etisserant@280: /** etisserant@280: * Linux specific code greg@329: **/ etisserant@280: greg@205: #include greg@205: #include greg@205: #include greg@205: #include greg@205: #include greg@329: #include greg@205: etisserant@280: /* provided by POUS.C */ etisserant@280: extern int common_ticktime__; etisserant@280: etisserant@236: long AtomicCompareExchange(long* atomicvar,long compared, long exchange) greg@205: { greg@205: return __sync_val_compare_and_swap(atomicvar, compared, exchange); greg@205: } greg@205: greg@205: void PLC_GetTime(IEC_TIME *CURRENT_TIME) greg@205: { greg@205: clock_gettime(CLOCK_REALTIME, CURRENT_TIME); greg@205: } greg@205: greg@205: void PLC_timer_notify(sigval_t val) greg@205: { greg@205: PLC_GetTime(&__CURRENT_TIME); greg@205: __run(); greg@205: } greg@205: greg@205: timer_t PLC_timer; greg@205: greg@205: void PLC_SetTimer(long long next, long long period) greg@205: { greg@205: struct itimerspec timerValues; greg@205: /* greg@205: printf("SetTimer(%lld,%lld)\n",next, period); greg@205: */ greg@205: memset (&timerValues, 0, sizeof (struct itimerspec)); greg@205: { greg@205: #ifdef __lldiv_t_defined greg@205: lldiv_t nxt_div = lldiv(next, 1000000000); greg@205: lldiv_t period_div = lldiv(period, 1000000000); greg@205: timerValues.it_value.tv_sec = nxt_div.quot; greg@205: timerValues.it_value.tv_nsec = nxt_div.rem; greg@205: timerValues.it_interval.tv_sec = period_div.quot; greg@205: timerValues.it_interval.tv_nsec = period_div.rem; greg@205: #else greg@205: timerValues.it_value.tv_sec = next / 1000000000; greg@205: timerValues.it_value.tv_nsec = next % 1000000000; greg@205: timerValues.it_interval.tv_sec = period / 1000000000; greg@205: timerValues.it_interval.tv_nsec = period % 1000000000; greg@205: #endif greg@329: } greg@205: timer_settime (PLC_timer, 0, &timerValues, NULL); greg@205: } greg@205: // greg@205: void catch_signal(int sig) greg@205: { greg@205: // signal(SIGTERM, catch_signal); greg@205: signal(SIGINT, catch_signal); greg@205: printf("Got Signal %d\n",sig); greg@205: exit(0); greg@205: } greg@205: etisserant@239: laurent@397: static unsigned long __debug_tick; etisserant@239: etisserant@280: static pthread_mutex_t python_wait_mutex = PTHREAD_MUTEX_INITIALIZER; etisserant@280: static pthread_mutex_t python_mutex = PTHREAD_MUTEX_INITIALIZER; etisserant@280: static pthread_mutex_t debug_wait_mutex = PTHREAD_MUTEX_INITIALIZER; etisserant@239: static pthread_mutex_t debug_mutex = PTHREAD_MUTEX_INITIALIZER; etisserant@239: etisserant@280: #define maxval(a,b) ((a>b)?a:b) greg@205: int startPLC(int argc,char **argv) greg@205: { greg@205: struct sigevent sigev; laurent@397: /* Define Ttick to 1ms if common_ticktime not defined */ laurent@397: Ttick = common_ticktime__?common_ticktime__:1000000; greg@329: greg@205: memset (&sigev, 0, sizeof (struct sigevent)); greg@205: sigev.sigev_value.sival_int = 0; greg@205: sigev.sigev_notify = SIGEV_THREAD; greg@205: sigev.sigev_notify_attributes = NULL; greg@205: sigev.sigev_notify_function = PLC_timer_notify; greg@205: lbessard@333: pthread_mutex_init(&debug_wait_mutex, NULL); lbessard@333: pthread_mutex_init(&python_wait_mutex, NULL); greg@329: etisserant@280: pthread_mutex_lock(&debug_wait_mutex); etisserant@280: pthread_mutex_lock(&python_wait_mutex); etisserant@239: greg@205: timer_create (CLOCK_REALTIME, &sigev, &PLC_timer); greg@205: if( __init(argc,argv) == 0 ){ greg@205: PLC_SetTimer(Ttick,Ttick); greg@329: greg@205: /* install signal handler for manual break */ greg@205: // signal(SIGTERM, catch_signal); greg@205: signal(SIGINT, catch_signal); laurent@397: laurent@397: pthread_mutex_trylock(&debug_mutex); greg@205: }else{ greg@205: return 1; greg@205: } greg@205: return 0; greg@205: } greg@205: etisserant@239: int TryEnterDebugSection(void) etisserant@239: { etisserant@239: return pthread_mutex_trylock(&debug_mutex) == 0; etisserant@239: } etisserant@235: etisserant@239: void LeaveDebugSection(void) etisserant@235: { etisserant@239: pthread_mutex_unlock(&debug_mutex); etisserant@235: } etisserant@235: greg@205: int stopPLC() greg@205: { greg@205: /* Stop the PLC */ greg@205: PLC_SetTimer(0,0); greg@205: timer_delete (PLC_timer); greg@205: __cleanup(); etisserant@239: __debug_tick = -1; laurent@397: pthread_mutex_unlock(&debug_mutex); etisserant@280: pthread_mutex_unlock(&debug_wait_mutex); greg@329: pthread_mutex_destroy(&debug_wait_mutex); greg@329: pthread_mutex_unlock(&python_wait_mutex); greg@329: pthread_mutex_destroy(&python_wait_mutex); laurent@386: return 0; greg@205: } greg@205: laurent@397: extern unsigned long __tick; greg@205: /* from plc_debugger.c */ laurent@397: unsigned long WaitDebugData() greg@205: { greg@205: /* Wait signal from PLC thread */ greg@329: if(pthread_mutex_lock(&debug_wait_mutex)) return -1; etisserant@227: return __debug_tick; greg@205: } greg@329: greg@205: /* Called by PLC thread when debug_publish finished greg@205: * This is supposed to unlock debugger thread in WaitDebugData*/ greg@205: void InitiateDebugTransfer() greg@205: { etisserant@239: /* remember tick */ etisserant@227: __debug_tick = __tick; etisserant@239: /* signal debugger thread it can read data */ etisserant@280: pthread_mutex_unlock(&debug_wait_mutex); greg@205: } etisserant@239: etisserant@280: void suspendDebug(void) etisserant@239: { etisserant@290: __DEBUG = 0; etisserant@239: /* Prevent PLC to enter debug code */ etisserant@239: pthread_mutex_lock(&debug_mutex); etisserant@239: } etisserant@239: etisserant@280: void resumeDebug(void) etisserant@239: { etisserant@290: __DEBUG = 1; etisserant@239: /* Let PLC enter debug code */ etisserant@239: pthread_mutex_unlock(&debug_mutex); etisserant@239: } etisserant@239: etisserant@280: /* from plc_python.c */ etisserant@280: int WaitPythonCommands(void) etisserant@280: { etisserant@280: /* Wait signal from PLC thread */ greg@329: return pthread_mutex_lock(&python_wait_mutex); etisserant@280: } greg@329: etisserant@280: /* Called by PLC thread on each new python command*/ etisserant@280: void UnBlockPythonCommands(void) etisserant@280: { etisserant@280: /* signal debugger thread it can read data */ etisserant@280: pthread_mutex_unlock(&python_wait_mutex); etisserant@280: } etisserant@280: etisserant@280: int TryLockPython(void) etisserant@280: { etisserant@280: return pthread_mutex_trylock(&python_mutex) == 0; etisserant@280: } etisserant@280: etisserant@280: void UnLockPython(void) etisserant@280: { etisserant@280: pthread_mutex_unlock(&python_mutex); etisserant@280: } etisserant@280: etisserant@280: void LockPython(void) etisserant@280: { etisserant@280: pthread_mutex_lock(&python_mutex); etisserant@280: }