targets/Linux/plc_Linux_main.c
author Edouard Tisserant <edouard.tisserant@gmail.com>
Sun, 08 Dec 2024 13:59:36 +0100
changeset 4064 f273ee835411
parent 3954 5744391252ec
permissions -rw-r--r--
PLCOpen editor: fix exception when using file open dialog

Consequence of wxPython 3 to 4 API changes.
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/**
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 * Linux specific code
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 **/
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#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include <signal.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <pthread.h>
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#include <locale.h>
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#include <semaphore.h>
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#ifdef REALTIME_LINUX
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#include <sys/mman.h>
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#endif
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#define _Log(level,text,...) \
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    {\
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        char mstr[256];\
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        snprintf(mstr, 255, text, ##__VA_ARGS__);\
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        LogMessage(level, mstr, strlen(mstr));\
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    }
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#define _LogError(text,...) _Log(LOG_CRITICAL, text, ##__VA_ARGS__)
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#define _LogWarning(text,...) _Log(LOG_WARNING, text, ##__VA_ARGS__)
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static unsigned int __debug_tick;
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static pthread_t PLC_thread;
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static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;
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static int PLC_shutdown = 0;
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long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
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{
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    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
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}
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void PLC_GetTime(IEC_TIME *CURRENT_TIME)
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{
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    struct timespec tmp;
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    clock_gettime(CLOCK_REALTIME, &tmp);
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    CURRENT_TIME->tv_sec = tmp.tv_sec;
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    CURRENT_TIME->tv_nsec = tmp.tv_nsec;
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}
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static long long period_ns = 0;
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struct timespec next_cycle_time;
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static void inc_timespec(struct timespec *ts, unsigned long long value_ns)
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{
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    long long next_ns = ((long long) ts->tv_sec * 1000000000) + ts->tv_nsec + value_ns;
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#ifdef __lldiv_t_defined
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    lldiv_t next_div = lldiv(next_ns, 1000000000);
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    ts->tv_sec = next_div.quot;
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    ts->tv_nsec = next_div.rem;
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#else
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    ts->tv_sec = next_ns / 1000000000;
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    ts->tv_nsec = next_ns % 1000000000;
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#endif
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}
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void PLC_SetTimer(unsigned long long next, unsigned long long period)
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{
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    /*
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    printf("SetTimer(%lld,%lld)\n",next, period);
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    */
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    period_ns = period;
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    clock_gettime(CLOCK_MONOTONIC, &next_cycle_time);
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    inc_timespec(&next_cycle_time, next);
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    // interrupt clock_nanpsleep
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    pthread_kill(PLC_thread, SIGUSR1);
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}
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void catch_signal(int sig)
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{
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//  signal(SIGTERM, catch_signal);
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  signal(SIGINT, catch_signal);
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  printf("Got Signal %d\n",sig);
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  exit(0);
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}
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void PLCThreadSignalHandler(int sig)
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{
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    if (sig == SIGUSR2)
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        pthread_exit(NULL);
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}
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int ForceSaveRetainReq(void) {
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    return PLC_shutdown;
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}
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#define MAX_JITTER period_ns/10
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#define MIN_IDLE_TIME_NS 1000000 /* 1ms */
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/* Macro to compare timespec, evaluate to True if a is past b */
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#define timespec_gt(a,b) (a.tv_sec > b.tv_sec || (a.tv_sec == b.tv_sec && a.tv_nsec > b.tv_nsec))
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void PLC_thread_proc(void *arg)
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{
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    /* initialize next occurence and period */
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    period_ns = common_ticktime__;
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    clock_gettime(CLOCK_MONOTONIC, &next_cycle_time);
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    while (!PLC_shutdown) {
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        int res;
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        struct timespec plc_end_time;
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        int periods = 0;
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#ifdef REALTIME_LINUX
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        struct timespec deadline_time;
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        struct timespec plc_start_time;
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#endif
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// BEREMIZ_TEST_CYCLES is defined in tests that need to emulate time:
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// - all BEREMIZ_TEST_CYCLES cycles are executed in a row with no pause
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// - __CURRENT_TIME is incremented each cycle according to emulated cycle period
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#ifndef BEREMIZ_TEST_CYCLES
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        // Sleep until next PLC run
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        res = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_cycle_time, NULL);
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        if(res==EINTR){
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            continue;
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        }
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        if(res!=0){
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            _LogError("PLC thread timer returned error %d \n", res);
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            return;
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        }
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#endif // BEREMIZ_TEST_CYCLES
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#ifdef REALTIME_LINUX
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        // timer overrun detection
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        clock_gettime(CLOCK_MONOTONIC, &plc_start_time);
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        deadline_time=next_cycle_time;
