targets/Linux/plc_Linux_main.c
author Edouard Tisserant
Thu, 05 Feb 2015 23:32:31 +0100
changeset 1439 a68cd4253259
parent 1428 e14003eb4d42
child 1457 ff7cfce737ca
permissions -rw-r--r--
Added stub code for runtime WAMP client. Added runtime command line switch to select WAMP url and Nevow web site port. Web port is now fixed, next port number is not tested if bind fails.
/**
 * Linux specific code
 **/

#include <stdio.h>
#include <string.h>
#include <time.h>
#include <signal.h>
#include <stdlib.h>
#include <pthread.h>
#include <locale.h>
#include <semaphore.h>

static sem_t Run_PLC;

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)
{
    struct timespec tmp;
    clock_gettime(CLOCK_REALTIME, &tmp);
    CURRENT_TIME->tv_sec = tmp.tv_sec;
    CURRENT_TIME->tv_nsec = tmp.tv_nsec;
}

void PLC_timer_notify(sigval_t val)
{
    PLC_GetTime(&__CURRENT_TIME);
    sem_post(&Run_PLC);
}

timer_t PLC_timer;

void PLC_SetTimer(unsigned long long next, unsigned 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 unsigned long __debug_tick;

pthread_t PLC_thread;
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;

int PLC_shutdown = 0;

void PLC_thread_proc(void *arg)
{
    while (!PLC_shutdown) {
        sem_wait(&Run_PLC);
        __run();
    }
    pthread_exit(0);
}

#define maxval(a,b) ((a>b)?a:b)
int startPLC(int argc,char **argv)
{
    struct sigevent sigev;
    setlocale(LC_NUMERIC, "C");

    PLC_shutdown = 0;

    sem_init(&Run_PLC, 0, 0);

    pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL);

    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_init(&debug_wait_mutex, NULL);
    pthread_mutex_init(&debug_mutex, NULL);
    pthread_mutex_init(&python_wait_mutex, NULL);
    pthread_mutex_init(&python_mutex, NULL);

    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(common_ticktime__,common_ticktime__);

        /* install signal handler for manual break */
        signal(SIGINT, catch_signal);
    }else{
        return 1;
    }
    return 0;
}

int TryEnterDebugSection(void)
{
    if (pthread_mutex_trylock(&debug_mutex) == 0){
        /* Only enter if debug active */
        if(__DEBUG){
            return 1;
        }
        pthread_mutex_unlock(&debug_mutex);
    }
    return 0;
}

void LeaveDebugSection(void)
{
    pthread_mutex_unlock(&debug_mutex);
}

int stopPLC()
{
    /* Stop the PLC */
    PLC_shutdown = 1;
    sem_post(&Run_PLC);
    PLC_SetTimer(0,0);
	pthread_join(PLC_thread, NULL);
	sem_destroy(&Run_PLC);
    timer_delete (PLC_timer);
    __cleanup();
    pthread_mutex_destroy(&debug_wait_mutex);
    pthread_mutex_destroy(&debug_mutex);
    pthread_mutex_destroy(&python_wait_mutex);
    pthread_mutex_destroy(&python_mutex);
    return 0;
}

extern unsigned long __tick;

int WaitDebugData(unsigned long *tick)
{
    int res;
    if (PLC_shutdown) return 1;
    /* Wait signal from PLC thread */
    res = pthread_mutex_lock(&debug_wait_mutex);
    *tick = __debug_tick;
    return res;
}

/* 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);
}

int suspendDebug(int disable)
{
    /* Prevent PLC to enter debug code */
    pthread_mutex_lock(&debug_mutex);
    /*__DEBUG is protected by this mutex */
    __DEBUG = !disable;
    if (disable)
    	pthread_mutex_unlock(&debug_mutex);
    return 0;
}

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 */
    return 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);
}

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)
{
}