targets/Xenomai/plc_Xenomai_main.c
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Fri, 25 Aug 2017 11:22:08 +0300
changeset 1789 492e2cd6157e
parent 1717 a86deec92e08
child 1903 084256be3658
permissions -rw-r--r--
fix problem when Beremiz is running without matiec installed

set matiec settings only once on first use of ProjectController class and give
user-friendly message on compilation about missing matiec
installation.


Traceback (most recent call last):
File "Beremiz.py", line 197, in <module>
beremiz.Start()
File "Beremiz.py", line 192, in Start
self.CreateApplication()
File "Beremiz.py", line 130, in CreateApplication
self.BackgroundInitialization()
File "Beremiz.py", line 137, in BackgroundInitialization
self.ImportModules()
File "Beremiz.py", line 176, in ImportModules
import BeremizIDE
File
"BeremizIDE.py", line 76, in <module>
from ProjectController import ProjectController, GetAddMenuItems,
MATIEC_ERROR_MODEL, ITEM_CONFNODE
File
"ProjectController.py", line 177, in <module>
iec2c_cfg = Iec2CSettings()
File
"ProjectController.py", line 101, in __init__
self.ieclib_c_path = self.findLibCPath()
File
"ProjectController.py", line 135, in findLibCPath
os.path.join(self.ieclib_path, "C"),
File "/usr/lib/python2.7/posixpath.py", line 70, in join
elif path == '' or path.endswith('/'):
AttributeError: 'NoneType' object has no attribute 'endswith'
/**
 * Xenomai Linux specific code
 **/

#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <time.h>
#include <signal.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <sys/fcntl.h>

#include <native/task.h>
#include <native/timer.h>
#include <native/sem.h>
#include <native/pipe.h>

unsigned int PLC_state = 0;
#define PLC_STATE_TASK_CREATED                 1
#define PLC_STATE_DEBUG_FILE_OPENED            2 
#define PLC_STATE_DEBUG_PIPE_CREATED           4 
#define PLC_STATE_PYTHON_FILE_OPENED           8 
#define PLC_STATE_PYTHON_PIPE_CREATED          16   
#define PLC_STATE_WAITDEBUG_FILE_OPENED        32   
#define PLC_STATE_WAITDEBUG_PIPE_CREATED       64
#define PLC_STATE_WAITPYTHON_FILE_OPENED       128
#define PLC_STATE_WAITPYTHON_PIPE_CREATED      256

#define WAITDEBUG_PIPE_DEVICE        "/dev/rtp0"
#define WAITDEBUG_PIPE_MINOR         0
#define DEBUG_PIPE_DEVICE            "/dev/rtp1"
#define DEBUG_PIPE_MINOR             1
#define WAITPYTHON_PIPE_DEVICE       "/dev/rtp2"
#define WAITPYTHON_PIPE_MINOR        2
#define PYTHON_PIPE_DEVICE           "/dev/rtp3"
#define PYTHON_PIPE_MINOR            3
#define PIPE_SIZE                    1 


long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
{
    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
}
long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange)
{
    return __sync_val_compare_and_swap(atomicvar, compared, exchange);
}

void PLC_GetTime(IEC_TIME *CURRENT_TIME)
{
    RTIME current_time = rt_timer_read();
    CURRENT_TIME->tv_sec = current_time / 1000000000;
    CURRENT_TIME->tv_nsec = current_time % 1000000000;
}

RT_TASK PLC_task;
RT_PIPE WaitDebug_pipe;
RT_PIPE WaitPython_pipe;
RT_PIPE Debug_pipe;
RT_PIPE Python_pipe;
int WaitDebug_pipe_fd;
int WaitPython_pipe_fd;
int Debug_pipe_fd;
int Python_pipe_fd;

int PLC_shutdown = 0;

void PLC_SetTimer(unsigned long long next, unsigned long long period)
{
  RTIME current_time = rt_timer_read();
  rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));
}

void PLC_task_proc(void *arg)
{
    PLC_SetTimer(common_ticktime__, common_ticktime__);

    while (!PLC_shutdown) {
        PLC_GetTime(&__CURRENT_TIME);
        __run();
        if (PLC_shutdown) break;
        rt_task_wait_period(NULL);
    }
}

static unsigned long __debug_tick;

void PLC_cleanup_all(void)
{
    if (PLC_state & PLC_STATE_TASK_CREATED) {
        rt_task_delete(&PLC_task);
        PLC_state &= ~PLC_STATE_TASK_CREATED;
    }

    if (PLC_state & PLC_STATE_WAITDEBUG_PIPE_CREATED) {
        rt_pipe_delete(&WaitDebug_pipe);
        PLC_state &= ~PLC_STATE_WAITDEBUG_PIPE_CREATED;
    }

