author | etisserant |
Mon, 19 Jan 2009 08:39:36 +0100 | |
changeset 305 | 6d2cc92eee0b |
parent 290 | 3bd617ae7a05 |
child 329 | 22e65b8e20f4 |
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 <pthread.h> |
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/* provided by POUS.C */ |
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extern int common_ticktime__; |
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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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void PLC_GetTime(IEC_TIME *CURRENT_TIME) |
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{ |
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clock_gettime(CLOCK_REALTIME, CURRENT_TIME); |
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} |
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void PLC_timer_notify(sigval_t val) |
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{ |
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PLC_GetTime(&__CURRENT_TIME); |
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__run(); |
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} |
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timer_t PLC_timer; |
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void PLC_SetTimer(long long next, long long period) |
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{ |
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struct itimerspec timerValues; |
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/* |
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printf("SetTimer(%lld,%lld)\n",next, period); |
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*/ |
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memset (&timerValues, 0, sizeof (struct itimerspec)); |
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{ |
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#ifdef __lldiv_t_defined |
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lldiv_t nxt_div = lldiv(next, 1000000000); |
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lldiv_t period_div = lldiv(period, 1000000000); |
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timerValues.it_value.tv_sec = nxt_div.quot; |
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timerValues.it_value.tv_nsec = nxt_div.rem; |
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timerValues.it_interval.tv_sec = period_div.quot; |
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timerValues.it_interval.tv_nsec = period_div.rem; |
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#else |
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timerValues.it_value.tv_sec = next / 1000000000; |
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timerValues.it_value.tv_nsec = next % 1000000000; |
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timerValues.it_interval.tv_sec = period / 1000000000; |
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timerValues.it_interval.tv_nsec = period % 1000000000; |
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#endif |
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} |
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timer_settime (PLC_timer, 0, &timerValues, NULL); |
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} |
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// |
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void catch_signal(int sig) |
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{ |
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// signal(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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static int __debug_tick; |
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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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#define maxval(a,b) ((a>b)?a:b) |
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int startPLC(int argc,char **argv) |
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{ |
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struct sigevent sigev; |
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/* Translate PLC's microseconds to Ttick nanoseconds */ |
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Ttick = 1000000 * maxval(common_ticktime__,1); |
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memset (&sigev, 0, sizeof (struct sigevent)); |
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sigev.sigev_value.sival_int = 0; |
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sigev.sigev_notify = SIGEV_THREAD; |
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sigev.sigev_notify_attributes = NULL; |
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sigev.sigev_notify_function = PLC_timer_notify; |
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pthread_mutex_lock(&debug_wait_mutex); |
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pthread_mutex_lock(&python_wait_mutex); |
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timer_create (CLOCK_REALTIME, &sigev, &PLC_timer); |
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if( __init(argc,argv) == 0 ){ |
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PLC_SetTimer(Ttick,Ttick); |
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/* install signal handler for manual break */ |
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// signal(SIGTERM, catch_signal); |
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signal(SIGINT, catch_signal); |
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}else{ |
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return 1; |
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} |
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return 0; |
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} |
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int TryEnterDebugSection(void) |
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{ |
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return pthread_mutex_trylock(&debug_mutex) == 0; |
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} |
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void LeaveDebugSection(void) |
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{ |
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pthread_mutex_unlock(&debug_mutex); |
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} |
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int stopPLC() |
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{ |
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/* Stop the PLC */ |
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PLC_SetTimer(0,0); |
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timer_delete (PLC_timer); |
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__cleanup(); |
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__debug_tick = -1; |
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pthread_mutex_unlock(&debug_wait_mutex); |
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} |
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extern int __tick; |
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/* from plc_debugger.c */ |
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int WaitDebugData() |
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{ |
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/* Wait signal from PLC thread */ |
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pthread_mutex_lock(&debug_wait_mutex); |
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return __debug_tick; |
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} |
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/* Called by PLC thread when debug_publish finished |
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* This is supposed to unlock debugger thread in WaitDebugData*/ |
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void InitiateDebugTransfer() |
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{ |
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/* remember tick */ |
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__debug_tick = __tick; |
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/* signal debugger thread it can read data */ |
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pthread_mutex_unlock(&debug_wait_mutex); |
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} |
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void suspendDebug(void) |
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{ |
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__DEBUG = 0; |
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/* Prevent PLC to enter debug code */ |
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pthread_mutex_lock(&debug_mutex); |
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} |
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void resumeDebug(void) |
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{ |
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__DEBUG = 1; |
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/* Let PLC enter debug code */ |
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pthread_mutex_unlock(&debug_mutex); |
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} |
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/* from plc_python.c */ |
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int WaitPythonCommands(void) |
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{ |
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/* Wait signal from PLC thread */ |
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pthread_mutex_lock(&python_wait_mutex); |
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} |
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/* Called by PLC thread on each new python command*/ |
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void UnBlockPythonCommands(void) |
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{ |
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/* signal debugger thread it can read data */ |
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pthread_mutex_unlock(&python_wait_mutex); |
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} |
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int TryLockPython(void) |
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{ |
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return pthread_mutex_trylock(&python_mutex) == 0; |
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} |
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void UnLockPython(void) |
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{ |
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pthread_mutex_unlock(&python_mutex); |
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} |
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void LockPython(void) |
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{ |
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pthread_mutex_lock(&python_mutex); |
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} |