targets/Xenomai/plc_Xenomai_main.c
author Edouard Tisserant <edouard.tisserant@gmail.com>
Tue, 22 Dec 2020 18:05:05 +0100
changeset 2711 ecfb59e4ecb0
parent 1990 2e0fbdd152de
child 2820 d9b5303d43dc
permissions -rw-r--r--
Fix missing import, consequence of bad resolution of conflicting hg graft of f0a822ef9fa0 into d15a997859b1
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/**
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 * Xenomai Linux specific code
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 **/
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <time.h>
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#include <signal.h>
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#include <stdlib.h>
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#include <sys/mman.h>
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#include <sys/fcntl.h>
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#include <alchemy/task.h>
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#include <alchemy/timer.h>
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#include <alchemy/sem.h>
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#include <alchemy/pipe.h>
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unsigned int PLC_state = 0;
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#define PLC_STATE_TASK_CREATED                 1
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#define PLC_STATE_DEBUG_FILE_OPENED            2 
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#define PLC_STATE_DEBUG_PIPE_CREATED           4 
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#define PLC_STATE_PYTHON_FILE_OPENED           8 
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#define PLC_STATE_PYTHON_PIPE_CREATED          16   
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#define PLC_STATE_WAITDEBUG_FILE_OPENED        32   
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#define PLC_STATE_WAITDEBUG_PIPE_CREATED       64
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#define PLC_STATE_WAITPYTHON_FILE_OPENED       128
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#define PLC_STATE_WAITPYTHON_PIPE_CREATED      256
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#define WAITDEBUG_PIPE_DEVICE        "/dev/rtp0"
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#define WAITDEBUG_PIPE_MINOR         0
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#define DEBUG_PIPE_DEVICE            "/dev/rtp1"
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#define DEBUG_PIPE_MINOR             1
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#define WAITPYTHON_PIPE_DEVICE       "/dev/rtp2"
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#define WAITPYTHON_PIPE_MINOR        2
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#define PYTHON_PIPE_DEVICE           "/dev/rtp3"
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#define PYTHON_PIPE_MINOR            3
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#define PIPE_SIZE                    1 
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// rt-pipes commands
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#define PYTHON_PENDING_COMMAND 1
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#define PYTHON_FINISH 2
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#define DEBUG_FINISH 2
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#define DEBUG_PENDING_DATA 1
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#define DEBUG_UNLOCK 1
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long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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void PLC_GetTime(IEC_TIME *CURRENT_TIME)
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{
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    RTIME current_time = rt_timer_read();
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    CURRENT_TIME->tv_sec = current_time / 1000000000;
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    CURRENT_TIME->tv_nsec = current_time % 1000000000;
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}
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RT_TASK PLC_task;
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RT_PIPE WaitDebug_pipe;
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RT_PIPE WaitPython_pipe;
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RT_PIPE Debug_pipe;
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RT_PIPE Python_pipe;
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int WaitDebug_pipe_fd;
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int WaitPython_pipe_fd;
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int Debug_pipe_fd;
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int Python_pipe_fd;
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int PLC_shutdown = 0;
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void PLC_SetTimer(unsigned long long next, unsigned long long period)
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{
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  RTIME current_time = rt_timer_read();
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  rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));
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}
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void PLC_task_proc(void *arg)
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{
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    PLC_SetTimer(common_ticktime__, common_ticktime__);
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    while (!PLC_shutdown) {
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        PLC_GetTime(&__CURRENT_TIME);
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        __run();
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        if (PLC_shutdown) break;
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        rt_task_wait_period(NULL);
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    }
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    /* since xenomai 3 it is not enough to close() 
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       file descriptor to unblock read()... */
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    {
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        /* explicitely finish python thread */
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        char msg = PYTHON_FINISH;
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        rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
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    }
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    {
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        /* explicitely finish debug thread */
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        char msg = DEBUG_FINISH;
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        rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
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    }
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}
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static unsigned long __debug_tick;
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void PLC_cleanup_all(void)
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{
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    if (PLC_state & PLC_STATE_TASK_CREATED) {
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        rt_task_delete(&PLC_task);
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        PLC_state &= ~PLC_STATE_TASK_CREATED;
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    }
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    if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
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        rt_pipe_delete(&WaitDebug_pipe);
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        PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_WAITDEBUG_FILE_OPENED) {
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        close(WaitDebug_pipe_fd);
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        PLC_state &= ~PLC_STATE_WAITDEBUG_FILE_OPENED;
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    }
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    if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
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        rt_pipe_delete(&WaitPython_pipe);
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        PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_WAITPYTHON_FILE_OPENED) {
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        close(WaitPython_pipe_fd);
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        PLC_state &= ~PLC_STATE_WAITPYTHON_FILE_OPENED;
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    }