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        inc_timespec(&deadline_time, MAX_JITTER);
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        if(timespec_gt(plc_start_time, deadline_time)){
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            _LogWarning("PLC thread woken up too late. PLC cyclic task interval is too small.\n");
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        }
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#endif
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#ifdef BEREMIZ_TEST_CYCLES
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#define xstr(s) str(s)
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#define str(arg) #arg
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        // fake current time
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        __CURRENT_TIME.tv_sec = next_cycle_time.tv_sec;
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        __CURRENT_TIME.tv_nsec = next_cycle_time.tv_nsec;
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        // exit loop when enough cycles
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        if(__tick >= BEREMIZ_TEST_CYCLES) {
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            _LogWarning("TEST PLC thread ended after "xstr(BEREMIZ_TEST_CYCLES)" cycles.\n");
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            // After pre-defined test cycles count, PLC thread exits.
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            // Remaining PLC runtime is expected to be cleaned-up/killed by test script
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            return;
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        }
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#else
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        PLC_GetTime(&__CURRENT_TIME);
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#endif
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        __run();
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#ifndef BEREMIZ_TEST_CYCLES
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        // ensure next PLC cycle occurence is in the future
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        clock_gettime(CLOCK_MONOTONIC, &plc_end_time);
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        while(timespec_gt(plc_end_time, next_cycle_time))
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#endif
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        {
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            periods += 1;
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            inc_timespec(&next_cycle_time, period_ns);
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        }
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        // plc execution time overrun detection
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        if(periods > 1) {
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            // Mitigate CPU hogging, in case of too small cyclic task interval:
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            //  - since cycle deadline already missed, better keep system responsive
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            //  - test if next cycle occurs after minimal idle
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            //  - enforce minimum idle time if not
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            struct timespec earliest_possible_time = plc_end_time;
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            inc_timespec(&earliest_possible_time, MIN_IDLE_TIME_NS);
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            while(timespec_gt(earliest_possible_time, next_cycle_time)){
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                periods += 1;
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                inc_timespec(&next_cycle_time, period_ns);
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            }
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            // increment tick count anyhow, so that task scheduling keeps consistent
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            __tick+=periods-1;
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            _LogWarning("PLC execution time is longer than requested PLC cyclic task interval. %d cycles skipped\n", periods);
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        }
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    }
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    pthread_exit(0);
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}
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#define maxval(a,b) ((a>b)?a:b)
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int startPLC(int argc,char **argv)
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{
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    int ret;
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	pthread_attr_t *pattr = NULL;
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#ifdef REALTIME_LINUX
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	struct sched_param param;
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	pthread_attr_t attr;
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    /* Lock memory */
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    ret = mlockall(MCL_CURRENT|MCL_FUTURE);
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    if(ret == -1) {
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		_LogError("mlockall failed: %m\n");
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		return ret;
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    }
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	/* Initialize pthread attributes (default values) */
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	ret = pthread_attr_init(&attr);
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	if (ret) {
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		_LogError("init pthread attributes failed\n");
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		return ret;
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	}
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	/* Set scheduler policy and priority of pthread */
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	ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
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	if (ret) {
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		_LogError("pthread setschedpolicy failed\n");
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		return ret;
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	}
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	param.sched_priority = PLC_THREAD_PRIORITY;
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	ret = pthread_attr_setschedparam(&attr, &param);
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	if (ret) {
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		_LogError("pthread setschedparam failed\n");
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		return ret;
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	}
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	/* Use scheduling parameters of attr */
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	ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
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	if (ret) {
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		_LogError("pthread setinheritsched failed\n");
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		return ret;
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	}
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	pattr = &attr;
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#endif
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    PLC_shutdown = 0;
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    pthread_mutex_init(&debug_wait_mutex, NULL);
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    pthread_mutex_init(&debug_mutex, NULL);
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    pthread_mutex_init(&python_wait_mutex, NULL);
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    pthread_mutex_init(&python_mutex, NULL);
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    pthread_mutex_lock(&debug_wait_mutex);
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    pthread_mutex_lock(&python_wait_mutex);
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    if((ret = __init(argc,argv)) == 0 ){
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        /* Signal to wakeup PLC thread when period changes */
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        signal(SIGUSR1, PLCThreadSignalHandler);
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        /* Signal to end PLC thread */
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        signal(SIGUSR2, PLCThreadSignalHandler);
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        /* install signal handler for manual break */
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        signal(SIGINT, catch_signal);
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        ret = pthread_create(&PLC_thread, pattr, (void*) &PLC_thread_proc, NULL);
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		if (ret) {
