beremiz: targets/Xenomai/plc_Xenomai_main.c@e3db472b0dfb (annotated)

321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	1	/**
954 ab487d32ce9a Made logging compatible with windows API Edouard Tisserant parents: 745 diff changeset	2	* Xenomai Linux specific code
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	3	**/
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	4
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	5	#include <stdio.h>
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	6	#include <unistd.h>
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	7	#include <string.h>
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	8	#include <time.h>
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	9	#include <signal.h>
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	10	#include <stdlib.h>
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	11	#include <sys/mman.h>
342 80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	12	#include <sys/fcntl.h>
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	13
1974 b3a110daa135 Xenomai 3 Edouard Tisserant parents: 1903 diff changeset	14	#include <alchemy/task.h>
b3a110daa135 Xenomai 3 Edouard Tisserant parents: 1903 diff changeset	15	#include <alchemy/timer.h>
b3a110daa135 Xenomai 3 Edouard Tisserant parents: 1903 diff changeset	16	#include <alchemy/sem.h>
b3a110daa135 Xenomai 3 Edouard Tisserant parents: 1903 diff changeset	17	#include <alchemy/pipe.h>
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	18
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	19	unsigned int PLC_state = 0;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	20	#define PLC_STATE_TASK_CREATED 1
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	21	#define PLC_STATE_DEBUG_PIPE_CREATED 2
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	22	#define PLC_STATE_PYTHON_PIPE_CREATED 8
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	23	#define PLC_STATE_WAITDEBUG_PIPE_CREATED 16
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	24	#define PLC_STATE_WAITPYTHON_PIPE_CREATED 32
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	25
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	26	#define PIPE_SIZE 1
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	27
1990 2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	28	// rt-pipes commands
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	29
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	30	#define PYTHON_PENDING_COMMAND 1
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	31	#define PYTHON_FINISH 2
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	32
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	33	#define DEBUG_FINISH 2
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	34
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	35	#define DEBUG_PENDING_DATA 1
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	36	#define DEBUG_UNLOCK 1
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	37
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	38	long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	39	{
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	40	return __sync_val_compare_and_swap(atomicvar, compared, exchange);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	41	}
954 ab487d32ce9a Made logging compatible with windows API Edouard Tisserant parents: 745 diff changeset	42	long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
ab487d32ce9a Made logging compatible with windows API Edouard Tisserant parents: 745 diff changeset	43	{
ab487d32ce9a Made logging compatible with windows API Edouard Tisserant parents: 745 diff changeset	44	return __sync_val_compare_and_swap(atomicvar, compared, exchange);
ab487d32ce9a Made logging compatible with windows API Edouard Tisserant parents: 745 diff changeset	45	}
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	46
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	47	void PLC_GetTime(IEC_TIME *CURRENT_TIME)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	48	{
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	49	RTIME current_time = rt_timer_read();
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	50	CURRENT_TIME->tv_sec = current_time / 1000000000;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	51	CURRENT_TIME->tv_nsec = current_time % 1000000000;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	52	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	53
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	54	RT_TASK PLC_task;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	55	void *WaitDebug_handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	56	void *WaitPython_handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	57	void *Debug_handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	58	void *Python_handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	59	void *svghmi_handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	60
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	61	struct RT_to_nRT_signal_s {
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	62	int used;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	63	RT_PIPE pipe;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	64	int pipe_fd;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	65	char *name;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	66	};
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	67	typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	68
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	69	#define max_RT_to_nRT_signals 16
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	70
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	71	static RT_to_nRT_signal_t RT_to_nRT_signal_pool[max_RT_to_nRT_signals];
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	72
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	73	int recv_RT_to_nRT_signal(void* handle, char* payload){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	74	RT_to_nRT_signal_t sig = (RT_to_nRT_signal_t)handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	75	if(!sig->used) return -EINVAL;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	76	return read(sig->pipe_fd, payload, 1);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	77	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	78
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	79	int send_RT_to_nRT_signal(void* handle, char payload){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	80	RT_to_nRT_signal_t sig = (RT_to_nRT_signal_t)handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	81	if(!sig->used) return -EINVAL;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	82	return rt_pipe_write(&sig->pipe, &payload, 1, P_NORMAL);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	83	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	84
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	85
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	86	int PLC_shutdown = 0;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	87
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	88	void PLC_SetTimer(unsigned long long next, unsigned long long period)
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	89	{
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	90	RTIME current_time = rt_timer_read();
