targets/Xenomai/plc_Xenomai_main.c
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Thu, 21 Feb 2019 10:17:38 +0300
changeset 2512 69cef4e37ef9
parent 1990 2e0fbdd152de
child 2820 d9b5303d43dc
permissions -rw-r--r--
Fix non-marking as manually forced floating point variable if the value isn't integer

For example, if user in debug variable panel set any floating point
variable to 34.3, then it's not shown as forced (blue color) and user
can't release this enforcement.

If user changes the value to 34.0, then enforcement shows
correctly. This is done because binary representation of floating point
numbers in IDE and runtime can be slightly different (double vs float)
and as a result values aren't equal.
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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 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 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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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 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_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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    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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    }
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    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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    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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    }
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   156
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}
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   158
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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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    /* 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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//  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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#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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    }
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#define FO "Failed opening "
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#define max_val(a,b) ((a>b)?a:b)
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int startPLC(int argc,char **argv)
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{
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    signal(SIGINT, catch_signal);
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   196
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    /* no memory swapping for that process */
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    mlockall(MCL_CURRENT | MCL_FUTURE);
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   199
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    PLC_shutdown = 0;
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    /*** RT Pipes creation and opening ***/
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    /* create Debug_pipe */
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    if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE) < 0) 
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        _startPLCLog(FO "Debug_pipe real-time end");
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    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
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   207
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    /* open Debug_pipe*/
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    if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1)
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        _startPLCLog(FO DEBUG_PIPE_DEVICE);
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    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
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   212
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   213
    /* create Python_pipe */
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    if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE) < 0) 
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        _startPLCLog(FO "Python_pipe real-time end");
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    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
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   217
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    /* open Python_pipe*/
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    if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1)
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        _startPLCLog(FO PYTHON_PIPE_DEVICE);
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    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;
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   222
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    /* create WaitDebug_pipe */
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    if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE) < 0)
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        _startPLCLog(FO "WaitDebug_pipe real-time end");
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    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
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   227
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    /* open WaitDebug_pipe*/
1981
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    if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1)
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        _startPLCLog(FO WAITDEBUG_PIPE_DEVICE);
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   231
    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;
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   232
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   233
    /* create WaitPython_pipe */
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   234
    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE) < 0)
1981
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   235
        _startPLCLog(FO "WaitPython_pipe real-time end");
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   236
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
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   237
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   238
    /* open WaitPython_pipe*/
1981
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   239
    if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1)
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   240
        _startPLCLog(FO WAITPYTHON_PIPE_DEVICE);
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   241
    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;
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   242
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   243
    /*** create PLC task ***/
1981
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   244
    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE))
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   245
        _startPLCLog("Failed creating PLC task");
321
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   246
    PLC_state |= PLC_STATE_TASK_CREATED;
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   247
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   248
    if(__init(argc,argv)) goto error;
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   249
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   250
    /* start PLC task */
1981
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   251
    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL))
d0718654d9b0 Added logging in Xenomai init phase.
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   252
        _startPLCLog("Failed starting PLC task");
321
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   253
5a4e6278a18b Adding support for Xenomai targets.
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   254
    return 0;
5a4e6278a18b Adding support for Xenomai targets.
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   255
5a4e6278a18b Adding support for Xenomai targets.
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   256
error:
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   257
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   258
    PLC_cleanup_all();
5a4e6278a18b Adding support for Xenomai targets.
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   259
    return 1;
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   260
}
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   261
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   262
#define DEBUG_FREE 0
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   263
#define DEBUG_BUSY 1
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   264
static long debug_state = DEBUG_FREE;
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   265
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   266
int TryEnterDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
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   267
{
616
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   268
    if(AtomicCompareExchange(
615
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   269
        &debug_state,
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   270
        DEBUG_FREE,
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   271
        DEBUG_BUSY) == DEBUG_FREE){
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   272
        if(__DEBUG){
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   273
            return 1;
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   274
        }
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   275
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   276
    }
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   277
    return 0;
615
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   278
}
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   279
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   280
void LeaveDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
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   281
{
615
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   282
    if(AtomicCompareExchange( &debug_state, 
72bc3e53a1fa Xenomai Fix : build
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   283
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
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   284
        char msg = DEBUG_UNLOCK;
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   285
        /* signal to NRT for wakeup */
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   286
        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
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diff changeset
   287
    }
321
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   288
}
5a4e6278a18b Adding support for Xenomai targets.
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   289
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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   290
extern unsigned long __tick;
615
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   291
446
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
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diff changeset
   292
int WaitDebugData(unsigned long *tick)
321
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   293
{
615
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   294
    char cmd;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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diff changeset
   295
    int res;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   296
    if (PLC_shutdown) return -1;
321
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   297
    /* Wait signal from PLC thread */
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   298
    res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
Edouard Tisserant
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diff changeset
   299
    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   300
        *tick = __debug_tick;
615
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diff changeset
   301
        return 0;
617
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   302
    }
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
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diff changeset
   303
    return -1;
321
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   304
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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diff changeset
   305
321
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   306
/* Called by PLC thread when debug_publish finished
5a4e6278a18b Adding support for Xenomai targets.
