1 /**

     1 /**

     2  * Linux specific code

     2  * Linux specific code

     4 

     4 

     5 #include <stdio.h>

     5 #include <stdio.h>

     6 #include <string.h>

     6 #include <string.h>

     7 #include <time.h>

     7 #include <time.h>

     8 #include <signal.h>

     8 #include <signal.h>

    50 }

    50 }

    51 

    51 

    52 void PLC_task_proc(void *arg)

    52 void PLC_task_proc(void *arg)

    53 {

    53 {

    54     PLC_SetTimer(Ttick, Ttick);

    54     PLC_SetTimer(Ttick, Ttick);

    56     while (1) {

    56     while (1) {

    57         PLC_GetTime(&__CURRENT_TIME);

    57         PLC_GetTime(&__CURRENT_TIME);

    58         __run();

    58         __run();

    59         if (PLC_shutdown) break;

    59         if (PLC_shutdown) break;

    60         rt_task_wait_period(NULL);

    60         rt_task_wait_period(NULL);

    82 

    82 

    83     if (PLC_state & PLC_STATE_PYTHON_MUTEX_CREATED) {

    83     if (PLC_state & PLC_STATE_PYTHON_MUTEX_CREATED) {

    84         rt_mutex_delete(&python_mutex);

    84         rt_mutex_delete(&python_mutex);

    85         PLC_state &= ~ PLC_STATE_PYTHON_MUTEX_CREATED;

    85         PLC_state &= ~ PLC_STATE_PYTHON_MUTEX_CREATED;

    86     }

    86     }

    88     if (PLC_state & PLC_STATE_DEBUG_WAIT_SEM_CREATED) {

    88     if (PLC_state & PLC_STATE_DEBUG_WAIT_SEM_CREATED) {

    89         rt_sem_delete(&debug_wait_sem);

    89         rt_sem_delete(&debug_wait_sem);

    90         PLC_state &= ~ PLC_STATE_DEBUG_WAIT_SEM_CREATED;

    90         PLC_state &= ~ PLC_STATE_DEBUG_WAIT_SEM_CREATED;

    91     }

    91     }

    92 

    92 

   120 

   120 

   121 #define max_val(a,b) ((a>b)?a:b)

   121 #define max_val(a,b) ((a>b)?a:b)

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

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

   123 {

   123 {

   124     int ret = 0;

   124     int ret = 0;

   126     signal(SIGINT, catch_signal);

   126     signal(SIGINT, catch_signal);

   128     /* ne-memory-swapping for this program */

   128     /* ne-memory-swapping for this program */

   129     mlockall(MCL_CURRENT | MCL_FUTURE);

   129     mlockall(MCL_CURRENT | MCL_FUTURE);

   131     /* Translate PLC's microseconds to Ttick nanoseconds */

   131     /* Translate PLC's microseconds to Ttick nanoseconds */

   132     Ttick = 1000000 * max_val(common_ticktime__,1);

   132     Ttick = 1000000 * max_val(common_ticktime__,1);

   134     /* create python_wait_sem */

   134     /* create python_wait_sem */

   135     ret = rt_sem_create(&python_wait_sem, "python_wait_sem", 0, S_FIFO);

   135     ret = rt_sem_create(&python_wait_sem, "python_wait_sem", 0, S_FIFO);

   136     if (ret) goto error;

   136     if (ret) goto error;

   137     PLC_state |= PLC_STATE_PYTHON_WAIT_SEM_CREATED;

   137     PLC_state |= PLC_STATE_PYTHON_WAIT_SEM_CREATED;

   139     /* create python_mutex */

   139     /* create python_mutex */

   140     ret = rt_mutex_create(&python_mutex, "python_mutex");

   140     ret = rt_mutex_create(&python_mutex, "python_mutex");

   141     if (ret) goto error;

   141     if (ret) goto error;

   142     PLC_state |= PLC_STATE_PYTHON_MUTEX_CREATED;

   142     PLC_state |= PLC_STATE_PYTHON_MUTEX_CREATED;

   144     /* create debug_wait_sem */

   144     /* create debug_wait_sem */

   145     ret = rt_sem_create(&debug_wait_sem, "debug_wait_sem", 0, S_FIFO);

   145     ret = rt_sem_create(&debug_wait_sem, "debug_wait_sem", 0, S_FIFO);

   146     if (ret) goto error;

   146     if (ret) goto error;

   147     PLC_state |= PLC_STATE_DEBUG_WAIT_SEM_CREATED;

   147     PLC_state |= PLC_STATE_DEBUG_WAIT_SEM_CREATED;

   149     /* create debug_mutex */

   149     /* create debug_mutex */

   150     ret = rt_mutex_create(&debug_mutex, "debug_mutex");

   150     ret = rt_mutex_create(&debug_mutex, "debug_mutex");

   151     if (ret) goto error;

   151     if (ret) goto error;

   152     PLC_state |= PLC_STATE_DEBUG_MUTEX_CREATED;

   152     PLC_state |= PLC_STATE_DEBUG_MUTEX_CREATED;

   154     /* create can_driver_task */

   154     /* create can_driver_task */

   155     ret = rt_task_create(&PLC_task, "PLC_task", 0, 50, 0);

   155     ret = rt_task_create(&PLC_task, "PLC_task", 0, 50, 0);

   156     if (ret) goto error;

   156     if (ret) goto error;

   157     PLC_state |= PLC_STATE_TASK_CREATED;

   157     PLC_state |= PLC_STATE_TASK_CREATED;

   159     ret = __init(argc,argv);

   159     ret = __init(argc,argv);

   160     if (ret) goto error;

   160     if (ret) goto error;

   161 

   161 

   162     /* start can_driver_task */

   162     /* start can_driver_task */

   163     ret = rt_task_start(&PLC_task, &PLC_task_proc, NULL);

   163     ret = rt_task_start(&PLC_task, &PLC_task_proc, NULL);

   187     rt_task_shadow(&WaitDebug_task, "WaitDebug_task", 0, 0);

   187     rt_task_shadow(&WaitDebug_task, "WaitDebug_task", 0, 0);

   188     /* Wait signal from PLC thread */

   188     /* Wait signal from PLC thread */

   189     rt_sem_p(&debug_wait_sem, TM_INFINITE);

   189     rt_sem_p(&debug_wait_sem, TM_INFINITE);

   190     return __debug_tick;

   190     return __debug_tick;

   191 }

   191 }

   193 /* Called by PLC thread when debug_publish finished

   193 /* Called by PLC thread when debug_publish finished

   194  * This is supposed to unlock debugger thread in WaitDebugData*/

   194  * This is supposed to unlock debugger thread in WaitDebugData*/

   195 void InitiateDebugTransfer()

   195 void InitiateDebugTransfer()

   196 {

   196 {

   197     /* remember tick */

   197     /* remember tick */

   219 {

   219 {

   220     rt_task_shadow(&WaitPythonCommand_task, "WaitPythonCommand_task", 0, 0);

   220     rt_task_shadow(&WaitPythonCommand_task, "WaitPythonCommand_task", 0, 0);

   221     /* Wait signal from PLC thread */

   221     /* Wait signal from PLC thread */

   222     rt_sem_p(&python_wait_sem, TM_INFINITE);

   222     rt_sem_p(&python_wait_sem, TM_INFINITE);

   223 }

   223 }

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

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

   226 void UnBlockPythonCommands(void)

   226 void UnBlockPythonCommands(void)

   227 {

   227 {

   228     /* signal debugger thread it can read data */

   228     /* signal debugger thread it can read data */

   229     rt_sem_v(&python_wait_sem);

   229     rt_sem_v(&python_wait_sem);