greg@205: #include <stdio.h>
greg@205: #include <string.h>
greg@205: #include <time.h>
greg@205: #include <signal.h>
greg@205: #include <stdlib.h>
greg@205: #include <pthread.h> 
greg@205: 
greg@205: long AtomicCompareExchange(long* atomicvar,long exchange, long compared)
greg@205: {
greg@205:     return __sync_val_compare_and_swap(atomicvar, compared, exchange);
greg@205: }
greg@205: 
greg@205: //long AtomicExchange(long* atomicvar,long exchange)
greg@205: //{
greg@205: //    return __sync_lock_test_and_set(atomicvar, 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@205: 	}	
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: 
greg@205: int startPLC(int argc,char **argv)
greg@205: {
greg@205:     struct sigevent sigev;
greg@205:     /* Translate PLC's microseconds to Ttick nanoseconds */
greg@205:     Ttick = 1000000 * maxval(common_ticktime__,1);
greg@205:     
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: 
greg@205:     timer_create (CLOCK_REALTIME, &sigev, &PLC_timer);
greg@205:     if(  __init(argc,argv) == 0 ){
greg@205:         PLC_SetTimer(Ttick,Ttick);
greg@205:         
greg@205:         /* install signal handler for manual break */
greg@205: //        signal(SIGTERM, catch_signal);
greg@205:         signal(SIGINT, catch_signal);
greg@205:     }else{
greg@205:         return 1;
greg@205:     }
greg@205:     return 0;
greg@205: }
greg@205: 
etisserant@235: static int __debug_tick;
etisserant@235: 
etisserant@235: static pthread_mutex_t wait_mutex = PTHREAD_MUTEX_INITIALIZER;
etisserant@235: static pthread_cond_t wait_cond = PTHREAD_COND_INITIALIZER;
etisserant@235: 
etisserant@235: void AbortDebug()
etisserant@235: {
etisserant@235:     /* Eventually unlock debugger thread*/
etisserant@235:     __debug_tick = -1;
etisserant@235:     pthread_mutex_lock(&wait_mutex);
etisserant@235:     pthread_cond_broadcast(&wait_cond);
etisserant@235:     pthread_mutex_unlock(&wait_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@235:     AbortDebug();
greg@205: }
greg@205: 
etisserant@227: extern int __tick;
greg@205: /* from plc_debugger.c */
etisserant@227: int WaitDebugData()
greg@205: {
greg@205:     /* Wait signal from PLC thread */
etisserant@235:     pthread_mutex_lock(&wait_mutex);
etisserant@235:     pthread_cond_wait(&wait_cond, &wait_mutex);
etisserant@235:     pthread_mutex_unlock(&wait_mutex);
etisserant@227:     return __debug_tick;
greg@205: }
greg@205:  
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: {
greg@205:     /* signal debugger thread to continue*/
etisserant@227:     __debug_tick = __tick;
etisserant@235:     pthread_mutex_lock(&wait_mutex);
etisserant@235:     pthread_cond_broadcast(&wait_cond);
etisserant@235:     pthread_mutex_unlock(&wait_mutex);
greg@205: }