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parents:
diff changeset
   307
 * This is supposed to unlock debugger thread in WaitDebugData*/
5a4e6278a18b Adding support for Xenomai targets.
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   308
void InitiateDebugTransfer()
5a4e6278a18b Adding support for Xenomai targets.
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   309
{
615
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   310
    char msg = DEBUG_PENDING_DATA;
321
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   311
    /* remember tick */
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   312
    __debug_tick = __tick;
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   313
    /* signal debugger thread it can read data */
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   314
    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
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   315
}
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   316
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   317
int suspendDebug(int disable)
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   318
{
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   319
    char cmd = DEBUG_UNLOCK;
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   320
    if (PLC_shutdown) return -1;
615
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   321
    while(AtomicCompareExchange(
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   322
            &debug_state,
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   323
            DEBUG_FREE,
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   324
            DEBUG_BUSY) != DEBUG_FREE &&
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   325
            cmd == DEBUG_UNLOCK){
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   326
       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
615
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   327
           return -1;
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   328
       }
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   329
    }
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   330
    __DEBUG = !disable;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   331
    if (disable)
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   332
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
615
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   333
    return 0;
321
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   334
}
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   335
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   336
void resumeDebug(void)
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   337
{
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   338
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
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   339
}
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   340
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   341
#define PYTHON_FREE 0
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   342
#define PYTHON_BUSY 1
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   343
static long python_state = PYTHON_FREE;
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   344
321
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   345
int WaitPythonCommands(void)
615
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   346
{ 
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   347
    char cmd;
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   348
    if (PLC_shutdown) return -1;
321
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   349
    /* Wait signal from PLC thread */
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   350
    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
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   351
        return 0;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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   352
    }
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   353
    return -1;
321
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   354
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
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diff changeset
   355
321
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   356
/* Called by PLC thread on each new python command*/
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   357
void UnBlockPythonCommands(void)
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   358
{
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   359
    char msg = PYTHON_PENDING_COMMAND;
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diff changeset
   360
    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
321
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   361
}
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   362
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   363
int TryLockPython(void)
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   364
{
615
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   365
    return AtomicCompareExchange(
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diff changeset
   366
        &python_state,
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diff changeset
   367
        PYTHON_FREE,
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diff changeset
   368
        PYTHON_BUSY) == PYTHON_FREE;
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   369
}
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   370
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   371
#define UNLOCK_PYTHON 1
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   372
void LockPython(void)
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   373
{
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   374
    char cmd = UNLOCK_PYTHON;
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   375
    if (PLC_shutdown) return;
615
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   376
    while(AtomicCompareExchange(
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diff changeset
   377
            &python_state,
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diff changeset
   378
            PYTHON_FREE,
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diff changeset
   379
            PYTHON_BUSY) != PYTHON_FREE &&
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diff changeset
   380
            cmd == UNLOCK_PYTHON){
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   381
       read(Python_pipe_fd, &cmd, sizeof(cmd));
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diff changeset
   382
    }
321
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   383
}
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   384
5a4e6278a18b Adding support for Xenomai targets.
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   385
void UnLockPython(void)
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parents:
diff changeset
   386
{
615
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diff changeset
   387
    if(AtomicCompareExchange(
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parents: 446
diff changeset
   388
            &python_state,
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diff changeset
   389
            PYTHON_BUSY,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   390
            PYTHON_FREE) == PYTHON_BUSY){
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parents: 446
diff changeset
   391
        if(rt_task_self()){/*is that the real time task ?*/
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   392
           char cmd = UNLOCK_PYTHON;
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diff changeset
   393
           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
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diff changeset
   394
        }/* otherwise, no signaling from non real time */
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diff changeset
   395
    }    /* as plc does not wait for lock. */
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   396
}
72bc3e53a1fa Xenomai Fix : build
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parents: 446
diff changeset
   397
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
   398
#ifndef HAVE_RETAIN
1717
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diff changeset
   399
int CheckRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
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diff changeset
   400
{
a86deec92e08 fix target Xenomai missing functions
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diff changeset
   401
	return 1;
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
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diff changeset
   402
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   403
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   404
void ValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   405
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   406
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   407
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   408
void InValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   409
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   410
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   411
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   412
void Retain(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   413
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   414
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   415
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   416
void Remind(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   417
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   418
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   419
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   420
void CleanupRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   421
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   422
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   423
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   424
void InitRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   425
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   426
}
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
   427
#endif // !HAVE_RETAIN