1

/*

     2

 * copyright 2008 Edouard TISSERANT

     3

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

     4

 *

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 * 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

    33

#include <limits.h>

    34

#include <float.h>

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#include <math.h>

    36

#include <time.h>

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#include <stdint.h>

    38

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#include <stdio.h>

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#include <stdlib.h>

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#include <string.h>

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#include <stdarg.h>

    43

    44

#ifdef DEBUG_IEC

    45

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

    46

#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

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typedef struct {

    62

    __strlen_t len;

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    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

    71

#define __32b_sufix L

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#define __64b_sufix LL

    73

#endif

    74

*/

    75

    76

# if __WORDSIZE == 64

    77

#define __32b_sufix

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#define __64b_sufix L

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#else

    80

#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)

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

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

   107

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

   108

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

   109

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

   110

#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

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#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

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#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}

   136

   137

typedef union __IL_DEFVAR_T {

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    BOOL    BOOLvar;

   139

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    SINT    SINTvar;

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    INT     INTvar;

   142

    DINT    DINTvar;

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    LINT    LINTvar;

   144

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    USINT   USINTvar;

   146

    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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    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:                         *****/

   170

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

   171

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

   172

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

   173

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

   174

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

   175

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   177

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

   178

/* Notify IEC runtime error */

   179

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

   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 ))){

   194

    ts->tv_sec--;

   195

    ts->tv_nsec += 1000000000;

   196

  }

   197

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

   198

    ts->tv_sec++;

   199

    ts->tv_nsec -= 1000000000;

   200

  }

   201

}

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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... */

   211

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

   212

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

   213

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

   214

  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;

   224

  ts.tv_sec = (long int)total_sec;

   225

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

   226

   227

  return ts;

   228

}

   229

   230

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

   231

  IEC_TIMESPEC ts;

   232

  struct tm broken_down_time;

   233

  time_t epoch_seconds;

   234

   235

  broken_down_time.tm_sec = 0;

   236

  broken_down_time.tm_min = 0;

   237

  broken_down_time.tm_hour = 0;

   238

  broken_down_time.tm_mday = day;  /* day of month, from 1 to 31 */

   239

  broken_down_time.tm_mon = month - 1;   /* month since January, in the range 0 to 11 */

   240

  broken_down_time.tm_year = year - 1900;  /* number of years since 1900 */

   241

   242

  epoch_seconds = mktime(&broken_down_time); /* determine number of seconds since the epoch, i.e. Jan 1st 1970 */

   243

   244

  if ((time_t)(-1) == epoch_seconds)

   245

    __iec_error();

   246

   247

  ts.tv_sec = epoch_seconds;

   248

  ts.tv_nsec = 0;

   249

   250

  return ts;

   251

}

   252

   253

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

   254

  IEC_TIMESPEC ts;

   255

  struct tm broken_down_time;

   256

  time_t epoch_seconds;

   257

   258

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

   259

  ts.tv_sec = (long int)total_sec;

   260

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

   261

   262

  broken_down_time.tm_sec = 0;

   263

  broken_down_time.tm_min = 0;

   264

  broken_down_time.tm_hour = 0;

   265

  broken_down_time.tm_mday = day;  /* day of month, from 1 to 31 */

   266

  broken_down_time.tm_mon = month - 1;   /* month since January, in the range 0 to 11 */

   267

  broken_down_time.tm_year = year - 1900;  /* number of years since 1900 */

   268

  broken_down_time.tm_isdst = 0; /* disable daylight savings time */

   269

   270

  epoch_seconds = mktime(&broken_down_time); /* determine number of seconds since the epoch, i.e. Jan 1st 1970 */

   271

  if ((time_t)(-1) == epoch_seconds)

   272

    __iec_error();

   273

   274

  ts.tv_sec += epoch_seconds;

   275

  if (ts.tv_sec < epoch_seconds)

   276

    /* since the TOD is always positive, if the above happens then we had an overflow */

   277

    __iec_error();

   278

   279

  return ts;

   280

}

   281

   282

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

   283

/* Time operations */

   284

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

   285

   286

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

   287

   288

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

   289

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

   290

             IN1.tv_nsec + IN2.tv_nsec };

   291

  __normalize_timespec(&res);

   292

  return res;

   293

}

   294

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

   295

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

   296

             IN1.tv_nsec - IN2.tv_nsec };

   297

  __normalize_timespec(&res);

   298

  return res;

   299

}

   300

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

   301

  LREAL s_f = IN1.tv_sec * IN2;

   302

  time_t s = (time_t)s_f;

   303

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

   304

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

   305

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

   306

  __normalize_timespec(&res);

   307

  return res;

   308

}

   309

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

   310

  LREAL s_f = IN1.tv_sec / IN2;

   311

  time_t s = (time_t)s_f;

   312

  TIME res = {(long)s,

   313

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

   314

  __normalize_timespec(&res);

   315

  return res;

   316

}

   317

   318

   319

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

   320

/* Convertions */

   321

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

   322

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

   323

    /*  REAL_TO_INT  */

   324

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

   325

static inline LINT __real_round(LREAL IN) {

   326

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

   327

}

   328

static inline LINT __preal_to_sint(LREAL IN) {

   329

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

   330

}

   331

static inline LINT __preal_to_uint(LREAL IN) {

   332

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

   333

}

   334

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

   335

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

   336

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

   337

   338

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

   339

    /*  TO_STRING  */

   340

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

   341

static inline STRING __bool_to_string(BOOL IN) {

   342

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

   343

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

   344

}

   345

static inline STRING __bit_to_string(LWORD IN) {

   346

    STRING res;

