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 {

    22 {

    17     return __sync_val_compare_and_swap(atomicvar, compared, exchange);

    23     return __sync_val_compare_and_swap(atomicvar, compared, exchange);

    18 }

    24 }

    19 

    25 

    20 void PLC_GetTime(IEC_TIME *CURRENT_TIME)

    26 void PLC_GetTime(IEC_TIME *CURRENT_TIME)

    26 }

    32 }

    27 

    33 

    28 void PLC_timer_notify(sigval_t val)

    34 void PLC_timer_notify(sigval_t val)

    29 {

    35 {

    30     PLC_GetTime(&__CURRENT_TIME);

    36     PLC_GetTime(&__CURRENT_TIME);

    32 }

    38 }

    33 

    39 

    34 timer_t PLC_timer;

    40 timer_t PLC_timer;

    35 

    41 

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

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

    67 }

    73 }

    68 

    74 

    69 

    75 

    70 static unsigned long __debug_tick;

    76 static unsigned long __debug_tick;

    71 

    77 

    72 static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    79 static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    73 static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;

    80 static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER;

    74 static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    81 static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER;

    75 static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;

    82 static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER;

    76 

    83 

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

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

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

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

    79 {

    97 {

    80     struct sigevent sigev;

    98     struct sigevent sigev;

    81     setlocale(LC_NUMERIC, "C");

    99     setlocale(LC_NUMERIC, "C");

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

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

    83     Ttick = common_ticktime__?common_ticktime__:1000000;

   101     Ttick = common_ticktime__?common_ticktime__:1000000;

    84 

   108 

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

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

    86     sigev.sigev_value.sival_int = 0;

   110     sigev.sigev_value.sival_int = 0;

    87     sigev.sigev_notify = SIGEV_THREAD;

   111     sigev.sigev_notify = SIGEV_THREAD;

    88     sigev.sigev_notify_attributes = NULL;

   112     sigev.sigev_notify_attributes = NULL;

   126 }

   150 }

   127 

   151 

   128 int stopPLC()

   152 int stopPLC()

   129 {

   153 {

   130     /* Stop the PLC */

   154     /* Stop the PLC */

   131     PLC_SetTimer(0,0);

   157     PLC_SetTimer(0,0);

   132     timer_delete (PLC_timer);

   160     timer_delete (PLC_timer);

   133     __cleanup();

   161     __cleanup();

   134     pthread_mutex_destroy(&debug_wait_mutex);

   162     pthread_mutex_destroy(&debug_wait_mutex);

   135     pthread_mutex_destroy(&debug_mutex);

   163     pthread_mutex_destroy(&debug_mutex);

   136     pthread_mutex_destroy(&python_wait_mutex);

   164     pthread_mutex_destroy(&python_wait_mutex);

   141 extern unsigned long __tick;

   169 extern unsigned long __tick;

   142 

   170 

   143 int WaitDebugData(unsigned long *tick)

   171 int WaitDebugData(unsigned long *tick)

   144 {

   172 {

   145     int res;

   173     int res;

   146     /* Wait signal from PLC thread */

   175     /* Wait signal from PLC thread */

   147     res = pthread_mutex_lock(&debug_wait_mutex);

   176     res = pthread_mutex_lock(&debug_wait_mutex);

   148     *tick = __debug_tick;

   177     *tick = __debug_tick;

   149     return res;

   178     return res;

   150 }

   179 }