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	91	rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	92	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	93
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	94	void PLC_task_proc(void *arg)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	95	{
1428 e14003eb4d42 Simplified use of runtime's global variable __common_ticktime accross extensions. Edouard Tisserant parents: 985 diff changeset	96	PLC_SetTimer(common_ticktime__, common_ticktime__);
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	97
695 f378fe028f6c Fixed stopping crash in some cases Edouard Tisserant parents: 617 diff changeset	98	while (!PLC_shutdown) {
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	99	PLC_GetTime(&__CURRENT_TIME);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	100	__run();
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	101	if (PLC_shutdown) break;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	102	rt_task_wait_period(NULL);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	103	}
1990 2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	104	/* since xenomai 3 it is not enough to close()
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	105	file descriptor to unblock read()... */
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	106	{
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	107	/* explicitely finish python thread */
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	108	char msg = PYTHON_FINISH;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	109	send_RT_to_nRT_signal(WaitPython_handle, msg);
1990 2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	110	}
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	111	{
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	112	/* explicitely finish debug thread */
2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	113	char msg = DEBUG_FINISH;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	114	send_RT_to_nRT_signal(WaitDebug_handle, msg);
1990 2e0fbdd152de Fixed Xenomai 3 PLC stop freeze. Now use explicit finish command with pipes. Closing both ends of pipes doesn't abort blocking read anymore. Edouard Tisserant parents: 1981 diff changeset	115	}
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	116	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	117
397 6a7ff66a811d Adding support for forcing tick count to return to zero as the same time than all tasks firing are synchronized laurent parents: 345 diff changeset	118	static unsigned long __debug_tick;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	119
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	120	#define _LogAndReturnNull(text) \
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	121	{\
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	122	char mstr[256] = text " for ";\
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	123	strncat(mstr, name, 255);\
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	124	LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	125	return NULL;\
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	126	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	127
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	128	void create_RT_to_nRT_signal(char name){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	129	int new_index = -1;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	130	RT_to_nRT_signal_t *sig;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	131	char pipe_dev[64];
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	132
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	133	/* find a free slot */
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	134	for(int i=0; i < max_RT_to_nRT_signals; i++){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	135	sig = &RT_to_nRT_signal_pool[i];
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	136	if(!sig->used){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	137	new_index = i;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	138	break;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	139	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	140	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	141
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	142	/* fail if none found */
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	143	if(new_index == -1) {
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	144	_LogAndReturnNull("Maximum count of RT-PIPE reached while creating pipe");
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	145	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	146
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	147	/* create rt pipe */
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	148	if(rt_pipe_create(&sig->pipe, name, new_index, PIPE_SIZE) < 0){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	149	_LogAndReturnNull("Failed opening real-time end of RT-PIPE");
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	150	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	151
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	152	/* open pipe's userland */
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	153	snprintf(pipe_dev, 64, "/dev/rtp%d", new_index);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	154	if((sig->pipe_fd = open(pipe_dev, O_RDWR)) == -1){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	155	rt_pipe_delete(&sig->pipe);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	156	_LogAndReturnNull("Failed opening non-real-time end of RT-PIPE");
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	157	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	158
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	159	sig->used = 1;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	160	sig->name = name;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	161
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	162	return sig;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	163	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	164
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	165	void delete_RT_to_nRT_signal(void* handle){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	166	RT_to_nRT_signal_t sig = (RT_to_nRT_signal_t)handle;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	167
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	168	if(!sig->used) return;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	169
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	170	rt_pipe_delete(&sig->pipe);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	171
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	172	close(sig->pipe_fd);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	173
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	174	sig->used = 0;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	175	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	176
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	177	int wait_RT_to_nRT_signal(void* handle){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	178	char cmd;
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	179	int ret = recv_RT_to_nRT_signal(handle, &cmd);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	180	return (ret == 1) ? 0 : ((ret == 0) ? ENODATA : -ret);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	181	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	182