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			_LogError("create pthread failed\n");
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			return ret;
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   269
		}
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    }else{
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        return ret;
205
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    }
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    return 0;
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}
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239
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int TryEnterDebugSection(void)
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{
462
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    if (pthread_mutex_trylock(&debug_mutex) == 0){
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        /* Only enter if debug active */
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        if(__DEBUG){
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            return 1;
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        }
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        pthread_mutex_unlock(&debug_mutex);
462
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    }
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   285
    return 0;
239
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   286
}
235
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239
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void LeaveDebugSection(void)
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{
239
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    pthread_mutex_unlock(&debug_mutex);
235
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   291
}
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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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    /* Order PLCThread to exit */
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    pthread_kill(PLC_thread, SIGUSR2);
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    pthread_join(PLC_thread, NULL);
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    __cleanup();
329
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    pthread_mutex_destroy(&debug_wait_mutex);
483
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    pthread_mutex_destroy(&debug_mutex);
329
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    pthread_mutex_destroy(&python_wait_mutex);
483
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    pthread_mutex_destroy(&python_mutex);
386
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   305
    return 0;
205
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   306
}
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   308
extern unsigned int __tick;
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int WaitDebugData(unsigned int *tick)
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{
617
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    int res;
876
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    if (PLC_shutdown) return 1;
617
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   314
    /* Wait signal from PLC thread */
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   315
    res = pthread_mutex_lock(&debug_wait_mutex);
446
1edde533db19 Some cleanup in PLC status - removed that \"Starting\" state ...
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   316
    *tick = __debug_tick;
617
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   317
    return res;
205
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}
329
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   319
205
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   320
/* Called by PLC thread when debug_publish finished
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   321
 * This is supposed to unlock debugger thread in WaitDebugData*/
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void InitiateDebugTransfer()
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   323
{
239
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   324
    /* remember tick */
227
48c13b84505c - Some improovements in debug data feedback data
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   325
    __debug_tick = __tick;
239
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   326
    /* signal debugger thread it can read data */
280
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   327
    pthread_mutex_unlock(&debug_wait_mutex);
205
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   328
}
239
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   329
614
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   330
int suspendDebug(int disable)
462
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   331
{
239
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   332
    /* Prevent PLC to enter debug code */
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diff changeset
   333
    pthread_mutex_lock(&debug_mutex);
462
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   334
    /*__DEBUG is protected by this mutex */
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   335
    __DEBUG = !disable;
485
8b2da4b9d408 Bug that block SetVariableList on Linux fixed
laurent
parents: 483
diff changeset
   336
    if (disable)
3726
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   337
        pthread_mutex_unlock(&debug_mutex);
614
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   338
    return 0;
239
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   339
}
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   340
280
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   341
void resumeDebug(void)
239
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   342
{
290
3bd617ae7a05 Local Runtime (LOCAL://) now launched "on demand"
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   343
    __DEBUG = 1;
239
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   344
    /* Let PLC enter debug code */
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   345
    pthread_mutex_unlock(&debug_mutex);
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   346
}
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   347
280
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diff changeset
   348
/* from plc_python.c */
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   349
int WaitPythonCommands(void)
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   350
{
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   351
    /* Wait signal from PLC thread */
329
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diff changeset
   352
    return pthread_mutex_lock(&python_wait_mutex);
280
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diff changeset
   353
}
329
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   354
280
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diff changeset
   355
/* Called by PLC thread on each new python command*/
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diff changeset
   356
void UnBlockPythonCommands(void)
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etisserant
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diff changeset
   357
{
3334
d7e0ddb5974b Fix wrong comment
Edouard Tisserant
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diff changeset
   358
    /* signal python thread it can read data */
280
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   359
    pthread_mutex_unlock(&python_wait_mutex);
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 245
diff changeset
   360
}
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   361
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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diff changeset
   362
int TryLockPython(void)
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diff changeset
   363
{
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   364
    return pthread_mutex_trylock(&python_mutex) == 0;
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
parents: 245
diff changeset
   365
}
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   366
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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diff changeset
   367
void UnLockPython(void)
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etisserant
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diff changeset
   368
{
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   369
    pthread_mutex_unlock(&python_mutex);
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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diff changeset
   370
}
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diff changeset
   371
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
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diff changeset
   372
void LockPython(void)
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etisserant
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diff changeset
   373
{
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   374
    pthread_mutex_lock(&python_mutex);
f2ef79f3dba0 Added native (not a plugin) asynchronous python eval function block - Beta. Code cleanup in C code templates.
