1

/*

     2

 * copyright 2008 Edouard TISSERANT

     3

 * copyright 2011 Mario de Sousa (msousa@fe.up.pt)

     4

 *

     5

 * Offered to the public under the terms of the GNU Lesser General Public

     6

 * License as published by the Free Software Foundation; either version 2

     7

 * of the License, or (at your option) any later version.

     8

 *

     9

 * This program is distributed in the hope that it will be useful, but

    10

 * WITHOUT ANY WARRANTY; without even the implied warranty of

    11

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser

    12

 * General Public License for more details.

    13

 *

    14

 * This code is made available on the understanding that it will not be

    15

 * used in safety-critical situations without a full and competent review.

    16

 */

    17

    18

/****

    19

 * IEC 61131-3 standard function library

    20

 */

    21

    22

/* NOTE: This file is full of (what may seem at first) very strange macros.

    23

 *       If you want to know what all these strange macros are doing,

    24

 *       just parse this file through a C preprocessor (e.g. cpp), 

    25

 *       and analyse the output!

    26

 *       $gcc -E iec_std_lib.h 

    27

 */

    28

    29

#ifndef _IEC_STD_LIB_H

    30

#define _IEC_STD_LIB_H

    31

    32

    33

#include <limits.h>

    34

#include <float.h>

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#include <math.h>

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#include <stdint.h>

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#include <ctype.h>

    38

    39

#include <stdio.h>

    40

#include <stdlib.h>

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#include <string.h>

    42

#include <stdarg.h>

    43

    44

#ifdef DEBUG_IEC

    45

#define DBG(...) printf(__VA_ARGS__);

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#define DBG_TYPE(TYPENAME, name) __print_##TYPENAME(name);

    47

#else

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#define DBG(...)

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#define DBG_TYPE(TYPENAME, name)

    50

#endif

    51

    52

/*

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 * Include type defs.

    54

 */

    55

#include "iec_types_all.h"

    56

    57

extern TIME __CURRENT_TIME;

    58

extern BOOL __DEBUG;

    59

    60

/* TODO

    61

typedef struct {

    62

    __strlen_t len;

    63

    u_int16_t body[STR_MAX_LEN];

    64

} WSTRING;

    65

*/

    66

/*

    67

# if __WORDSIZE == 64

    68

#define __32b_sufix

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#define __64b_sufix L

    70

#else

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#define __32b_sufix L

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#define __64b_sufix LL

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#endif

    74

*/

    75

    76

# if __WORDSIZE == 64

    77

#define __32b_sufix

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#define __64b_sufix L

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#else

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#define __32b_sufix L

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/* changed this from LL to L temporarily. It was causing a bug when compiling resulting code with gcc.

    82

 * I have other things to worry about at the moment.. 

    83

 */

    84

#define __64b_sufix L   

    85

#endif

    86

    87

    88

#define __lit(type,value,...) (type)value##__VA_ARGS__

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// Keep this macro expention step to let sfx(__VA_ARGS__) change into L or LL

    90

#define __literal(type,value,...) __lit(type,value,__VA_ARGS__)

    91

    92

#define __BOOL_LITERAL(value) __literal(BOOL,value)

    93

#define __SINT_LITERAL(value) __literal(SINT,value)

    94

#define __INT_LITERAL(value) __literal(INT,value)

    95

#define __DINT_LITERAL(value) __literal(DINT,value,__32b_sufix)

    96

#define __LINT_LITERAL(value) __literal(LINT,value,__64b_sufix)

    97

#define __USINT_LITERAL(value) __literal(USINT,value)

    98

#define __UINT_LITERAL(value) __literal(UINT,value)

    99

#define __UDINT_LITERAL(value) __literal(UDINT,value,__32b_sufix)

   100

#define __ULINT_LITERAL(value) __literal(ULINT,value,__64b_sufix)

   101

#define __REAL_LITERAL(value) __literal(REAL,value,__32b_sufix)

   102

#define __LREAL_LITERAL(value) __literal(LREAL,value,__64b_sufix)

   103

#define __TIME_LITERAL(value) __literal(TIME,value)

   104

#define __DATE_LITERAL(value) __literal(DATE,value)

   105

#define __TOD_LITERAL(value) __literal(TOD,value)

