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/**

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 * Xenomai Linux specific code

     3

 **/

     4

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#include <stdio.h>

     6

#include <unistd.h>

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#include <string.h>

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#include <time.h>

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#include <signal.h>

    10

#include <stdlib.h>

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#include <sys/mman.h>

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#include <sys/fcntl.h>

    13

    14

#include <alchemy/task.h>

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#include <alchemy/timer.h>

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#include <alchemy/sem.h>

    17

#include <alchemy/pipe.h>

    18

    19

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

    29

    30

#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 

    39

    40

    41

long AtomicCompareExchange(long* atomicvar,long compared, long exchange)

    42

{

    43

    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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{

    47

    return __sync_val_compare_and_swap(atomicvar, compared, exchange);

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}

    49

    50

void PLC_GetTime(IEC_TIME *CURRENT_TIME)

    51

{

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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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}

    56

    57

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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    67

int PLC_shutdown = 0;

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    69

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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    75

void PLC_task_proc(void *arg)

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{

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    PLC_SetTimer(common_ticktime__, common_ticktime__);

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    79

    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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    87

static unsigned long __debug_tick;

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    89

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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   111

    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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   121

    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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   126

    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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   138

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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   146

    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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   171

#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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   176

    /* no memory swapping for that process */

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    mlockall(MCL_CURRENT | MCL_FUTURE);

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   179

    PLC_shutdown = 0;

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   181

    /*** 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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    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;

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   187

    /* open Debug_pipe*/

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    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;

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    /* 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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    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;

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    /* open Python_pipe*/

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    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;

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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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    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;

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    /* open WaitDebug_pipe*/

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    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;

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    /* create WaitPython_pipe */

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    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE) < 0)

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    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;

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    /* open WaitPython_pipe*/

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    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;

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    /*** create PLC task ***/

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    PLC_state |= PLC_STATE_TASK_CREATED;

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    if(__init(argc,argv)) goto error;

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    /* start PLC task */

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    return 0;

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error:

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   237

    PLC_cleanup_all();

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    return 1;

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}

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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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int TryEnterDebugSection(void)

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{

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    if(AtomicCompareExchange(

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        &debug_state,

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        DEBUG_FREE,

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        DEBUG_BUSY) == DEBUG_FREE){

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        if(__DEBUG){

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            return 1;

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        }

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        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);

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    }

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    return 0;

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}

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#define DEBUG_UNLOCK 1

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void LeaveDebugSection(void)

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{

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    if(AtomicCompareExchange( &debug_state, 

   263

        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){

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        char msg = DEBUG_UNLOCK;

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        /* signal to NRT for wakeup */

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        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);

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    }

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}

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extern unsigned long __tick;

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   272

#define DEBUG_PENDING_DATA 1

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int WaitDebugData(unsigned long *tick)

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{

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    char cmd;

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    int res;

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    if (PLC_shutdown) return -1;

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    /* Wait signal from PLC thread */

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    res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));

   280

    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){

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        *tick = __debug_tick;

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        return 0;

   283

    }

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    return -1;

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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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    char msg = DEBUG_PENDING_DATA;

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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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    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);

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}

   297

   298

int suspendDebug(int disable)

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{

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    char cmd = DEBUG_UNLOCK;

   301

    if (PLC_shutdown) return -1;

   302

    while(AtomicCompareExchange(

   303

            &debug_state,

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            DEBUG_FREE,

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            DEBUG_BUSY) != DEBUG_FREE &&

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            cmd == DEBUG_UNLOCK){

   307

       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){

   308

           return -1;

   309

       }

   310

    }

   311

    __DEBUG = !disable;

   312

    if (disable)

   313

        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);

   314

    return 0;

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}

   316

   317

void resumeDebug(void)

   318

{

   319

    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);

   320

}

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   322

#define PYTHON_PENDING_COMMAND 1

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   324

#define PYTHON_FREE 0

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#define PYTHON_BUSY 1

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static long python_state = PYTHON_FREE;

   327

   328

int WaitPythonCommands(void)

   329

{ 

   330

    char cmd;

   331

    if (PLC_shutdown) return -1;

   332

    /* Wait signal from PLC thread */

   333

    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){

   334

        return 0;

   335

    }

   336

    return -1;

   337

}

   338

   339

/* Called by PLC thread on each new python command*/

   340

void UnBlockPythonCommands(void)

   341

{

   342

    char msg = PYTHON_PENDING_COMMAND;

   343

    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);

   344

}

   345

   346

int TryLockPython(void)

   347

{

   348

    return AtomicCompareExchange(

   349

        &python_state,

   350

        PYTHON_FREE,

   351

        PYTHON_BUSY) == PYTHON_FREE;

   352

}

   353

   354

#define UNLOCK_PYTHON 1

   355

void LockPython(void)

   356

{

   357

    char cmd = UNLOCK_PYTHON;

   358

    if (PLC_shutdown) return;

   359

    while(AtomicCompareExchange(

   360

            &python_state,

   361

            PYTHON_FREE,

   362

            PYTHON_BUSY) != PYTHON_FREE &&

   363

            cmd == UNLOCK_PYTHON){

   364

       read(Python_pipe_fd, &cmd, sizeof(cmd));

   365

    }

   366

}

   367

   368

void UnLockPython(void)

   369

{

   370

    if(AtomicCompareExchange(

   371

            &python_state,

   372

            PYTHON_BUSY,

   373

            PYTHON_FREE) == PYTHON_BUSY){

   374

        if(rt_task_self()){/*is that the real time task ?*/

   375

           char cmd = UNLOCK_PYTHON;

   376

           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);

   377

        }/* otherwise, no signaling from non real time */

   378

    }    /* as plc does not wait for lock. */

   379

}

   380

   381

#ifndef HAVE_RETAIN

   382

int CheckRetainBuffer(void)

   383

{

   384

	return 1;

   385

}

   386

   387

void ValidateRetainBuffer(void)

   388

{

   389

}

   390

   391

void InValidateRetainBuffer(void)

   392

{

   393

}

   394

   395

void Retain(unsigned int offset, unsigned int count, void *p)

   396

{

   397

}

   398

   399

void Remind(unsigned int offset, unsigned int count, void *p)

   400

{

   401

}

   402

   403

void CleanupRetain(void)

   404

{

   405

}

   406

   407

void InitRetain(void)

   408

{

   409

}

   410

#endif // !HAVE_RETAIN