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	183	int unblock_RT_to_nRT_signal(void* handle){
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	184	int ret = send_RT_to_nRT_signal(handle, 0);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	185	return (ret == 1) ? 0 : ((ret == 0) ? EINVAL : -ret);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	186	}
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	187
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	188	void PLC_cleanup_all(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	189	{
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	190	if (PLC_state & PLC_STATE_TASK_CREATED) {
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	191	rt_task_delete(&PLC_task);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	192	PLC_state &= ~PLC_STATE_TASK_CREATED;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	193	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	194
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	195	if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	196	delete_RT_to_nRT_signal(WaitDebug_handle);
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	197	PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	198	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	199
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	200	if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	201	delete_RT_to_nRT_signal(WaitPython_handle);
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	202	PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	203	}
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	204
342 80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	205	if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	206	delete_RT_to_nRT_signal(Debug_handle);
342 80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	207	PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	208	}
80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	209
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	210	if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	211	delete_RT_to_nRT_signal(Python_handle);
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	212	PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	213	}
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	214	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	215
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	216	int stopPLC()
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	217	{
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	218	/* Stop the PLC */
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	219	PLC_shutdown = 1;
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	220
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	221	/* Wait until PLC task stops */
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	222	rt_task_join(&PLC_task);
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	223
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	224	PLC_cleanup_all();
342 80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	225	__cleanup();
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	226	__debug_tick = -1;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	227	return 0;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	228	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	229
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	230	//
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	231	void catch_signal(int sig)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	232	{
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	233	stopPLC();
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	234	// signal(SIGTERM, catch_signal);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	235	signal(SIGINT, catch_signal);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	236	printf("Got Signal %d\n",sig);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	237	exit(0);
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	238	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	239
1981 d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	240	#define _startPLCLog(text) \
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	241	{\
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	242	char mstr[] = text;\
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	243	LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));\
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	244	goto error;\
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	245	}
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	246
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	247	#define FO "Failed opening "
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	248
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	249	#define max_val(a,b) ((a>b)?a:b)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	250	int startPLC(int argc,char **argv)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	251	{
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	252	signal(SIGINT, catch_signal);
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	253
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	254	/* no memory swapping for that process */
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	255	mlockall(MCL_CURRENT \| MCL_FUTURE);
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	256
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	257
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	258	/* memory initialization */
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	259	PLC_shutdown = 0;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	260	bzero(RT_to_nRT_signal_pool, sizeof(RT_to_nRT_signal_pool));
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	261
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	262	/* RT Pipes */
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	263	/* create Debug_pipe */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	264	if(Debug_handle = create_RT_to_nRT_signal("Debug_pipe")) goto error;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	265	PLC_state \|= PLC_STATE_DEBUG_PIPE_CREATED;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	266
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	267	/* create Python_pipe */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	268	if(Python_handle = create_RT_to_nRT_signal("Python_pipe")) goto error;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	269	PLC_state \|= PLC_STATE_PYTHON_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	270
342 80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	271	/* create WaitDebug_pipe */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	272	if(WaitDebug_handle = create_RT_to_nRT_signal("WaitDebug_pipe")) goto error;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	273	PLC_state \|= PLC_STATE_WAITDEBUG_PIPE_CREATED;
342 80e5876bc53b Replacing Debug rt_sem by rt_pipe greg parents: 336 diff changeset	274
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	275	/* create WaitPython_pipe */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	276	if(WaitPython_handle = create_RT_to_nRT_signal("WaitPython_pipe")) goto error;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	277	PLC_state \|= PLC_STATE_WAITPYTHON_PIPE_CREATED;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	278