   106

#define __DT_LITERAL(value) __literal(DT,value)

   107

#define __STRING_LITERAL(count,value) (STRING){count,value}

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#define __BYTE_LITERAL(value) __literal(BYTE,value)

   109

#define __WORD_LITERAL(value) __literal(WORD,value)

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#define __DWORD_LITERAL(value) __literal(DWORD,value,__32b_sufix)

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#define __LWORD_LITERAL(value) __literal(LWORD,value,__64b_sufix)

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   113

   114

   115

#define __INIT_REAL 0

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#define __INIT_LREAL 0

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#define __INIT_SINT 0

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#define __INIT_INT 0

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#define __INIT_DINT 0

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#define __INIT_LINT 0

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#define __INIT_USINT 0

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#define __INIT_UINT 0

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#define __INIT_UDINT 0

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#define __INIT_ULINT 0

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#define __INIT_TIME (TIME){0,0}

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#define __INIT_BOOL 0

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#define __INIT_BYTE 0

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#define __INIT_WORD 0

   129

#define __INIT_DWORD 0

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#define __INIT_LWORD 0

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#define __INIT_STRING (STRING){0,""}

   132

//#define __INIT_WSTRING

   133

#define __INIT_DATE (DATE){0,0}

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#define __INIT_TOD (TOD){0,0}

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#define __INIT_DT (DT){0,0}

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   137

typedef union __IL_DEFVAR_T {

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    BOOL    BOOLvar;

   139

   140

    SINT    SINTvar;

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    INT     INTvar;

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    DINT    DINTvar;

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    LINT    LINTvar;

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   145

    USINT   USINTvar;

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    UINT    UINTvar;

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    UDINT   UDINTvar;

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    ULINT   ULINTvar;

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    BYTE    BYTEvar;

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    WORD    WORDvar;

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    DWORD   DWORDvar;

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    LWORD   LWORDvar;

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    REAL    REALvar;

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    LREAL   LREALvar;

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   158

    TIME    TIMEvar;

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    TOD TODvar;

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    DT  DTvar;

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    DATE    DATEvar;

   162

} __IL_DEFVAR_T;

   163

   164

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/**********************************************************************/

   166

/**********************************************************************/

   167

/*****                                                            *****/

   168

/*****      Some helper functions...                              *****/

   169

/*****                     ...used later:                         *****/

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/*****    - when declaring the IEC 61131-3 standard functions     *****/

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/*****    - in the C source code itself in SFC and ST expressions *****/

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/*****                                                            *****/

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/**********************************************************************/

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/**********************************************************************/

   175

   176

   177

/****************************/

   178

/* Notify IEC runtime error */

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/****************************/

   180

   181

/* function that generates an IEC runtime error */

   182

static inline void __iec_error(void) {

   183

  /* TODO... */

   184

  fprintf(stderr, "IEC 61131-3 runtime error.\n");

   185

  /*exit(1);*/

   186

}

   187

   188

/*******************************/

   189

/* Time normalization function */

   190

/*******************************/

   191

   192

static inline void __normalize_timespec (IEC_TIMESPEC *ts) {

   193

  if( ts->tv_nsec < -1000000000 || (( ts->tv_sec > 0 ) && ( ts->tv_nsec < 0 ))){

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    ts->tv_sec--;

   195

    ts->tv_nsec += 1000000000;

   196

  }

   197

  if( ts->tv_nsec > 1000000000 || (( ts->tv_sec < 0 ) && ( ts->tv_nsec > 0 ))){

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    ts->tv_sec++;

   199

    ts->tv_nsec -= 1000000000;

   200

  }

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}

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   203

/**********************************************/

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/* Time conversion to/from timespec functions */

   205

/**********************************************/

   206

   207

static inline IEC_TIMESPEC __time_to_timespec(int sign, double mseconds, double seconds, double minutes, double hours, double days) {

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  IEC_TIMESPEC ts;

   209

   210

  /* sign is 1 for positive values, -1 for negative time... */

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  long double total_sec = ((days*24 + hours)*60 + minutes)*60 + seconds + mseconds/1e3;

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  if (sign >= 0) sign = 1; else sign = -1;

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  ts.tv_sec = sign * (long int)total_sec;

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  ts.tv_nsec = sign * (long int)((total_sec - ts.tv_sec)*1e9);

