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@203: #include <pthread.h> 
etisserant@203: 
etisserant@203: long AtomicCompareExchange(long* atomicvar,long exchange, long compared)
etisserant@203: {
etisserant@203:     return __sync_val_compare_and_swap(atomicvar, compared, exchange);
etisserant@203: }
etisserant@203: 
etisserant@203: //long AtomicExchange(long* atomicvar,long exchange)
etisserant@203: //{
etisserant@203: //    return __sync_lock_test_and_set(atomicvar, exchange);
etisserant@203: //}
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@203: //
etisserant@49: void catch_signal(int sig)
etisserant@49: {
etisserant@203: //  signal(SIGTERM, catch_signal);
etisserant@49:   signal(SIGINT, catch_signal);
etisserant@49:   printf("Got Signal %d\n",sig);
etisserant@203:   exit(0);
etisserant@49: }
etisserant@49: 
etisserant@203: int startPLC(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@203: //        signal(SIGTERM, catch_signal);
etisserant@57:         signal(SIGINT, catch_signal);
etisserant@203:     }else{
etisserant@203:         return 1;
etisserant@57:     }
etisserant@49:     return 0;
etisserant@49: }
etisserant@203: 
etisserant@203: int stopPLC()
etisserant@203: {
etisserant@203:     /* Stop the PLC */
etisserant@203:     PLC_SetTimer(0,0);
etisserant@203:     timer_delete (PLC_timer);
etisserant@203:     __cleanup();
etisserant@203: }
etisserant@203: 
etisserant@203: pthread_mutex_t DebugLock = PTHREAD_MUTEX_INITIALIZER;
etisserant@203: 
etisserant@203: /* from plc_debugger.c */
etisserant@203: void WaitDebugData()
etisserant@203: {
etisserant@203:     /* Wait signal from PLC thread */
etisserant@203:     pthread_mutex_lock(&DebugLock);
etisserant@203: }
etisserant@203:  
etisserant@203: /* Called by PLC thread when debug_publish finished
etisserant@203:  * This is supposed to unlock debugger thread in WaitDebugData*/
etisserant@203: void InitiateDebugTransfer()
etisserant@203: {
etisserant@203:     /* signal debugger thread to continue*/
etisserant@203:     pthread_mutex_unlock(&DebugLock);
etisserant@203: }