author | lbessard |
Mon, 23 Mar 2009 16:26:13 +0100 | |
changeset 323 | 9f07f0d429df |
parent 290 | 3bd617ae7a05 |
child 329 | 22e65b8e20f4 |
permissions | -rw-r--r-- |
/** * Linux specific code **/ #include <stdio.h> #include <string.h> #include <time.h> #include <signal.h> #include <stdlib.h> #include <pthread.h> /* provided by POUS.C */ extern int common_ticktime__; long AtomicCompareExchange(long* atomicvar,long compared, long exchange) { return __sync_val_compare_and_swap(atomicvar, compared, exchange); } void PLC_GetTime(IEC_TIME *CURRENT_TIME) { clock_gettime(CLOCK_REALTIME, CURRENT_TIME); } void PLC_timer_notify(sigval_t val) { PLC_GetTime(&__CURRENT_TIME); __run(); } timer_t PLC_timer; void PLC_SetTimer(long long next, long long period) { struct itimerspec timerValues; /* printf("SetTimer(%lld,%lld)\n",next, period); */ memset (&timerValues, 0, sizeof (struct itimerspec)); { #ifdef __lldiv_t_defined lldiv_t nxt_div = lldiv(next, 1000000000); lldiv_t period_div = lldiv(period, 1000000000); timerValues.it_value.tv_sec = nxt_div.quot; timerValues.it_value.tv_nsec = nxt_div.rem; timerValues.it_interval.tv_sec = period_div.quot; timerValues.it_interval.tv_nsec = period_div.rem; #else timerValues.it_value.tv_sec = next / 1000000000; timerValues.it_value.tv_nsec = next % 1000000000; timerValues.it_interval.tv_sec = period / 1000000000; timerValues.it_interval.tv_nsec = period % 1000000000; #endif } timer_settime (PLC_timer, 0, &timerValues, NULL); } // void catch_signal(int sig) { // signal(SIGTERM, catch_signal); signal(SIGINT, catch_signal); printf("Got Signal %d\n",sig); exit(0); } static int __debug_tick; static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER; static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER; static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER; static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER; #define maxval(a,b) ((a>b)?a:b) int startPLC(int argc,char **argv) { struct sigevent sigev; /* Translate PLC's microseconds to Ttick nanoseconds */ Ttick = 1000000 * maxval(common_ticktime__,1); memset (&sigev, 0, sizeof (struct sigevent)); sigev.sigev_value.sival_int = 0; sigev.sigev_notify = SIGEV_THREAD; sigev.sigev_notify_attributes = NULL; sigev.sigev_notify_function = PLC_timer_notify; pthread_mutex_lock(&debug_wait_mutex); pthread_mutex_lock(&python_wait_mutex); timer_create (CLOCK_REALTIME, &sigev, &PLC_timer); if( __init(argc,argv) == 0 ){ PLC_SetTimer(Ttick,Ttick); /* install signal handler for manual break */ // signal(SIGTERM, catch_signal); signal(SIGINT, catch_signal); }else{ return 1; } return 0; } int TryEnterDebugSection(void) { return pthread_mutex_trylock(&debug_mutex) == 0; } void LeaveDebugSection(void) { pthread_mutex_unlock(&debug_mutex); } int stopPLC() { /* Stop the PLC */ PLC_SetTimer(0,0); timer_delete (PLC_timer); __cleanup(); __debug_tick = -1; pthread_mutex_unlock(&debug_wait_mutex); } extern int __tick; /* from plc_debugger.c */ int WaitDebugData() { /* Wait signal from PLC thread */ pthread_mutex_lock(&debug_wait_mutex); return __debug_tick; } /* Called by PLC thread when debug_publish finished * This is supposed to unlock debugger thread in WaitDebugData*/ void InitiateDebugTransfer() { /* remember tick */ __debug_tick = __tick; /* signal debugger thread it can read data */ pthread_mutex_unlock(&debug_wait_mutex); } void suspendDebug(void) { __DEBUG = 0; /* Prevent PLC to enter debug code */ pthread_mutex_lock(&debug_mutex); } void resumeDebug(void) { __DEBUG = 1; /* Let PLC enter debug code */ pthread_mutex_unlock(&debug_mutex); } /* from plc_python.c */ int WaitPythonCommands(void) { /* Wait signal from PLC thread */ pthread_mutex_lock(&python_wait_mutex); } /* Called by PLC thread on each new python command*/ void UnBlockPythonCommands(void) { /* signal debugger thread it can read data */ pthread_mutex_unlock(&python_wait_mutex); } int TryLockPython(void) { return pthread_mutex_trylock(&python_mutex) == 0; } void UnLockPython(void) { pthread_mutex_unlock(&python_mutex); } void LockPython(void) { pthread_mutex_lock(&python_mutex); }