   215

   216

  return ts;

   217

}

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   219

   220

static inline IEC_TIMESPEC __tod_to_timespec(double seconds, double minutes, double hours) {

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  IEC_TIMESPEC ts;

   222

   223

  long double total_sec = (hours*60 + minutes)*60 + seconds;

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  ts.tv_sec = (long int)total_sec;

   225

  ts.tv_nsec = (long int)((total_sec - ts.tv_sec)*1e9);

   226

   227

  return ts;

   228

}

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   230

#define EPOCH_YEAR 1970

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#define SECONDS_PER_MINUTE 60

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#define SECONDS_PER_HOUR (60 * SECONDS_PER_MINUTE)

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#define SECONDS_PER_DAY (24 * SECONDS_PER_HOUR)

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#define __isleap(year) \

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  ((year) % 4 == 0 && ((year) % 100 != 0 || (year) % 400 == 0))

   236

static const unsigned short int __mon_yday[2][13] =

   237

{

   238

  /* Normal years.  */

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  { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365},

   240

  /* Leap years.  */

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  { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366}

   242

};

   243

   244

typedef struct {

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	int tm_sec;			/* Seconds.	[0-60] (1 leap second) */

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	int tm_min;			/* Minutes.	[0-59] */

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	int tm_hour;		/* Hours.	[0-23] */

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	int tm_day;			/* Day.		[1-31] */

   249

	int tm_mon;			/* Month.	[0-11] */

   250

	int tm_year;		/* Year	*/

   251

} tm;

   252

   253

static inline tm convert_seconds_to_date_and_time(long int seconds) {

   254

  tm dt;

   255

  long int days, rem;

   256

  days = seconds / SECONDS_PER_DAY;

   257

  rem = seconds % SECONDS_PER_DAY;

   258

  if (rem < 0) {

   259

	  rem += SECONDS_PER_DAY;

   260

	  days--;

   261

  }

   262

   263

  // time of day

   264

  dt.tm_hour = rem / SECONDS_PER_HOUR;

   265

  rem %= SECONDS_PER_HOUR;

   266

  dt.tm_min = rem / 60;

   267

  dt.tm_sec = rem % 60;

   268

   269

  // date

   270

  dt.tm_year = EPOCH_YEAR;

   271

  while (days >= (rem = __isleap(dt.tm_year) ? 366 : 365)) {

   272

	  dt.tm_year++;

   273

	  days -= rem;

   274

  }

   275

  while (days < 0) {

   276

	  dt.tm_year--;

   277

	  days += __isleap(dt.tm_year) ? 366 : 365;

   278

  }

   279

  dt.tm_mon = 1;

   280

  while (days > __mon_yday[__isleap(dt.tm_year)][dt.tm_mon]) {

   281

	  dt.tm_mon += 1;

   282

  }

   283

  dt.tm_day = days - __mon_yday[__isleap(dt.tm_year)][dt.tm_mon - 1] + 1;

   284

   285

  return dt;

   286

}

   287

   288

static inline IEC_TIMESPEC __date_to_timespec(int day, int month, int year) {

   289

  IEC_TIMESPEC ts;

   290

  int a4, b4, a100, b100, a400, b400;

   291

  int yday;

   292

  int intervening_leap_days;

   293

   294

  if (month < 1 || month > 12)

   295

	 __iec_error();

   296

   297

  yday = __mon_yday[__isleap(year)][month - 1] + day;

   298

   299

  if (yday > __mon_yday[__isleap(year)][month])

   300

	  __iec_error();

   301

   302

  a4 = (year >> 2) - ! (year & 3);

   303

  b4 = (EPOCH_YEAR >> 2) - ! (EPOCH_YEAR & 3);

   304

  a100 = a4 / 25 - (a4 % 25 < 0);

   305

  b100 = b4 / 25 - (b4 % 25 < 0);

   306

  a400 = a100 >> 2;

   307

  b400 = b100 >> 2;

   308

  intervening_leap_days = (a4 - b4) - (a100 - b100) + (a400 - b400);

   309

   310

  ts.tv_sec = ((year - EPOCH_YEAR) * 365 + intervening_leap_days + yday - 1) * 24 * 60 * 60;

   311

  ts.tv_nsec = 0;