    if (PLC_state & PLC_STATE_WAITDEBUG_FILE_OPENED) {
        close(WaitDebug_pipe_fd);
        PLC_state &= ~PLC_STATE_WAITDEBUG_FILE_OPENED;
    }

    if (PLC_state & PLC_STATE_WAITPYTHON_PIPE_CREATED) {
        rt_pipe_delete(&WaitPython_pipe);
        PLC_state &= ~PLC_STATE_WAITPYTHON_PIPE_CREATED;
    }

    if (PLC_state & PLC_STATE_WAITPYTHON_FILE_OPENED) {
        close(WaitPython_pipe_fd);
        PLC_state &= ~PLC_STATE_WAITPYTHON_FILE_OPENED;
    }

    if (PLC_state & PLC_STATE_DEBUG_PIPE_CREATED) {
        rt_pipe_delete(&Debug_pipe);
        PLC_state &= ~PLC_STATE_DEBUG_PIPE_CREATED;
    }

    if (PLC_state & PLC_STATE_DEBUG_FILE_OPENED) {
        close(Debug_pipe_fd);
        PLC_state &= ~PLC_STATE_DEBUG_FILE_OPENED;
    }

    if (PLC_state & PLC_STATE_PYTHON_PIPE_CREATED) {
        rt_pipe_delete(&Python_pipe);
        PLC_state &= ~PLC_STATE_PYTHON_PIPE_CREATED;
    }

    if (PLC_state & PLC_STATE_PYTHON_FILE_OPENED) {
        close(Python_pipe_fd);
        PLC_state &= ~PLC_STATE_PYTHON_FILE_OPENED;
    }

}

int stopPLC()
{
    /* Stop the PLC */
    PLC_shutdown = 1;

    /* Wait until PLC task stops */
    rt_task_join(&PLC_task);

    PLC_cleanup_all();
    __cleanup();
    __debug_tick = -1;
    return 0;
}

//
void catch_signal(int sig)
{
    stopPLC();
//  signal(SIGTERM, catch_signal);
    signal(SIGINT, catch_signal);
    printf("Got Signal %d\n",sig);
    exit(0);
}

#define max_val(a,b) ((a>b)?a:b)
int startPLC(int argc,char **argv)
{
    signal(SIGINT, catch_signal);

    /* no memory swapping for that process */
    mlockall(MCL_CURRENT | MCL_FUTURE);

    PLC_shutdown = 0;

    /*** RT Pipes creation and opening ***/
    /* create Debug_pipe */
    if(rt_pipe_create(&Debug_pipe, "Debug_pipe", DEBUG_PIPE_MINOR, PIPE_SIZE)) 
        goto error;
    PLC_state |= PLC_STATE_DEBUG_PIPE_CREATED;

    /* open Debug_pipe*/
    if((Debug_pipe_fd = open(DEBUG_PIPE_DEVICE, O_RDWR)) == -1) goto error;
    PLC_state |= PLC_STATE_DEBUG_FILE_OPENED;

    /* create Python_pipe */
    if(rt_pipe_create(&Python_pipe, "Python_pipe", PYTHON_PIPE_MINOR, PIPE_SIZE)) 
        goto error;
    PLC_state |= PLC_STATE_PYTHON_PIPE_CREATED;

    /* open Python_pipe*/
    if((Python_pipe_fd = open(PYTHON_PIPE_DEVICE, O_RDWR)) == -1) goto error;
    PLC_state |= PLC_STATE_PYTHON_FILE_OPENED;

    /* create WaitDebug_pipe */
    if(rt_pipe_create(&WaitDebug_pipe, "WaitDebug_pipe", WAITDEBUG_PIPE_MINOR, PIPE_SIZE))
        goto error;
    PLC_state |= PLC_STATE_WAITDEBUG_PIPE_CREATED;

    /* open WaitDebug_pipe*/
    if((WaitDebug_pipe_fd = open(WAITDEBUG_PIPE_DEVICE, O_RDWR)) == -1) goto error;
    PLC_state |= PLC_STATE_WAITDEBUG_FILE_OPENED;

    /* create WaitPython_pipe */
    if(rt_pipe_create(&WaitPython_pipe, "WaitPython_pipe", WAITPYTHON_PIPE_MINOR, PIPE_SIZE))
        goto error;
    PLC_state |= PLC_STATE_WAITPYTHON_PIPE_CREATED;

    /* open WaitPython_pipe*/
    if((WaitPython_pipe_fd = open(WAITPYTHON_PIPE_DEVICE, O_RDWR)) == -1) goto error;
    PLC_state |= PLC_STATE_WAITPYTHON_FILE_OPENED;

    /*** create PLC task ***/
    if(rt_task_create(&PLC_task, "PLC_task", 0, 50, T_JOINABLE)) goto error;
    PLC_state |= PLC_STATE_TASK_CREATED;

    if(__init(argc,argv)) goto error;

