author | Edouard Tisserant |
Tue, 23 Apr 2019 11:00:37 +0200 | |
changeset 2609 | c8cb60bf6c6a |
parent 2173 | 976841968d74 |
child 2820 | d9b5303d43dc |
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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#include <locale.h> |
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#include <semaphore.h> |
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static sem_t Run_PLC; |
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long AtomicCompareExchange(long* atomicvar,long compared, long exchange) |
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{ |
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return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
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} |
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long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange) |
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{ |
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return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
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} |
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void PLC_GetTime(IEC_TIME *CURRENT_TIME) |
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{ |
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struct timespec tmp; |
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clock_gettime(CLOCK_REALTIME, &tmp); |
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CURRENT_TIME->tv_sec = tmp.tv_sec; |
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CURRENT_TIME->tv_nsec = tmp.tv_nsec; |
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} |
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void PLC_timer_notify(sigval_t val) |
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{ |
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PLC_GetTime(&__CURRENT_TIME); |
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sem_post(&Run_PLC); |
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} |
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timer_t PLC_timer; |
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void PLC_SetTimer(unsigned long long next, unsigned 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 unsigned long __debug_tick; |
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pthread_t PLC_thread; |
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static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER; |
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int PLC_shutdown = 0; |
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int ForceSaveRetainReq(void) { |
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return PLC_shutdown; |
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} |
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void PLC_thread_proc(void *arg) |
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{ |
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while (!PLC_shutdown) { |
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sem_wait(&Run_PLC); |
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__run(); |
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} |
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pthread_exit(0); |
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} |
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#define maxval(a,b) ((a>b)?a:b) |
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int startPLC(int argc,char **argv) |
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{ |
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struct sigevent sigev; |
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setlocale(LC_NUMERIC, "C"); |
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PLC_shutdown = 0; |
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sem_init(&Run_PLC, 0, 0); |
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pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL); |
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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_init(&debug_wait_mutex, NULL); |
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pthread_mutex_init(&debug_mutex, NULL); |
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pthread_mutex_init(&python_wait_mutex, NULL); |
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pthread_mutex_init(&python_mutex, NULL); |
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pthread_mutex_lock(&debug_wait_mutex); |
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pthread_mutex_lock(&python_wait_mutex); |
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use CLOCK_MONOTONIC instead of CLOCK_REALTIME for timer setup
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timer_create (CLOCK_MONOTONIC, &sigev, &PLC_timer); |
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if( __init(argc,argv) == 0 ){ |
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PLC_SetTimer(common_ticktime__,common_ticktime__); |
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205 | 128 |
/* install signal handler for manual break */ |
129 |
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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if (pthread_mutex_trylock(&debug_mutex) == 0){ |
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/* Only enter if debug active */ |
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if(__DEBUG){ |
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return 1; |
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} |
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pthread_mutex_unlock(&debug_mutex); |
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} |
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return 0; |
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} |
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void LeaveDebugSection(void) |
235 | 149 |
{ |
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pthread_mutex_unlock(&debug_mutex); |
235 | 151 |
} |
152 |
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205 | 153 |
int stopPLC() |
154 |
{ |
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155 |
/* Stop the PLC */ |
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PLC_shutdown = 1; |
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sem_post(&Run_PLC); |
205 | 158 |
PLC_SetTimer(0,0); |
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pthread_join(PLC_thread, NULL); |
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160 |
sem_destroy(&Run_PLC); |
205 | 161 |
timer_delete (PLC_timer); |
162 |
__cleanup(); |
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329 | 163 |
pthread_mutex_destroy(&debug_wait_mutex); |
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164 |
pthread_mutex_destroy(&debug_mutex); |
329 | 165 |
pthread_mutex_destroy(&python_wait_mutex); |
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166 |
pthread_mutex_destroy(&python_mutex); |
386 | 167 |
return 0; |
205 | 168 |
} |
169 |
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extern unsigned long __tick; |
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int WaitDebugData(unsigned long *tick) |
205 | 173 |
{ |
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int res; |
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if (PLC_shutdown) return 1; |
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176 |
/* Wait signal from PLC thread */ |
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177 |
res = pthread_mutex_lock(&debug_wait_mutex); |
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*tick = __debug_tick; |
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179 |
return res; |
205 | 180 |
} |
329 | 181 |
|
205 | 182 |
/* Called by PLC thread when debug_publish finished |
183 |
* This is supposed to unlock debugger thread in WaitDebugData*/ |
|
184 |
void InitiateDebugTransfer() |
|
185 |
{ |
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/* remember tick */ |
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__debug_tick = __tick; |
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188 |
/* signal debugger thread it can read data */ |
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pthread_mutex_unlock(&debug_wait_mutex); |
205 | 190 |
} |
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614 | 192 |
int suspendDebug(int disable) |
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{ |
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/* Prevent PLC to enter debug code */ |
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pthread_mutex_lock(&debug_mutex); |
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/*__DEBUG is protected by this mutex */ |
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197 |
__DEBUG = !disable; |
485 | 198 |
if (disable) |
199 |
pthread_mutex_unlock(&debug_mutex); |
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614 | 200 |
return 0; |
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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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return 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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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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} |