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	279	/* create PLC task */
1981 d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	280	if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE))
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	281	_startPLCLog("Failed creating PLC task");
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	282	PLC_state \|= PLC_STATE_TASK_CREATED;
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	283
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	284	if(__init(argc,argv)) goto error;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	285
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	286	/* start PLC task */
1981 d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	287	if(rt_task_start(&PLC_task, &PLC_task_proc, NULL))
d0718654d9b0 Added logging in Xenomai init phase. Edouard Tisserant parents: 1980 diff changeset	288	_startPLCLog("Failed starting PLC task");
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	289
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	290	return 0;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	291
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	292	error:
616 b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	293
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	294	PLC_cleanup_all();
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	295	return 1;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	296	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	297
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	298	#define DEBUG_FREE 0
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	299	#define DEBUG_BUSY 1
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	300	static long debug_state = DEBUG_FREE;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	301
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	302	int TryEnterDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	303	{
616 b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	304	if(AtomicCompareExchange(
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	305	&debug_state,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	306	DEBUG_FREE,
616 b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	307	DEBUG_BUSY) == DEBUG_FREE){
b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	308	if(__DEBUG){
b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	309	return 1;
b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	310	}
b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	311	AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	312	}
b9271faec96e Xenomai Fix : runs, but still fail in debug Edouard Tisserant parents: 615 diff changeset	313	return 0;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	314	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	315
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	316	void LeaveDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	317	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	318	if(AtomicCompareExchange( &debug_state,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	319	DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	320	char msg = DEBUG_UNLOCK;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	321	/* signal to NRT for wakeup */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	322	send_RT_to_nRT_signal(Debug_handle, msg);
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	323	}
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	324	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	325
397 6a7ff66a811d Adding support for forcing tick count to return to zero as the same time than all tasks firing are synchronized laurent parents: 345 diff changeset	326	extern unsigned long __tick;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	327
446 1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ... ed parents: 397 diff changeset	328	int WaitDebugData(unsigned long *tick)
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	329	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	330	char cmd;
345 a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed greg parents: 342 diff changeset	331	int res;
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	332	if (PLC_shutdown) return -1;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	333	/* Wait signal from PLC thread */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	334	recv_RT_to_nRT_signal(WaitDebug_handle, &cmd);
e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	335	if (res == 1 && cmd == DEBUG_PENDING_DATA){
617 7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick Edouard Tisserant parents: 616 diff changeset	336	*tick = __debug_tick;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	337	return 0;
617 7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick Edouard Tisserant parents: 616 diff changeset	338	}
345 a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed greg parents: 342 diff changeset	339	return -1;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	340	}
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	341
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	342	/* Called by PLC thread when debug_publish finished
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	343	* This is supposed to unlock debugger thread in WaitDebugData*/
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	344	void InitiateDebugTransfer()
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	345	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	346	char msg = DEBUG_PENDING_DATA;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	347	/* remember tick */
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	348	__debug_tick = __tick;
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	349	/* signal debugger thread it can read data */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	350	send_RT_to_nRT_signal(WaitDebug_handle, msg);
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	351	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	352
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	353	int suspendDebug(int disable)
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	354	{
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	355	char cmd = DEBUG_UNLOCK;
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	356	if (PLC_shutdown) return -1;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	357	while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	358	&debug_state,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	359	DEBUG_FREE,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	360	DEBUG_BUSY) != DEBUG_FREE &&
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	361	cmd == DEBUG_UNLOCK){
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	362	if(recv_RT_to_nRT_signal(Debug_handle, &cmd) != 1){
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	363	return -1;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	364	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	365	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	366	__DEBUG = !disable;
617 7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick Edouard Tisserant parents: 616 diff changeset	367	if (disable)
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick Edouard Tisserant parents: 616 diff changeset	368	AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	369	return 0;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	370	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	371