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    if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
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        rt_pipe_delete(&Debug_pipe);
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        PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) {
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        close(Debug_pipe_fd);
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        PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED;
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    }
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    if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
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        rt_pipe_delete(&Python_pipe);
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        PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
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    }
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    if (PLC_state & PLC_STATE_PYTHON_FILE_OPENED) {
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        close(Python_pipe_fd);
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        PLC_state &= ~PLC_STATE_PYTHON_FILE_OPENED;
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    }
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}
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   158
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int stopPLC()
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{
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    /* Stop the PLC */
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    PLC_shutdown = 1;
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    /* Wait until PLC task stops */
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    rt_task_join(&PLC_task);
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    PLC_cleanup_all();
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    __cleanup();
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    __debug_tick = -1;
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    return 0;
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}
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//
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void catch_signal(int sig)
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{
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    stopPLC();
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//  signal(SIGTERM, catch_signal);
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    signal(SIGINT, catch_signal);
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    printf("Got Signal %d\n",sig);
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    exit(0);
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}
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#define _startPLCLog(text) \
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    {\
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    	char mstr[] = text;\
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        LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));\
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        goto error;\
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    }
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#define FO "Failed opening "
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#define max_val(a,b) ((a>b)?a:b)
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int startPLC(int argc,char **argv)
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{
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    signal(SIGINT, catch_signal);
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   196
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    /* no memory swapping for that process */
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    mlockall(MCL_CURRENT | MCL_FUTURE);
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   199
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    PLC_shutdown = 0;
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    /*** RT Pipes creation and opening ***/
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    /* create Debug_pipe */
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    if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE) < 0) 
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        _startPLCLog(FO "Debug_pipe real-time end");
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    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;
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   207
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    /* open Debug_pipe*/
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    if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1)
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        _startPLCLog(FO DEBUG_PIPE_DEVICE);
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    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;
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   212
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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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        _startPLCLog(FO "Python_pipe real-time end");
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    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;
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   217
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    /* open Python_pipe*/
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    if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1)
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        _startPLCLog(FO PYTHON_PIPE_DEVICE);
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    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;
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   222
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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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        _startPLCLog(FO "WaitDebug_pipe real-time end");
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    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;
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   227
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    /* open WaitDebug_pipe*/
1981
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    if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1)
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        _startPLCLog(FO WAITDEBUG_PIPE_DEVICE);
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    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;
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   232
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   233
    /* create WaitPython_pipe */
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   234
    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE) < 0)
1981
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        _startPLCLog(FO "WaitPython_pipe real-time end");
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   236
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;
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   237
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   238
    /* open WaitPython_pipe*/
1981
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   239
    if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1)
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   240
        _startPLCLog(FO WAITPYTHON_PIPE_DEVICE);
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   241
    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;
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   242
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   243
    /*** create PLC task ***/
1981
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   244
    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE))
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   245
        _startPLCLog("Failed creating PLC task");
321
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   246
    PLC_state |= PLC_STATE_TASK_CREATED;
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   247
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   248
    if(__init(argc,argv)) goto error;
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   249
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   250
    /* start PLC task */
1981
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   251
    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL))
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   252
        _startPLCLog("Failed starting PLC task");
321
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   253
5a4e6278a18b Adding support for Xenomai targets.