etisserant
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diff changeset
   375
}
2820
d9b5303d43dc SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Edouard Tisserant
parents: 2173
diff changeset
   376
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
   377
struct RT_to_nRT_signal_s {
3725
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   378
    int used;
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
   379
    pthread_cond_t WakeCond;
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
   380
    pthread_mutex_t WakeCondLock;
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
   381
};
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
   382
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
   383
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
   384
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
   385
#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
   386
    {\
3726
516779f11803 runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents: 3725
diff changeset
   387
        char mstr[256] = text " for ";\
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
   388
        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
   389
        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
   390
        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
   391
    }
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
   392
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
   393
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
   394
    RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(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
   395
3726
516779f11803 runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents: 3725
diff changeset
   396
    if(!sig)
516779f11803 runtime: Change Linux target to use clock_nanosleep instead of timer (better rt-preempt perf).
Edouard Tisserant
parents: 3725
diff changeset
   397
        _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal");
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
   398
3725
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   399
    sig->used = 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
   400
    pthread_cond_init(&sig->WakeCond, 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
   401
    pthread_mutex_init(&sig->WakeCondLock, 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
   402
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
   403
    return (void*)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
   404
}
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
   405
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
   406
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
   407
    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
   408
3725
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   409
    pthread_mutex_lock(&sig->WakeCondLock);
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   410
    sig->used = 0;
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   411
    pthread_cond_signal(&sig->WakeCond);
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   412
    pthread_mutex_unlock(&sig->WakeCondLock);
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
   413
}
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
   414
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
   415
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
   416
    int 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
   417
    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
   418
    pthread_mutex_lock(&sig->WakeCondLock);
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
   419
    ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock);
3725
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   420
    if(!sig->used) ret = -EINVAL;
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
   421
    pthread_mutex_unlock(&sig->WakeCondLock);
3725
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   422
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   423
    if(!sig->used){
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   424
        pthread_cond_destroy(&sig->WakeCond);
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   425
        pthread_mutex_destroy(&sig->WakeCondLock);
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   426
        free(sig);
0043e2b9dbec Linux runtime: fix thread waiting on wait_RT_to_nRT_signal not being waken-up when delete_RT_to_nRT_signal is invoked.
Edouard Tisserant
parents: 3334
diff changeset
   427
    }
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
   428
    return 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
   429
}
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
   430
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
   431
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
   432
    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
   433
    return pthread_cond_signal(&sig->WakeCond);
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
   434
}
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
   435
3295
0375d801fff7 Runtime+SVGHMI: Add generic wakeup of threads from PLC thread to windows implementation of plc_main.c. Also added nRT_reschedule to abstract sched_yield.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 3294
diff changeset
   436
void nRT_reschedule(void){
0375d801fff7 Runtime+SVGHMI: Add generic wakeup of threads from PLC thread to windows implementation of plc_main.c. Also added nRT_reschedule to abstract sched_yield.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 3294
diff changeset
   437
    sched_yield();
0375d801fff7 Runtime+SVGHMI: Add generic wakeup of threads from PLC thread to windows implementation of plc_main.c. Also added nRT_reschedule to abstract sched_yield.
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 3294
diff changeset
   438
}