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	372	void resumeDebug(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	373	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	374	AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	375	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	376
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	377	#define PYTHON_FREE 0
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	378	#define PYTHON_BUSY 1
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	379	static long python_state = PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	380
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	381	int WaitPythonCommands(void)
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	382	{
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	383	char cmd;
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	384	if (PLC_shutdown) return -1;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	385	/* Wait signal from PLC thread */
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	386	if(recv_RT_to_nRT_signal(WaitPython_handle, &cmd) == 1 && cmd==PYTHON_PENDING_COMMAND){
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	387	return 0;
345 a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed greg parents: 342 diff changeset	388	}
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed greg parents: 342 diff changeset	389	return -1;
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	390	}
336 ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network. greg parents: 321 diff changeset	391
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	392	/* Called by PLC thread on each new python command*/
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	393	void UnBlockPythonCommands(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	394	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	395	char msg = PYTHON_PENDING_COMMAND;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	396	send_RT_to_nRT_signal(WaitPython_handle, msg);
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	397	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	398
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	399	int TryLockPython(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	400	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	401	return AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	402	&python_state,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	403	PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	404	PYTHON_BUSY) == PYTHON_FREE;
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	405	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	406
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	407	#define UNLOCK_PYTHON 1
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	408	void LockPython(void)
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	409	{
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	410	char cmd = UNLOCK_PYTHON;
745 96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC laurent parents: 695 diff changeset	411	if (PLC_shutdown) return;
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	412	while(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	413	&python_state,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	414	PYTHON_FREE,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	415	PYTHON_BUSY) != PYTHON_FREE &&
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	416	cmd == UNLOCK_PYTHON){
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	417	recv_RT_to_nRT_signal(Python_handle, &cmd);
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	418	}
321 5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	419	}
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	420
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	421	void UnLockPython(void)
5a4e6278a18b Adding support for Xenomai targets. lbessard parents: diff changeset	422	{
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	423	if(AtomicCompareExchange(
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	424	&python_state,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	425	PYTHON_BUSY,
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	426	PYTHON_FREE) == PYTHON_BUSY){
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	427	if(rt_task_self()){/is that the real time task ?/
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	428	char cmd = UNLOCK_PYTHON;
3294 e3db472b0dfb Runtime+SVGHMI: Added a generic way to wakeup non-real-time threads from real-time PLC thread. Replace SVGHMI specific calls in Linux and Xenomai implementations of plc_main.c. Fixed xenomai build, xeno-config making problems with --no-auto-init argument. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2820 diff changeset	429	send_RT_to_nRT_signal(Python_handle, cmd);
615 72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	430	}/* otherwise, no signaling from non real time */
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	431	} /* as plc does not wait for lock. */
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	432	}
72bc3e53a1fa Xenomai Fix : build Edouard Tisserant parents: 446 diff changeset	433
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	434	#ifndef HAVE_RETAIN
1717 a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	435	int CheckRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	436	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	437	return 1;
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	438	}
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	439
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	440	void ValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	441	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	442	}
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	443
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	444	void InValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	445	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	446	}
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	447
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	448	void Retain(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	449	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	450	}
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	451
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	452	void Remind(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	453	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	454	}
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	455
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	456	void CleanupRetain(void)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	457	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	458	}
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	459
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	460	void InitRetain(void)
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	461	{
a86deec92e08 fix target Xenomai missing functions wuyangtang <wuyangtang@live.com> parents: 1456 diff changeset	462	}
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	463	#endif // !HAVE_RETAIN

author	Edouard Tisserant <edouard.tisserant@gmail.com>
	Mon, 16 Aug 2021 22:49:08 +0200
branch	svghmi
changeset 3294	e3db472b0dfb
parent 2820	d9b5303d43dc
child 3295	0375d801fff7
permissions	-rw-r--r--