   312

   313

  return ts;

   314

}

   315

   316

static inline IEC_TIMESPEC __dt_to_timespec(double seconds, double minutes, double hours, int day, int month, int year) {

   317

  IEC_TIMESPEC ts_date = __date_to_timespec(day, month, year);

   318

  IEC_TIMESPEC ts = __tod_to_timespec(seconds, minutes, hours);

   319

   320

  ts.tv_sec += ts_date.tv_sec;

   321

   322

  return ts;

   323

}

   324

   325

/*******************/

   326

/* Time operations */

   327

/*******************/

   328

   329

#define __time_cmp(t1, t2) (t2.tv_sec == t1.tv_sec ? t1.tv_nsec - t2.tv_nsec : t1.tv_sec - t2.tv_sec)

   330

   331

static inline TIME __time_add(TIME IN1, TIME IN2){

   332

  TIME res ={IN1.tv_sec + IN2.tv_sec,

   333

             IN1.tv_nsec + IN2.tv_nsec };

   334

  __normalize_timespec(&res);

   335

  return res;

   336

}

   337

static inline TIME __time_sub(TIME IN1, TIME IN2){

   338

  TIME res ={IN1.tv_sec - IN2.tv_sec,

   339

             IN1.tv_nsec - IN2.tv_nsec };

   340

  __normalize_timespec(&res);

   341

  return res;

   342

}

   343

static inline TIME __time_mul(TIME IN1, LREAL IN2){

   344

  LREAL s_f = IN1.tv_sec * IN2;

   345

  time_t s = (time_t)s_f;

   346

  div_t ns = div((int)((LREAL)IN1.tv_nsec * IN2), 1000000000);

   347

  TIME res = {(long)s + ns.quot,

   348

		      (long)ns.rem + (s_f - s) * 1000000000 };

   349

  __normalize_timespec(&res);

   350

  return res;

   351

}

   352

static inline TIME __time_div(TIME IN1, LREAL IN2){

   353

  LREAL s_f = IN1.tv_sec / IN2;

   354

  time_t s = (time_t)s_f;

   355

  TIME res = {(long)s,

   356

              (long)(IN1.tv_nsec / IN2 + (s_f - s) * 1000000000) };

   357

  __normalize_timespec(&res);

   358

  return res;

   359

}

   360

   361

   362

/***************/

   363

/* Convertions */

   364

/***************/

   365

    /*****************/

   366

    /*  REAL_TO_INT  */

   367

    /*****************/

   368

static inline LINT __real_round(LREAL IN) {

   369

	return fmod(IN, 1) == 0 ? ((LINT)IN / 2) * 2 : (LINT)IN;

   370

}

   371

static inline LINT __preal_to_sint(LREAL IN) {

   372

   return IN >= 0 ? __real_round(IN + 0.5) : __real_round(IN - 0.5);

   373

}

   374

static inline LINT __preal_to_uint(LREAL IN) {

   375

   return IN >= 0 ? __real_round(IN + 0.5) : 0;

   376

}

   377

static inline LINT __real_to_sint(LREAL IN)  {return (LINT)__preal_to_sint(IN);}

   378

static inline LWORD __real_to_bit(LREAL IN)  {return (LWORD)__preal_to_uint(IN);}

   379

static inline ULINT __real_to_uint(LREAL IN) {return (ULINT)__preal_to_uint(IN);}

   380

   381

    /***************/

   382

    /*  TO_STRING  */

   383

    /***************/

   384

static inline STRING __bool_to_string(BOOL IN) {

   385

    if(IN) return (STRING){4, "TRUE"};

   386

    return (STRING){5,"FALSE"};

   387

}

   388

static inline STRING __bit_to_string(LWORD IN) {

   389

    STRING res;

   390

    res = __INIT_STRING;

   391

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "16#%llx",(long long unsigned int)IN);

   392

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   393

    return res;

   394

}

   395

static inline STRING __real_to_string(LREAL IN) {

   396

    STRING res;

   397

    res = __INIT_STRING;

   398

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "%.10g", IN);

   399

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   400

    return res;

   401

}

   402

static inline STRING __sint_to_string(LINT IN) {

   403

    STRING res;

   404

    res = __INIT_STRING;

   405

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "%lld", (long long int)IN);

