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1 #include <stdio.h> |
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2 #include <string.h> |
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3 #include <time.h> |
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4 #include <signal.h> |
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5 #include <stdlib.h> |
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6 #include <pthread.h> |
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7 |
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8 long AtomicCompareExchange(long* atomicvar,long exchange, long compared) |
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9 { |
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10 return __sync_val_compare_and_swap(atomicvar, compared, exchange); |
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11 } |
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12 |
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13 //long AtomicExchange(long* atomicvar,long exchange) |
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14 //{ |
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15 // return __sync_lock_test_and_set(atomicvar, exchange); |
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16 //} |
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17 |
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18 void PLC_GetTime(IEC_TIME *CURRENT_TIME) |
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19 { |
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20 clock_gettime(CLOCK_REALTIME, CURRENT_TIME); |
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21 } |
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22 |
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23 void PLC_timer_notify(sigval_t val) |
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24 { |
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25 PLC_GetTime(&__CURRENT_TIME); |
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26 __run(); |
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27 } |
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28 |
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29 timer_t PLC_timer; |
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30 |
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31 void PLC_SetTimer(long long next, long long period) |
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32 { |
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33 struct itimerspec timerValues; |
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34 /* |
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35 printf("SetTimer(%lld,%lld)\n",next, period); |
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36 */ |
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37 memset (&timerValues, 0, sizeof (struct itimerspec)); |
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38 { |
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39 #ifdef __lldiv_t_defined |
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40 lldiv_t nxt_div = lldiv(next, 1000000000); |
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41 lldiv_t period_div = lldiv(period, 1000000000); |
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42 timerValues.it_value.tv_sec = nxt_div.quot; |
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43 timerValues.it_value.tv_nsec = nxt_div.rem; |
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44 timerValues.it_interval.tv_sec = period_div.quot; |
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45 timerValues.it_interval.tv_nsec = period_div.rem; |
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46 #else |
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47 timerValues.it_value.tv_sec = next / 1000000000; |
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48 timerValues.it_value.tv_nsec = next % 1000000000; |
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49 timerValues.it_interval.tv_sec = period / 1000000000; |
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50 timerValues.it_interval.tv_nsec = period % 1000000000; |
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51 #endif |
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52 } |
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53 timer_settime (PLC_timer, 0, &timerValues, NULL); |
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54 } |
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55 // |
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56 void catch_signal(int sig) |
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57 { |
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58 // signal(SIGTERM, catch_signal); |
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59 signal(SIGINT, catch_signal); |
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60 printf("Got Signal %d\n",sig); |
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61 exit(0); |
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62 } |
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63 |
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64 int startPLC(int argc,char **argv) |
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65 { |
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66 struct sigevent sigev; |
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67 /* Translate PLC's microseconds to Ttick nanoseconds */ |
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68 Ttick = 1000000 * maxval(common_ticktime__,1); |
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69 |
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70 memset (&sigev, 0, sizeof (struct sigevent)); |
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71 sigev.sigev_value.sival_int = 0; |
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72 sigev.sigev_notify = SIGEV_THREAD; |
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73 sigev.sigev_notify_attributes = NULL; |
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74 sigev.sigev_notify_function = PLC_timer_notify; |
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75 |
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76 timer_create (CLOCK_REALTIME, &sigev, &PLC_timer); |
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77 if( __init(argc,argv) == 0 ){ |
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78 PLC_SetTimer(Ttick,Ttick); |
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79 |
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80 /* install signal handler for manual break */ |
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81 // signal(SIGTERM, catch_signal); |
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82 signal(SIGINT, catch_signal); |
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83 }else{ |
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84 return 1; |
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85 } |
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86 return 0; |
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87 } |
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88 |
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89 int stopPLC() |
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90 { |
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91 /* Stop the PLC */ |
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92 PLC_SetTimer(0,0); |
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93 timer_delete (PLC_timer); |
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94 __cleanup(); |
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95 } |
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96 |
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97 pthread_mutex_t DebugLock = PTHREAD_MUTEX_INITIALIZER; |
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98 |
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99 /* from plc_debugger.c */ |
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100 void WaitDebugData() |
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101 { |
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102 /* Wait signal from PLC thread */ |
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103 pthread_mutex_lock(&DebugLock); |
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104 } |
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105 |
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106 /* Called by PLC thread when debug_publish finished |
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107 * This is supposed to unlock debugger thread in WaitDebugData*/ |
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108 void InitiateDebugTransfer() |
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109 { |
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110 /* signal debugger thread to continue*/ |
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111 pthread_mutex_unlock(&DebugLock); |
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112 } |