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   254
    return 0;
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   255
5a4e6278a18b Adding support for Xenomai targets.
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   256
error:
616
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   257
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   258
    PLC_cleanup_all();
5a4e6278a18b Adding support for Xenomai targets.
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   259
    return 1;
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   260
}
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   261
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   262
#define DEBUG_FREE 0
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   263
#define DEBUG_BUSY 1
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   264
static long debug_state = DEBUG_FREE;
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   265
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   266
int TryEnterDebugSection(void)
5a4e6278a18b Adding support for Xenomai targets.
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   267
{
616
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   268
    if(AtomicCompareExchange(
615
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   269
        &debug_state,
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   270
        DEBUG_FREE,
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   271
        DEBUG_BUSY) == DEBUG_FREE){
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diff changeset
   272
        if(__DEBUG){
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   273
            return 1;
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   274
        }
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   275
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   276
    }
b9271faec96e Xenomai Fix : runs, but still fail in debug
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   277
    return 0;
615
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   278
}
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   279
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   280
void LeaveDebugSection(void)
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   281
{
615
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   282
    if(AtomicCompareExchange( &debug_state, 
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diff changeset
   283
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
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   284
        char msg = DEBUG_UNLOCK;
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   285
        /* signal to NRT for wakeup */
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   286
        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
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diff changeset
   287
    }
321
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   288
}
5a4e6278a18b Adding support for Xenomai targets.
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   289
397
6a7ff66a811d Adding support for forcing tick count to return to zero as the same time than all tasks firing are synchronized
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   290
extern unsigned long __tick;
615
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   291
446
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
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diff changeset
   292
int WaitDebugData(unsigned long *tick)
321
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   293
{
615
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   294
    char cmd;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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diff changeset
   295
    int res;
745
96dd6650854d Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
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   296
    if (PLC_shutdown) return -1;
321
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   297
    /* Wait signal from PLC thread */
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   298
    res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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diff changeset
   299
    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   300
        *tick = __debug_tick;
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   301
        return 0;
617
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   302
    }
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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   303
    return -1;
321
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   304
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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   305
321
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   306
/* Called by PLC thread when debug_publish finished
5a4e6278a18b Adding support for Xenomai targets.
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   307
 * This is supposed to unlock debugger thread in WaitDebugData*/
5a4e6278a18b Adding support for Xenomai targets.
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   308
void InitiateDebugTransfer()
5a4e6278a18b Adding support for Xenomai targets.
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   309
{
615
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   310
    char msg = DEBUG_PENDING_DATA;
321
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   311
    /* remember tick */
5a4e6278a18b Adding support for Xenomai targets.
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   312
    __debug_tick = __tick;
5a4e6278a18b Adding support for Xenomai targets.
