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 edouard@568: #include Laurent@876: #include greg@205: Laurent@876: static sem_t Run_PLC; 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: } Edouard@954: long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange) Edouard@954: { Edouard@954: return __sync_val_compare_and_swap(atomicvar, compared, exchange); Edouard@954: } greg@205: greg@205: void PLC_GetTime(IEC_TIME *CURRENT_TIME) greg@205: { Edouard@592: struct timespec tmp; Edouard@592: clock_gettime(CLOCK_REALTIME, &tmp); Edouard@592: CURRENT_TIME->tv_sec = tmp.tv_sec; Edouard@592: CURRENT_TIME->tv_nsec = tmp.tv_nsec; greg@205: } greg@205: greg@205: void PLC_timer_notify(sigval_t val) greg@205: { greg@205: PLC_GetTime(&__CURRENT_TIME); Laurent@876: sem_post(&Run_PLC); greg@205: } greg@205: greg@205: timer_t PLC_timer; greg@205: edouard@518: void PLC_SetTimer(unsigned long long next, unsigned 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: Laurent@876: pthread_t PLC_thread; 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: Laurent@876: int PLC_shutdown = 0; Laurent@876: andrej@2173: int ForceSaveRetainReq(void) { andrej@2173: return PLC_shutdown; andrej@2173: } andrej@2173: Laurent@876: void PLC_thread_proc(void *arg) Laurent@876: { Laurent@876: while (!PLC_shutdown) { Laurent@876: sem_wait(&Run_PLC); Laurent@876: __run(); Laurent@876: } Laurent@876: pthread_exit(0); Laurent@876: } Laurent@876: 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; edouard@568: setlocale(LC_NUMERIC, "C"); greg@329: Laurent@876: PLC_shutdown = 0; Laurent@876: Laurent@876: sem_init(&Run_PLC, 0, 0); Laurent@876: Laurent@876: pthread_create(&PLC_thread, NULL, (void*) &PLC_thread_proc, NULL); Laurent@876: 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); edouard@462: pthread_mutex_init(&debug_mutex, NULL); lbessard@333: pthread_mutex_init(&python_wait_mutex, NULL); edouard@462: pthread_mutex_init(&python_mutex, NULL); greg@329: etisserant@280: pthread_mutex_lock(&debug_wait_mutex); etisserant@280: pthread_mutex_lock(&python_wait_mutex); etisserant@239: andrej@2171: timer_create (CLOCK_MONOTONIC, &sigev, &PLC_timer); greg@205: if( __init(argc,argv) == 0 ){ Edouard@1428: PLC_SetTimer(common_ticktime__,common_ticktime__); greg@329: greg@205: /* install signal handler for manual break */ greg@205: signal(SIGINT, catch_signal); greg@205: }else{ greg@205: return 1; greg@205: } greg@205: return 0; greg@205: } greg@205: etisserant@239: int TryEnterDebugSection(void) etisserant@239: { edouard@462: if (pthread_mutex_trylock(&debug_mutex) == 0){ edouard@462: /* Only enter if debug active */ edouard@462: if(__DEBUG){ edouard@462: return 1; edouard@462: } edouard@483: pthread_mutex_unlock(&debug_mutex); edouard@462: } edouard@462: return 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 */ Laurent@876: PLC_shutdown = 1; Laurent@876: sem_post(&Run_PLC); greg@205: PLC_SetTimer(0,0); Laurent@876: pthread_join(PLC_thread, NULL); Laurent@876: sem_destroy(&Run_PLC); greg@205: timer_delete (PLC_timer); greg@205: __cleanup(); greg@329: pthread_mutex_destroy(&debug_wait_mutex); edouard@483: pthread_mutex_destroy(&debug_mutex); greg@329: pthread_mutex_destroy(&python_wait_mutex); edouard@483: pthread_mutex_destroy(&python_mutex); laurent@386: return 0; greg@205: } greg@205: laurent@397: extern unsigned long __tick; ed@446: ed@446: int WaitDebugData(unsigned long *tick) greg@205: { Edouard@617: int res; Laurent@876: if (PLC_shutdown) return 1; Edouard@617: /* Wait signal from PLC thread */ Edouard@617: res = pthread_mutex_lock(&debug_wait_mutex); ed@446: *tick = __debug_tick; Edouard@617: return res; 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: Edouard@614: int suspendDebug(int disable) edouard@462: { etisserant@239: /* Prevent PLC to enter debug code */ etisserant@239: pthread_mutex_lock(&debug_mutex); edouard@462: /*__DEBUG is protected by this mutex */ edouard@462: __DEBUG = !disable; laurent@485: if (disable) laurent@485: pthread_mutex_unlock(&debug_mutex); Edouard@614: return 0; 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: } Edouard@2820: edouard@3294: struct RT_to_nRT_signal_s { edouard@3294: pthread_cond_t WakeCond; edouard@3294: pthread_mutex_t WakeCondLock; edouard@3294: }; edouard@3294: edouard@3294: typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t; edouard@3294: edouard@3294: #define _LogAndReturnNull(text) \ edouard@3294: {\ edouard@3294: char mstr[256] = text " for ";\ edouard@3294: strncat(mstr, name, 255);\ edouard@3294: LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ edouard@3294: return NULL;\ edouard@3294: } edouard@3294: edouard@3294: void *create_RT_to_nRT_signal(char* name){ edouard@3294: RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(RT_to_nRT_signal_t)); edouard@3294: edouard@3294: if(!sig) edouard@3294: _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal"); edouard@3294: edouard@3294: pthread_cond_init(&sig->WakeCond, NULL); edouard@3294: pthread_mutex_init(&sig->WakeCondLock, NULL); edouard@3294: edouard@3294: return (void*)sig; edouard@3294: } edouard@3294: edouard@3294: void delete_RT_to_nRT_signal(void* handle){ edouard@3294: RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; edouard@3294: edouard@3294: pthread_cond_destroy(&sig->WakeCond); edouard@3294: pthread_mutex_destroy(&sig->WakeCondLock); edouard@3294: edouard@3294: free(sig); edouard@3294: } edouard@3294: edouard@3294: int wait_RT_to_nRT_signal(void* handle){ edouard@3294: int ret; edouard@3294: RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; edouard@3294: pthread_mutex_lock(&sig->WakeCondLock); edouard@3294: ret = pthread_cond_wait(&sig->WakeCond, &sig->WakeCondLock); edouard@3294: pthread_mutex_unlock(&sig->WakeCondLock); edouard@3294: return ret; edouard@3294: } edouard@3294: edouard@3294: int unblock_RT_to_nRT_signal(void* handle){ edouard@3294: RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; edouard@3294: return pthread_cond_signal(&sig->WakeCond); edouard@3294: } edouard@3294: edouard@3295: void nRT_reschedule(void){ edouard@3295: sched_yield(); edouard@3295: }