targets/Xenomai/plc_Xenomai_main.c
author Edouard Tisserant
Wed, 24 Jan 2018 16:12:49 +0100
changeset 1907 9d17b9d91697
parent 1903 084256be3658
child 1974 b3a110daa135
permissions -rw-r--r--
fixed erro introduced 2 commits ago (-e) : tuples have no reverse() method
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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 <native/task.h>
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#include <native/timer.h>
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#include <native/sem.h>
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#include <native/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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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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}
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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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}
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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 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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   166
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   167
    /* no memory swapping for that process */
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    mlockall(MCL_CURRENT | MCL_FUTURE);
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   169
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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)) 
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        goto error;
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    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
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   177
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    /* open Debug_pipe*/
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    if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1) goto error;
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    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
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   181
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    /* create Python_pipe */
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    if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE)) 
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        goto error;
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    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
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   186
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    /* open Python_pipe*/
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    if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1) goto error;
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    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;
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   190
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    /* create WaitDebug_pipe */
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    if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE))
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        goto error;
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    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
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   195
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    /* open WaitDebug_pipe*/
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    if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1) goto error;
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   198
    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;
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   199
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    /* create WaitPython_pipe */
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    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE))
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        goto error;
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    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
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   204
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    /* open WaitPython_pipe*/
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   206
    if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1) goto error;
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   207
    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;
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   208
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   209
    /*** create PLC task ***/
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    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE)) goto error;
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    PLC_state |= PLC_STATE_TASK_CREATED;
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   212
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    if(__init(argc,argv)) goto error;
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   214
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    /* start PLC task */
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    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL)) goto error;
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   217
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    return 0;
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error:
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   221
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    PLC_cleanup_all();
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    return 1;
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   224
}
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#define DEBUG_FREE 0
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#define DEBUG_BUSY 1
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static long debug_state = DEBUG_FREE;
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   229
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int TryEnterDebugSection(void)
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{
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    if(AtomicCompareExchange(
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   233
        &debug_state,
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   234
        DEBUG_FREE,
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   235
        DEBUG_BUSY) == DEBUG_FREE){
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   236
        if(__DEBUG){
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   237
            return 1;
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   238
        }
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        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
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   240
    }
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   241
    return 0;
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   242
}
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   243
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   244
#define DEBUG_UNLOCK 1
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void LeaveDebugSection(void)
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   246
{
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   247
    if(AtomicCompareExchange( &debug_state, 
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   248
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
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   249
        char msg = DEBUG_UNLOCK;
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   250
        /* signal to NRT for wakeup */
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   251
        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
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   252
    }
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   253
}
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   254
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   255
extern unsigned long __tick;
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   256
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   257
#define DEBUG_PENDING_DATA 1
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1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
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   258
int WaitDebugData(unsigned long *tick)
321
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   259
{
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    char cmd;
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   261
    int res;
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   262
    if (PLC_shutdown) return -1;
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   263
    /* Wait signal from PLC thread */
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   264
    res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));
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    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   266
        *tick = __debug_tick;
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   267
        return 0;
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   268
    }
345
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   269
    return -1;
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   270
}
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ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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diff changeset
   271
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   272
/* Called by PLC thread when debug_publish finished
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   273
 * This is supposed to unlock debugger thread in WaitDebugData*/
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   274
void InitiateDebugTransfer()
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   275
{
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   276
    char msg = DEBUG_PENDING_DATA;
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   277
    /* remember tick */
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   278
    __debug_tick = __tick;
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   279
    /* signal debugger thread it can read data */
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   280
    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
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   281
}
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   282
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   283
int suspendDebug(int disable)
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   284
{
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   285
    char cmd = DEBUG_UNLOCK;
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   286
    if (PLC_shutdown) return -1;
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   287
    while(AtomicCompareExchange(
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   288
            &debug_state,
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   289
            DEBUG_FREE,
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   290
            DEBUG_BUSY) != DEBUG_FREE &&
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   291
            cmd == DEBUG_UNLOCK){
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   292
       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
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   293
           return -1;
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   294
       }
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   295
    }
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   296
    __DEBUG = !disable;
617
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   297
    if (disable)
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   298
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
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   299
    return 0;
321
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   300
}
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   301
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   302
void resumeDebug(void)
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   303
{
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   304
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
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   305
}
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   306
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   307
#define PYTHON_PENDING_COMMAND 1
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   308
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   309
#define PYTHON_FREE 0
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   310
#define PYTHON_BUSY 1
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   311
static long python_state = PYTHON_FREE;
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   312
321
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   313
int WaitPythonCommands(void)
615
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   314
{ 
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   315
    char cmd;
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   316
    if (PLC_shutdown) return -1;
321
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   317
    /* Wait signal from PLC thread */
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   318
    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
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   319
        return 0;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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   320
    }
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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   321
    return -1;
321
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   322
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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parents: 321
diff changeset
   323
321
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   324
/* Called by PLC thread on each new python command*/
5a4e6278a18b Adding support for Xenomai targets.
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   325
void UnBlockPythonCommands(void)
5a4e6278a18b Adding support for Xenomai targets.
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   326
{
615
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   327
    char msg = PYTHON_PENDING_COMMAND;
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    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
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}
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int TryLockPython(void)
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{
615
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    return AtomicCompareExchange(
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        &python_state,
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        PYTHON_FREE,
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        PYTHON_BUSY) == PYTHON_FREE;
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}
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   338
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   339
#define UNLOCK_PYTHON 1
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void LockPython(void)
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{
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    char cmd = UNLOCK_PYTHON;
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    if (PLC_shutdown) return;
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    while(AtomicCompareExchange(
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            &python_state,
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            PYTHON_FREE,
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            PYTHON_BUSY) != PYTHON_FREE &&
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            cmd == UNLOCK_PYTHON){
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       read(Python_pipe_fd, &cmd, sizeof(cmd));
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    }
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}
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void UnLockPython(void)
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{
615
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    if(AtomicCompareExchange(
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   356
            &python_state,
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            PYTHON_BUSY,
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            PYTHON_FREE) == PYTHON_BUSY){
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   359
        if(rt_task_self()){/*is that the real time task ?*/
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           char cmd = UNLOCK_PYTHON;
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           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
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   362
        }/* otherwise, no signaling from non real time */
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   363
    }    /* as plc does not wait for lock. */
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   364
}
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   365
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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.
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#ifndef HAVE_RETAIN
1717
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int CheckRetainBuffer(void)
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{
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	return 1;
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}
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   371
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void ValidateRetainBuffer(void)
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{
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}
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void InValidateRetainBuffer(void)
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{
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}
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   379
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void Retain(unsigned int offset, unsigned int count, void *p)
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{
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   382
}
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   383
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   384
void Remind(unsigned int offset, unsigned int count, void *p)
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   385
{
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   386
}
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   387
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void CleanupRetain(void)
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   389
{
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   390
}
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   391
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   392
void InitRetain(void)
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   393
{
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   394
}
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
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   395
#endif // !HAVE_RETAIN