   347

    res = __INIT_STRING;

   348

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

   349

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

   350

    return res;

   351

}

   352

static inline STRING __real_to_string(LREAL IN) {

   353

    STRING res;

   354

    res = __INIT_STRING;

   355

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

   356

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

   357

    return res;

   358

}

   359

static inline STRING __sint_to_string(LINT IN) {

   360

    STRING res;

   361

    res = __INIT_STRING;

   362

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

   363

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

   364

    return res;

   365

}

   366

static inline STRING __uint_to_string(ULINT IN) {

   367

    STRING res;

   368

    res = __INIT_STRING;

   369

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

   370

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

   371

    return res;

   372

}

   373

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

   374

    /* FROM_STRING */

   375

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

   376

static inline BOOL __string_to_bool(STRING IN) {

   377

    return IN.len == 5 ? !memcmp(&IN.body,"TRUE", IN.len) : 0;

   378

}

   379

   380

static inline LINT __pstring_to_sint(STRING* IN) {

   381

    LINT res = 0;

   382

    __strlen_t l;

   383

    unsigned int shift = 0;

   384

   385

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

   386

        /* 2#0101_1010_1011_1111 */

   387

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

   388

        {

   389

            char c = IN->body[l];

   390

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

   391

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

   392

                shift += 1;

   393

            }

   394

        }

   395

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

   396

        /* 8#1234_5665_4321 */

   397

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

   398

        {

   399

            char c = IN->body[l];

   400

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

   401

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

   402

                shift += 3;

   403

            }

   404

        }

   405

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

   406

        /* 16#1234_5678_9abc_DEFG */

   407

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

   408

        {

   409

            char c = IN->body[l];

   410

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

   411

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

   412

                shift += 4;

   413

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

   414

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

   415

                shift += 4;

   416

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

   417

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

   418

                shift += 4;

   419

            }

   420

        }

   421

    }else{

   422

        /* -123456789 */

   423

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

   424

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

   425

        {

   426

            char c = IN->body[l];

   427

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

   428

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

   429

                fac *= 10;

   430

                shift += 1;

   431

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

   432

                res = 0;

   433

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

   434

                shift = 0;

   435

            }

   436

        }

   437

    }

   438

    return res;

   439

}

   440

   441

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

   442

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

   443

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

   444

static inline LREAL __string_to_real(STRING IN) {

   445

    __strlen_t l;

   446

    l = IN.len;

   447

    /* search the dot */

   448

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

   449

    if(l != 0){

   450

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

   451

    }else{

   452

        return (LREAL)__pstring_to_sint(&IN);

   453

    }

   454

}

   455

   456

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

   457

    /*   TO_TIME   */

   458

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

   459

static inline TIME    __int_to_time(LINT IN)  {return (TIME){IN, 0};}

   460

static inline TIME   __real_to_time(LREAL IN) {return (TIME){IN, (IN - (LINT)IN) * 1000000000};}

   461

static inline TIME __string_to_time(STRING IN){

   462

    __strlen_t l;

   463

    /* TODO :

   464

     *

   465

     *  Duration literals without underlines: T#14ms    T#-14ms   T#14.7s   T#14.7m

   466

     *                short prefix            T#14.7h    t#14.7d   t#25h15m

   467

     *                                        t#5d14h12m18s3.5ms

   468

     *                long prefix             TIME#14ms    TIME#-14ms   time#14.7s

   469

     *  Duration literals with underlines:

   470

     *                short prefix            t#25h_15m t#5d_14h_12m_18s_3.5ms

   471

     *                long prefix             TIME#25h_15m

   472

     *                                        time#5d_14h_12m_18s_3.5ms

   473

     *

   474

     *  Long prefix notation                 Short prefix notation

   475

     *  DATE#1984-06-25                      D#1984-06-25

   476

     *  date#1984-06-25                      d#1984-06-25

   477

     *  TIME_OF_DAY#15:36:55.36              TOD#15:36:55.36

   478

     *  time_of_day#15:36:55.36              tod#15:36:55.36

   479

     *  DATE_AND_TIME#1984-06-25-15:36:55.36 DT#1984-06-25-15:36:55.36

   480

     *  date_and_time#1984-06-25-15:36:55.36 dt#1984-06-25-15:36:55.36

   481

     *

   482

     */

   483

    /* Quick hack : only transform seconds */

   484

    /* search the dot */

   485

    l = IN.len;

   486

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

   487

    if(l != 0){

   488

        LREAL IN_val = atof((const char *)&IN.body);

   489

        return  (TIME){(long)IN_val, (long)(IN_val - (LINT)IN_val)*1000000000};

   490

    }else{

   491

        return  (TIME){(long)__pstring_to_sint(&IN), 0};

   492

    }

   493

}

   494

   495

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

   496

    /*  FROM_TIME  */

   497

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

   498

static inline LREAL __time_to_real(TIME IN){

   499

    return (LREAL)IN.tv_sec + ((LREAL)IN.tv_nsec/1000000000);

   500

}

   501

static inline LINT __time_to_int(TIME IN) {return IN.tv_sec;}

   502

static inline STRING __time_to_string(TIME IN){

   503

    STRING res;