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   313
    /* signal debugger thread it can read data */
615
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   314
    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
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   315
}
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   316
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   317
int suspendDebug(int disable)
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   318
{
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   319
    char cmd = DEBUG_UNLOCK;
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    if (PLC_shutdown) return -1;
615
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   321
    while(AtomicCompareExchange(
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   322
            &debug_state,
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   323
            DEBUG_FREE,
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   324
            DEBUG_BUSY) != DEBUG_FREE &&
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   325
            cmd == DEBUG_UNLOCK){
616
b9271faec96e Xenomai Fix : runs, but still fail in debug
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diff changeset
   326
       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
615
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   327
           return -1;
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   328
       }
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   329
    }
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   330
    __DEBUG = !disable;
617
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   331
    if (disable)
7c23fac40a2a fixed debug with xenomai, fixed unprotected access to ___debug_tick
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   332
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
615
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   333
    return 0;
321
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   334
}
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   335
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   336
void resumeDebug(void)
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   337
{
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   338
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
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   339
}
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   340
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   341
#define PYTHON_FREE 0
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   342
#define PYTHON_BUSY 1
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   343
static long python_state = PYTHON_FREE;
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   344
321
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   345
int WaitPythonCommands(void)
615
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   346
{ 
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   347
    char cmd;
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   348
    if (PLC_shutdown) return -1;
321
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   349
    /* Wait signal from PLC thread */
615
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   350
    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
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   351
        return 0;
345
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
greg
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diff changeset
   352
    }
a3520d75a722 get the WaitPythonCommands return (semaphore error code) to quit python_iterator loop when semaphore is destroyed
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   353
    return -1;
321
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   354
}
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
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diff changeset
   355
321
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   356
/* Called by PLC thread on each new python command*/
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   357
void UnBlockPythonCommands(void)
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   358
{
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   359
    char msg = PYTHON_PENDING_COMMAND;
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   360
    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
321
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   361
}
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   362
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   363
int TryLockPython(void)
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   364
{
615
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diff changeset
   365
    return AtomicCompareExchange(
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diff changeset
   366
        &python_state,
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diff changeset
   367
        PYTHON_FREE,
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diff changeset
   368
        PYTHON_BUSY) == PYTHON_FREE;
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   369
}
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   370
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   371
#define UNLOCK_PYTHON 1
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   372
void LockPython(void)
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   373
{
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   374
    char cmd = UNLOCK_PYTHON;
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   375
    if (PLC_shutdown) return;
615
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   376
    while(AtomicCompareExchange(
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diff changeset
   377
            &python_state,
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diff changeset
   378
            PYTHON_FREE,
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diff changeset
   379
            PYTHON_BUSY) != PYTHON_FREE &&
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diff changeset
   380
            cmd == UNLOCK_PYTHON){
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diff changeset
   381
       read(Python_pipe_fd, &cmd, sizeof(cmd));
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diff changeset
   382
    }
321
5a4e6278a18b Adding support for Xenomai targets.
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   383
}
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   384
5a4e6278a18b Adding support for Xenomai targets.
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diff changeset
   385
void UnLockPython(void)
5a4e6278a18b Adding support for Xenomai targets.
lbessard
parents:
diff changeset
   386
{
615
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   387
    if(AtomicCompareExchange(
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parents: 446
diff changeset
   388
            &python_state,
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   389
            PYTHON_BUSY,
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   390
            PYTHON_FREE) == PYTHON_BUSY){
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parents: 446
diff changeset
   391
        if(rt_task_self()){/*is that the real time task ?*/
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   392
           char cmd = UNLOCK_PYTHON;
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diff changeset
   393
           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
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parents: 446
diff changeset
   394
        }/* otherwise, no signaling from non real time */
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diff changeset
   395
    }    /* as plc does not wait for lock. */
72bc3e53a1fa Xenomai Fix : build
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diff changeset
   396
}
72bc3e53a1fa Xenomai Fix : build
Edouard Tisserant
parents: 446
diff changeset
   397
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
   398
#ifndef HAVE_RETAIN
1717
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wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   399
int CheckRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
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parents: 1456
diff changeset
   400
{
a86deec92e08 fix target Xenomai missing functions
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parents: 1456
diff changeset
   401
	return 1;
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   402
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   403
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   404
void ValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   405
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   406
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   407
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   408
void InValidateRetainBuffer(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   409
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   410
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   411
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   412
void Retain(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   413
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   414
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   415
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   416
void Remind(unsigned int offset, unsigned int count, void *p)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   417
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   418
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   419
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   420
void CleanupRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   421
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   422
}
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   423
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   424
void InitRetain(void)
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   425
{
a86deec92e08 fix target Xenomai missing functions
wuyangtang <wuyangtang@live.com>
parents: 1456
diff changeset
   426
}
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
   427
#endif // !HAVE_RETAIN