   406

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   407

    return res;

   408

}

   409

static inline STRING __uint_to_string(ULINT IN) {

   410

    STRING res;

   411

    res = __INIT_STRING;

   412

    res.len = snprintf((char*)res.body, STR_MAX_LEN, "%llu", (long long unsigned int)IN);

   413

    if(res.len > STR_MAX_LEN) res.len = STR_MAX_LEN;

   414

    return res;

   415

}

   416

    /***************/

   417

    /* FROM_STRING */

   418

    /***************/

   419

static inline BOOL __string_to_bool(STRING IN) {

   420

    int i;

   421

    if (IN.len == 1) return !memcmp(&IN.body,"1", IN.len);

   422

    for (i = 0; i < IN.len; i++) IN.body[i] = toupper(IN.body[i]);

   423

    return IN.len == 4 ? !memcmp(&IN.body,"TRUE", IN.len) : 0;

   424

}

   425

   426

static inline LINT __pstring_to_sint(STRING* IN) {

   427

    LINT res = 0;

   428

    __strlen_t l;

   429

    unsigned int shift = 0;

   430

   431

    if(IN->body[0]=='2' && IN->body[1]=='#'){

   432

        /* 2#0101_1010_1011_1111 */

   433

        for(l = IN->len - 1; l >= 2 && shift < 64; l--)

   434

        {

   435

            char c = IN->body[l];

   436

            if( c >= '0' && c <= '1'){

   437

                res |= ( c - '0') << shift;

   438

                shift += 1;

   439

            }

   440

        }

   441

    }else if(IN->body[0]=='8' && IN->body[1]=='#'){

   442

        /* 8#1234_5665_4321 */

   443

        for(l = IN->len - 1; l >= 2 && shift < 64; l--)

   444

        {

   445

            char c = IN->body[l];

   446

            if( c >= '0' && c <= '7'){

   447

                res |= ( c - '0') << shift;

   448

                shift += 3;

   449

            }

   450

        }

   451

    }else if(IN->body[0]=='1' && IN->body[1]=='6' && IN->body[2]=='#'){

   452

        /* 16#1234_5678_9abc_DEFG */

   453

        for(l = IN->len - 1; l >= 3 && shift < 64; l--)

   454

        {

   455

            char c = IN->body[l];

   456

            if( c >= '0' && c <= '9'){

   457

                res |= (LWORD)( c - '0') << shift;

   458

                shift += 4;

   459

            }else if( c >= 'a' && c <= 'f'){

   460

                res |= (LWORD)( c - 'a' + 10 ) << shift;

   461

                shift += 4;

   462

            }else if( c >= 'A' && c <= 'F'){

   463

                res |= (LWORD)( c - 'A' + 10 ) << shift;

   464

                shift += 4;

   465

            }

   466

        }

   467

    }else{

   468

        /* -123456789 */

   469

        LINT fac = IN->body[0] == '-' ? -1 : 1;

   470

        for(l = IN->len - 1; l >= 0 && shift < 20; l--)

   471

        {

   472

            char c = IN->body[l];

   473

            if( c >= '0' && c <= '9'){

   474

                res += ( c - '0') * fac;

   475

                fac *= 10;

   476

                shift += 1;

   477

            }else if( c >= '.' ){ /* reset value */

   478

                res = 0;

   479

                fac = IN->body[0] == '-' ? -1 : 1;

   480

                shift = 0;

   481

            }

   482

        }

   483

    }

   484

    return res;

   485

}

   486

   487

static inline LINT  __string_to_sint(STRING IN) {return (LINT)__pstring_to_sint(&IN);}

   488

static inline LWORD __string_to_bit (STRING IN) {return (LWORD)__pstring_to_sint(&IN);}

   489

static inline ULINT __string_to_uint(STRING IN) {return (ULINT)__pstring_to_sint(&IN);}

   490

static inline LREAL __string_to_real(STRING IN) {

   491

    __strlen_t l;

   492

    l = IN.len;

   493

    /* search the dot */

   494

    while(--l > 0 && IN.body[l] != '.');

   495

    if(l != 0){

   496

        return atof((const char *)&IN.body);

   497

    }else{

   498

        return (LREAL)__pstring_to_sint(&IN);

   499

    }

   500

}