = DEBUG_FREE;
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   291
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   292
int TryEnterDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   293
{
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   294
    if(AtomicCompareExchange(
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   295
        &debug_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   296
        DEBUG_FREE,
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   297
        DEBUG_BUSY) == DEBUG_FREE){
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   298
        if(__DEBUG){
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   299
            return 1;
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   300
        }
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   301
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
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   302
    }
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   303
    return 0;
615
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   304
}
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   305
321
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   306
void LeaveDebugSection(void)
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   307
{
615
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   308
    if(AtomicCompareExchange( &debug_state, 
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diff changeset
   309
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
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diff changeset
   310
        char msg = DEBUG_UNLOCK;
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diff changeset
   311
        /* signal to NRT for wakeup */
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   312
        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
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diff changeset
   313
    }
321
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   314
}
5a4e6278a18b Adding support for Xenomai targets.
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   315
397
6a7ff66a811d Adding support for forcing tick count to return to zero as the same time than all tasks firing are synchronized
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diff changeset
   316
extern unsigned long __tick;
615
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diff changeset
   317
446
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
ed
parents: 397
diff changeset
   318
int WaitDebugData(unsigned long *tick)
321
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   319
{
615
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   320
    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
   321
    int res;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   322
    if (PLC_shutdown) return -1;
321
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parents:
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   323
    /* Wait signal from PLC thread */
615
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diff changeset
   324
    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
   325
    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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parents: 616
diff changeset
   326
        *tick = __debug_tick;
615
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parents: 446
diff changeset
   327
        return 0;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   328
    }
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   329
    return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   330
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   331
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
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   332
/* Called by PLC thread when debug_publish finished
5a4e6278a18b Adding support for Xenomai targets.
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parents:
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   333
 * This is supposed to unlock debugger thread in WaitDebugData*/
5a4e6278a18b Adding support for Xenomai targets.
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parents:
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   334
void InitiateDebugTransfer()
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parents:
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   335
{
615
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diff changeset
   336
    char msg = DEBUG_PENDING_DATA;
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   337
    /* remember tick */
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   338
    __debug_tick = __tick;
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parents:
diff changeset
   339
    /* signal debugger thread it can read data */
615
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diff changeset
   340
    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   341
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   342
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   343
int suspendDebug(int disable)
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   344
{
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   345
    char cmd = DEBUG_UNLOCK;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   346
    if (PLC_shutdown) return -1;
615
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   347
    while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   348
            &debug_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   349
            DEBUG_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   350
            DEBUG_BUSY) != DEBUG_FREE &&
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   351
            cmd == DEBUG_UNLOCK){
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
Edouard Tisserant
parents: 615
diff changeset
   352
       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   353
           return -1;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   354
       }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   355
    }
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   356
    __DEBUG = !disable;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   357
    if (disable)
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
parents: 616
diff changeset
   358
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   359
    return 0;
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   360
}
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   361
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   362
void resumeDebug(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   363
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   364
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   365
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   366
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   367
#define PYTHON_FREE 0
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   368
#define PYTHON_BUSY 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   369
static long python_state = PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   370
321
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   371
int WaitPythonCommands(void)
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   372
{ 
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   373
    char cmd;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   374
    if (PLC_shutdown) return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   375
    /* Wait signal from PLC thread */
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   376
    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   377
        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
   378
    }
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
parents: 342
diff changeset
   379
    return -1;
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   380
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 321
diff changeset
   381
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   382
/* Called by PLC thread on each new python command*/
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   383
void UnBlockPythonCommands(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   384
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   385
    char msg = PYTHON_PENDING_COMMAND;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   386
    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   387
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   388
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   389
int TryLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   390
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   391
    return AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   392
        &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   393
        PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   394
        PYTHON_BUSY) == PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   395
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   396
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   397
#define UNLOCK_PYTHON 1
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   398
void LockPython(void)
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   399
{
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   400
    char cmd = UNLOCK_PYTHON;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
laurent
parents: 695
diff changeset
   401
    if (PLC_shutdown) return;
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   402
    while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   403
            &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   404
            PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   405
            PYTHON_BUSY) != PYTHON_FREE &&
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   406
            cmd == UNLOCK_PYTHON){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   407
       read(Python_pipe_fd, &cmd, sizeof(cmd));
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   408
    }
321
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   409
}
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   410
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   411
void UnLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   412
{
615
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   413
    if(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   414
            &python_state,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   415
            PYTHON_BUSY,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   416
            PYTHON_FREE) == PYTHON_BUSY){
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   417
        if(rt_task_self()){/*is that the real time task ?*/
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   418
           char cmd = UNLOCK_PYTHON;
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   419
           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   420
        }/* otherwise, no signaling from non real time */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   421
    }    /* as plc does not wait for lock. */
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   422
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   423
2820
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   424
void SVGHMI_SuspendFromPythonThread(void)
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   425
{
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   426
    char cmd = 1; /*whatever*/
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   427
    read(svghmi_pipe_fd, &cmd, sizeof(cmd));
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   428
}
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   429
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   430
void SVGHMI_WakeupFromRTThread(void)
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   431
{
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   432
    char cmd;
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   433
    rt_pipe_write(&svghmi_pipe, &cmd, sizeof(cmd), P_NORMAL);
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   434
}
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 1990
diff changeset
   435
1903
084256be3658 Main runtime template C code : Added HAVE_RETAIN preprocessor definition for customized build to signal it provides IEC-61131 Retain memory handling function. Removed targets/Xenomai/plc_Xenomai_noretain.c, now useless.
Edouard Tisserant
parents: 1717
diff changeset
   436
#ifndef HAVE_RETAIN
1717
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   437
int CheckRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   438
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   439
	return 1;
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   440
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   441
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   442
void ValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   443
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   444
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   445
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   446
void InValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   447
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   448
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   449
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   450
void Retain(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   451
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   452
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   453
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   454
void Remind(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   455
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   456
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   457
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   458
void CleanupRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   459
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   460
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   461
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   462
void InitRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   463
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   464
}
1903
084256be3658 Main runtime template C code : Added HAVE_RETAIN preprocessor definition for customized build to signal it provides IEC-61131 Retain memory handling function. Removed targets/Xenomai/plc_Xenomai_noretain.c, now useless.
Edouard Tisserant
parents: 1717
diff changeset
   465
#endif // !HAVE_RETAIN