etisserant@49: #include <stdio.h>
etisserant@49: #include <string.h>
etisserant@49: #include <time.h>
etisserant@49: #include <signal.h>
etisserant@178: #include <stdlib.h>
etisserant@49: 
etisserant@178: void PLC_GetTime(IEC_TIME *CURRENT_TIME)
etisserant@178: {
etisserant@178:     clock_gettime(CLOCK_REALTIME, CURRENT_TIME);
etisserant@178: }
etisserant@49: 
etisserant@53: void PLC_timer_notify(sigval_t val)
etisserant@49: {
etisserant@178:     PLC_GetTime(&__CURRENT_TIME);
etisserant@49:     __run();
etisserant@49: }
etisserant@49: 
etisserant@178: timer_t PLC_timer;
etisserant@178: 
etisserant@178: void PLC_SetTimer(long long next, long long period)
etisserant@178: {
etisserant@178:     struct itimerspec timerValues;
etisserant@178: 	/*
etisserant@178: 	printf("SetTimer(%lld,%lld)\n",next, period);
etisserant@178: 	*/
etisserant@178:     memset (&timerValues, 0, sizeof (struct itimerspec));
etisserant@178: 	{
etisserant@178: #ifdef __lldiv_t_defined
etisserant@178: 		lldiv_t nxt_div = lldiv(next, 1000000000);
etisserant@178: 		lldiv_t period_div = lldiv(period, 1000000000);
etisserant@178: 	    timerValues.it_value.tv_sec = nxt_div.quot;
etisserant@178: 	    timerValues.it_value.tv_nsec = nxt_div.rem;
etisserant@178: 	    timerValues.it_interval.tv_sec = period_div.quot;
etisserant@178: 	    timerValues.it_interval.tv_nsec = period_div.rem;
etisserant@178: #else
etisserant@178: 	    timerValues.it_value.tv_sec = next / 1000000000;
etisserant@178: 	    timerValues.it_value.tv_nsec = next % 1000000000;
etisserant@178: 	    timerValues.it_interval.tv_sec = period / 1000000000;
etisserant@178: 	    timerValues.it_interval.tv_nsec = period % 1000000000;
etisserant@178: #endif
etisserant@178: 	}	
etisserant@178:     timer_settime (PLC_timer, 0, &timerValues, NULL);
etisserant@178: }
etisserant@178: 
etisserant@49: void catch_signal(int sig)
etisserant@49: {
etisserant@49:   signal(SIGTERM, catch_signal);
etisserant@49:   signal(SIGINT, catch_signal);
etisserant@49:   printf("Got Signal %d\n",sig);
etisserant@49: }
etisserant@49: 
etisserant@49: int main(int argc,char **argv)
etisserant@49: {
etisserant@49:     struct sigevent sigev;
etisserant@178:     /* Translate PLC's microseconds to Ttick nanoseconds */
etisserant@178:     Ttick = 1000000 * maxval(common_ticktime__,1);
etisserant@49:     
etisserant@49:     memset (&sigev, 0, sizeof (struct sigevent));
etisserant@49:     sigev.sigev_value.sival_int = 0;
etisserant@49:     sigev.sigev_notify = SIGEV_THREAD;
etisserant@49:     sigev.sigev_notify_attributes = NULL;
etisserant@53:     sigev.sigev_notify_function = PLC_timer_notify;
etisserant@49: 
etisserant@178:     timer_create (CLOCK_REALTIME, &sigev, &PLC_timer);
etisserant@57:     if(  __init(argc,argv) == 0 ){
etisserant@178:         PLC_SetTimer(Ttick,Ttick);
etisserant@57:         
etisserant@57:         /* install signal handler for manual break */
etisserant@57:         signal(SIGTERM, catch_signal);
etisserant@57:         signal(SIGINT, catch_signal);
etisserant@178:         /* Wait some signal */
etisserant@57:         pause();
etisserant@178:         /* Stop the PLC */
etisserant@178:         PLC_SetTimer(0,0);
etisserant@57:     }
etisserant@49:     __cleanup();
etisserant@178:     timer_delete (PLC_timer);
etisserant@49:     
etisserant@49:     return 0;
etisserant@49: }