    /* start PLC task */
    if(rt_task_start(&PLC_task, &PLC_task_proc, NULL)) goto error;

    return 0;

error:

    PLC_cleanup_all();
    return 1;
}

#define DEBUG_FREE 0
#define DEBUG_BUSY 1
static long debug_state = DEBUG_FREE;

int TryEnterDebugSection(void)
{
    if(AtomicCompareExchange(
        &debug_state,
        DEBUG_FREE,
        DEBUG_BUSY) == DEBUG_FREE){
        if(__DEBUG){
            return 1;
        }
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
    }
    return 0;
}

#define DEBUG_UNLOCK 1
void LeaveDebugSection(void)
{
    if(AtomicCompareExchange( &debug_state, 
        DEBUG_BUSY, DEBUG_FREE) == DEBUG_BUSY){
        char msg = DEBUG_UNLOCK;
        /* signal to NRT for wakeup */
        rt_pipe_write(&Debug_pipe, &msg, sizeof(msg), P_NORMAL);
    }
}

extern unsigned long __tick;

#define DEBUG_PENDING_DATA 1
int WaitDebugData(unsigned long *tick)
{
    char cmd;
    int res;
    if (PLC_shutdown) return -1;
    /* Wait signal from PLC thread */
    res = read(WaitDebug_pipe_fd, &cmd, sizeof(cmd));
    if (res == sizeof(cmd) && cmd == DEBUG_PENDING_DATA){
        *tick = __debug_tick;
        return 0;
    }
    return -1;
}

/* Called by PLC thread when debug_publish finished
 * This is supposed to unlock debugger thread in WaitDebugData*/
void InitiateDebugTransfer()
{
    char msg = DEBUG_PENDING_DATA;
    /* remember tick */
    __debug_tick = __tick;
    /* signal debugger thread it can read data */
    rt_pipe_write(&WaitDebug_pipe, &msg, sizeof(msg), P_NORMAL);
}

int suspendDebug(int disable)
{
    char cmd = DEBUG_UNLOCK;
    if (PLC_shutdown) return -1;
    while(AtomicCompareExchange(
            &debug_state,
            DEBUG_FREE,
            DEBUG_BUSY) != DEBUG_FREE &&
            cmd == DEBUG_UNLOCK){
       if(read(Debug_pipe_fd, &cmd, sizeof(cmd)) != sizeof(cmd)){
           return -1;
       }
    }
    __DEBUG = !disable;
    if (disable)
        AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
    return 0;
}

void resumeDebug(void)
{
    AtomicCompareExchange( &debug_state, DEBUG_BUSY, DEBUG_FREE);
}

#define PYTHON_PENDING_COMMAND 1

#define PYTHON_FREE 0
#define PYTHON_BUSY 1
static long python_state = PYTHON_FREE;

int WaitPythonCommands(void)
{ 
    char cmd;
    if (PLC_shutdown) return -1;
    /* Wait signal from PLC thread */
    if(read(WaitPython_pipe_fd, &cmd, sizeof(cmd))==sizeof(cmd) && cmd==PYTHON_PENDING_COMMAND){
        return 0;
    }
    return -1;
}

/* Called by PLC thread on each new python command*/
void UnBlockPythonCommands(void)
{
    char msg = PYTHON_PENDING_COMMAND;
    rt_pipe_write(&WaitPython_pipe, &msg, sizeof(msg), P_NORMAL);
}

int TryLockPython(void)
{
    return AtomicCompareExchange(
        &python_state,
        PYTHON_FREE,
        PYTHON_BUSY) == PYTHON_FREE;
}

#define UNLOCK_PYTHON 1
void LockPython(void)
{
    char cmd = UNLOCK_PYTHON;
    if (PLC_shutdown) return;
    while(AtomicCompareExchange(
            &python_state,
            PYTHON_FREE,
            PYTHON_BUSY) != PYTHON_FREE &&
            cmd == UNLOCK_PYTHON){
       read(Python_pipe_fd, &cmd, sizeof(cmd));
    }
}

void UnLockPython(void)
{
    if(AtomicCompareExchange(
            &python_state,
            PYTHON_BUSY,
            PYTHON_FREE) == PYTHON_BUSY){
        if(rt_task_self()){/*is that the real time task ?*/
           char cmd = UNLOCK_PYTHON;
           rt_pipe_write(&Python_pipe, &cmd, sizeof(cmd), P_NORMAL);
        }/* otherwise, no signaling from non real time */
    }    /* as plc does not wait for lock. */
}

int CheckRetainBuffer(void)
{
	return 1;
}

void ValidateRetainBuffer(void)
{
}

void InValidateRetainBuffer(void)
{
}

void Retain(unsigned int offset, unsigned int count, void *p)
{
}

void Remind(unsigned int offset, unsigned int count, void *p)
{
}

void CleanupRetain(void)
{
}

void InitRetain(void)
{
}