7 #include <time.h>

     7 #include <time.h>

     8 #include <signal.h>

     8 #include <signal.h>

     9 #include <stdlib.h>

     9 #include <stdlib.h>

    10 #include <pthread.h>

    10 #include <pthread.h>

    11 #include <locale.h>

    11 #include <locale.h>

    12 

    13 

    13 extern unsigned long long common_ticktime__;

    14 extern unsigned long long common_ticktime__;

    14 

    16 

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

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

    16 {

    18 {

    17     return __sync_val_compare_and_swap(atomicvar, compared, exchange);

    19     return __sync_val_compare_and_swap(atomicvar, compared, exchange);

    18 }

    20 }

    26 }

    28 }

    27 

    29 

    28 void PLC_timer_notify(sigval_t val)

    30 void PLC_timer_notify(sigval_t val)

    29 {

    31 {

    30     PLC_GetTime(&__CURRENT_TIME);

    32     PLC_GetTime(&__CURRENT_TIME);

    32 }

    34 }

    33 

    35 

    34 timer_t PLC_timer;

    36 timer_t PLC_timer;

    35 

    37 

    36 void PLC_SetTimer(unsigned long long next, unsigned long long period)

    38 void PLC_SetTimer(unsigned long long next, unsigned long long period)

    67 }

    69 }

    68 

    70 

    69 

    71 

    70 static unsigned long __debug_tick;

    72 static unsigned long __debug_tick;

    71 

    73 

    72 static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    75 static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    73 static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;

    76 static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;

    74 static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    77 static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    75 static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;

    78 static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;

    76 

    79 

    77 #define maxval(a,b) ((a>b)?a:b)

    91 #define maxval(a,b) ((a>b)?a:b)

    78 int startPLC(int argc,char **argv)

    92 int startPLC(int argc,char **argv)

    79 {

    93 {

    80     struct sigevent sigev;

    94     struct sigevent sigev;

    81     setlocale(LC_NUMERIC, "C");

    95     setlocale(LC_NUMERIC, "C");

    82     /* Define Ttick to 1ms if common_ticktime not defined */

    96     /* Define Ttick to 1ms if common_ticktime not defined */

    83     Ttick = common_ticktime__?common_ticktime__:1000000;

    97     Ttick = common_ticktime__?common_ticktime__:1000000;

    84 

   104 

    85     memset (&sigev, 0, sizeof (struct sigevent));

   105     memset (&sigev, 0, sizeof (struct sigevent));

    86     sigev.sigev_value.sival_int = 0;

   106     sigev.sigev_value.sival_int = 0;

    87     sigev.sigev_notify = SIGEV_THREAD;

   107     sigev.sigev_notify = SIGEV_THREAD;

    88     sigev.sigev_notify_attributes = NULL;

   108     sigev.sigev_notify_attributes = NULL;

   126 }

   146 }

   127 

   147 

   128 int stopPLC()

   148 int stopPLC()

   129 {

   149 {

   130     /* Stop the PLC */

   150     /* Stop the PLC */

   131     PLC_SetTimer(0,0);

   153     PLC_SetTimer(0,0);

   132     timer_delete (PLC_timer);

   156     timer_delete (PLC_timer);

   133     __cleanup();

   157     __cleanup();

   134     pthread_mutex_destroy(&debug_wait_mutex);

   158     pthread_mutex_destroy(&debug_wait_mutex);

   135     pthread_mutex_destroy(&debug_mutex);

   159     pthread_mutex_destroy(&debug_mutex);

   136     pthread_mutex_destroy(&python_wait_mutex);

   160     pthread_mutex_destroy(&python_wait_mutex);

   141 extern unsigned long __tick;

   165 extern unsigned long __tick;

   142 

   166 

   143 int WaitDebugData(unsigned long *tick)

   167 int WaitDebugData(unsigned long *tick)

   144 {

   168 {

   145     int res;

   169     int res;

   146     /* Wait signal from PLC thread */

   171     /* Wait signal from PLC thread */

   147     res = pthread_mutex_lock(&debug_wait_mutex);

   172     res = pthread_mutex_lock(&debug_wait_mutex);

   148     *tick = __debug_tick;

   173     *tick = __debug_tick;

   149     return res;

   174     return res;

   150 }

   175 }